A Deep Learning Method for Vision Based Force Prediction of a Soft Fin Ray Gripper Using Simulation Data

Soft robotic grippers are increasingly desired in applications that involve grasping of complex and deformable objects. However, their flexible nature and non-linear dynamics makes the modelling and control difficult. Numerical techniques such as Finite Element Analysis (FEA) present an accurate way of modelling complex deformations. However, FEA approaches are computationally expensive and consequently challenging to employ for real-time...