A Review of the State-of-the-Art of Sensing and Actuation Technology for Robotic Grasping and Haptic Rendering

In this paper, a survey of the state of the art, chal-lenges, and possibilities with sensing and actuation technology for robotic grasping and haptic rendering is presented. To this end, a survey and classification of robotic grippers and grasping methods is first outlined. Then, haptic rendering is surveyed by focusing on different challenges and approaches, such as rigid body haptic interaction, deformable/rigid haptic interaction, fluid haptic interaction, image/video based haptic interaction, and virtual reality (VR) based haptic interaction. Successively, the current sensing technology is reviewed by considering sensor development for robotic hands/grippers, such as tactile sensors, and visual sensors. Finally, the current actuation technology is addressed by considering soft robotic grippers, micro and nano grippers, multi-fingered grippers, and under actuated grippers. The main objective of this study is to boost worldwide efforts toward achieving the vast variety of applications that robotic grasping and haptics may give, as well as to provide an up-to-date reference as a baseline for future research and development in this sector.