In-Hand Object Recognition with Innervated Fiber Optic Spectroscopy for Soft Grippers

Previous work in material sensing with soft robots has focused on integrating flexible force sensors or optical waveguides to infer object shape and mass from experimental data. In this work, we present a novel modular sensing platform integrated into a hybrid-manufactured soft robot gripper to collect and process high-fidelity spectral information. The custom design of the gripper is realized usi...