Design and characterization of a soft gripper for slippery tissue

Tissue manipulation during surgery is currently done with a grasping forceps. This pinching instrument is prone to errors related to the force that is applied on the gripped tissue. Using too much force may lead to tissue damage.

Inspired by tree frogs, here, we will investigate whether firm but gentle grip on slippery tissue can be generated with grippers containing soft pads. With such a grasper, grip is still friction-based, but does no longer depend on the applied normal load. This probably

In this project, we will implement soft pads into 3D-printed graspers. The grasper design has to be adapted in order to generate load-independent grip. The project includes characterization of a prototype on biological tissues.

Start: January-February 2019

Contact: Peter van Assenbergh, s.p.vanassenbergh@tudelft.nl