Air Bear

SYSTEM OVERVIEW

As robotics rises in popularity, there is a growing demand for the ability to handle diverse, irregular, and fragile objects. Conventional robot manipulators struggle with these requirements, lacking even pressure distribution and detection of object fragility. Soft robotics offer promise due to its compliance and adaptability but still lack continuous shape-morphing behavior and real-time, sensor-driven feedback control. Air Bear is a shape-adaptive soft robotic gripper composed of inflatable, petal-shaped silicone actuators constrained by a claw geometry. As the petals inflate, they continuously morph to conform to object geometry. Integrated force-sensing resistors (FSRs) provide real-time feedback, enabling closed-loop pneumatic control that automatically halts inflation when contact forces stabilize—preventing over-compression and damage.

MY CONTRIBUTIONS

• 01

  Co-developed the core robotic concept and system architecture, from effector morphology to control strategy

• 02

  Designed the soft actuator geometry and material stack-ups for controlled inflation and repeatable morphing behavior

• 03

  Led sensor integration and iteration, embedding FSRs to infer contact forces and grip completion

• 04

  Developed control logic and pseudocode for feedback-driven state transitions (grip → hold → release)

• 05

  Balanced mechanical compliance, sensing fidelity, and control simplicity to achieve reliable grasping

RESULTS

• Successfully grasped fragile and irregular objects (eggs, cups, asymmetric items)

• Achieved automatic grip termination based on pressure stabilization

• Demonstrated adaptive morphology replacing complex force control