{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,3]],"date-time":"2026-02-03T20:52:52Z","timestamp":1770151972986,"version":"3.49.0"},"reference-count":44,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2023,7,17]],"date-time":"2023-07-17T00:00:00Z","timestamp":1689552000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Research Council of Thailand (NRCT)"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Soft pneumatic grippers (SPGs) have garnered significant attention and recognition in various industries owing to their remarkable flexibility, safety, and adaptability. They excel in manipulating delicate, irregularly shaped, and soft objects, surpassing the limitations of conventional grippers. However, effective control techniques for managing the grasping profile of SPGs are still under development. Simple on\u2013off pressure control using a regulator valve is inadequate for delicate gripping with pneumatic robot grippers. To address this, a synergy pressure control system was implemented. In addition, a proportional\u2013integral\u2013derivative control technique, complemented by an unknown input observer, was devised to control the volume of the soft pneumatic robotic gripper, ensuring its alignment with the desired volume level. The simulation and experimental results provide substantial evidence of the effectiveness of the developed control technique and the unknown input observer in managing the volume and pressure of the gripper. Consequently, this breakthrough empowers precise and delicate gripping actions, enabling the handling of delicate objects such as tofu.<\/jats:p>","DOI":"10.3390\/robotics12040107","type":"journal-article","created":{"date-parts":[[2023,7,18]],"date-time":"2023-07-18T01:31:32Z","timestamp":1689643892000},"page":"107","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Grasping Profile Control of a Soft Pneumatic Robotic Gripper for Delicate Gripping"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6518-0992","authenticated-orcid":false,"given":"Gridsada","family":"Phanomchoeng","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Chulalongkorn University, Bangkok 10330, Thailand"},{"name":"Micro\/Nano Electromechanical Integrated Device Research Unit, Faculty of Engineering, Chulalongkorn University, Bangkok 10330, Thailand"},{"name":"Applied Medical Virology Research Unit, Chulalongkorn University, Bangkok 10330, Thailand"}]},{"given":"Patchara","family":"Pitchayawetwongsa","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Chulalongkorn University, Bangkok 10330, Thailand"}]},{"given":"Nattaphat","family":"Boonchumanee","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Chulalongkorn University, Bangkok 10330, Thailand"}]},{"given":"Saravut","family":"Lin","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Chulalongkorn University, Bangkok 10330, Thailand"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0409-3860","authenticated-orcid":false,"given":"Ratchatin","family":"Chancharoen","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Chulalongkorn University, Bangkok 10330, Thailand"}]}],"member":"1968","published-online":{"date-parts":[[2023,7,17]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"105694","DOI":"10.1016\/j.compag.2020.105694","article-title":"State-of-the-art robotic grippers, grasping and control strategies, as well as their applications in agricultural robots: A review","volume":"177","author":"Zhang","year":"2020","journal-title":"Comput. 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