{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,3]],"date-time":"2026-02-03T21:18:02Z","timestamp":1770153482699,"version":"3.49.0"},"reference-count":42,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2024,11,25]],"date-time":"2024-11-25T00:00:00Z","timestamp":1732492800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Instituto Polit\u00e9cnico de Lisboa","award":["IPL\/IDI&CA2023\/ACTSOFTLY_ISEL"],"award-info":[{"award-number":["IPL\/IDI&CA2023\/ACTSOFTLY_ISEL"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Actuators"],"abstract":"<jats:p>This paper proposes a multifunctional soft robotic gripper for a Dobot robot to handle sensitive products. The gripper is based on pneumatic network (PneuNet) bending actuators. In this study, two different models of PneuNet actuators have been studied, designed, simulated, experimentally tested, and validated using two different techniques (3D printing and molding) and three different materials: FilaFlex 60A (3D-printed), Elastosil M4601, and Dragonskin Fast 10 silicones (with molds). A new soft gripper design for the Dobot robot is presented, and a new design\/production approach with molds is proposed to obtain the gripper\u2019s PneuNet multifunctional actuators. It also describes a new control approach that is used to control the PneuNet actuators and gripper function, using compressed air generated by a small compressor\/air pump, a pressure sensor, a mini valve, etc., and executing on a low-cost controller board\u2014Arduino UNO. This paper presents the main simulation and experimental results of this research study.<\/jats:p>","DOI":"10.3390\/act13120476","type":"journal-article","created":{"date-parts":[[2024,11,25]],"date-time":"2024-11-25T08:38:24Z","timestamp":1732523904000},"page":"476","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Design, Control, and Testing of a Multifunctional Soft Robotic Gripper"],"prefix":"10.3390","volume":"13","author":[{"given":"Ana","family":"Correia","sequence":"first","affiliation":[{"name":"ISEL\u2014Instituto Superior de Engenharia de Lisboa, Instituto Polit\u00e9cnico de Lisboa, 1959-007 Lisbon, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9246-6777","authenticated-orcid":false,"given":"Tiago","family":"Charters","sequence":"additional","affiliation":[{"name":"ISEL\u2014Instituto Superior de Engenharia de Lisboa, Instituto Polit\u00e9cnico de Lisboa, 1959-007 Lisbon, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1235-9753","authenticated-orcid":false,"given":"Afonso","family":"Leite","sequence":"additional","affiliation":[{"name":"ISEL\u2014Instituto Superior de Engenharia de Lisboa, Instituto Polit\u00e9cnico de Lisboa, 1959-007 Lisbon, Portugal"},{"name":"CIMOSM\u2014Centro de Investiga\u00e7\u00e3o em Modela\u00e7\u00e3o e Optimiza\u00e7\u00e3o de Sistemas Multifuncionais, ISEL\u2014Instituto Superior de Engenharia de Lisboa, Instituto Polit\u00e9cnico de Lisboa, 1959-007 Lisbon, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1481-0042","authenticated-orcid":false,"given":"Francisco","family":"Campos","sequence":"additional","affiliation":[{"name":"ISEL\u2014Instituto Superior de Engenharia de Lisboa, Instituto Polit\u00e9cnico de Lisboa, 1959-007 Lisbon, Portugal"},{"name":"UnIRE\u2014Unit for Innovation and Research in Engineering, ISEL\u2014Instituto Superior de Engenharia de Lisboa, Instituto Polit\u00e9cnico de Lisboa, 1959-007 Lisbon, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7306-5804","authenticated-orcid":false,"given":"Nuno","family":"Monge","sequence":"additional","affiliation":[{"name":"ESELx\u2014Escola Superior de Educa\u00e7\u00e3o de Lisboa, Instituto Polit\u00e9cnico de Lisboa, 1549-003 Lisbon, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6462-4654","authenticated-orcid":false,"given":"Andr\u00e9","family":"Rocha","sequence":"additional","affiliation":[{"name":"ESELx\u2014Escola Superior de Educa\u00e7\u00e3o de Lisboa, Instituto Polit\u00e9cnico de Lisboa, 1549-003 Lisbon, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2448-8667","authenticated-orcid":false,"given":"M\u00e1rio J. G. C.","family":"Mendes","sequence":"additional","affiliation":[{"name":"ISEL\u2014Instituto Superior de Engenharia de Lisboa, Instituto Polit\u00e9cnico de Lisboa, 1959-007 Lisbon, Portugal"},{"name":"CIMOSM\u2014Centro de Investiga\u00e7\u00e3o em Modela\u00e7\u00e3o e Optimiza\u00e7\u00e3o de Sistemas Multifuncionais, ISEL\u2014Instituto Superior de Engenharia de Lisboa, Instituto Polit\u00e9cnico de Lisboa, 1959-007 Lisbon, Portugal"},{"name":"CENTEC\u2014Centre for Marine Technology and Ocean Engineering, Instituto Superior T\u00e9cnico, Universidade de Lisboa, 1049-001 Lisbon, Portugal"}]}],"member":"1968","published-online":{"date-parts":[[2024,11,25]]},"reference":[{"key":"ref_1","unstructured":"Robotics, D. (2024, September 28). Magician Robot\u2014Desktop Grade Robot for Advanced Education. 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