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--> [Submitted on 27 Aug 2026] Title:Relaxation-Aware Multimodal Sensing of Soft Gripper Driven by Structure-Perception-Learning View a PDF of the paper titled Relaxation-Aware Multimodal Sensing of Soft Gripper Driven by Structure-Perception-Learning, by Yanzhe Wang and 3 other authors View PDF HTML (experimental) Abstract:Achieving stable, sustained grasping with soft robotic hands remains a fundamental challenge. Compliance enables safe and adaptive contact, yet the intrinsic viscoelasticity of soft polymers leads to stress relaxation and a continuous decay of grasping force during holding. Inspired by human grasping, which combines phase-dependent stiffness regulation with continuous sensing and feedback, this paper presents an integrated structure--perception--learning framework. We develop a variable-stiffness soft gripper that uses onboard vision and infrared thermography to track deformation and the temperature field in real time, preserving continuous tracking of the interaction state. To mitigate relaxation-induced force decay, we propose a temperature-coupled viscoelastic force representation, together with a physics-informed learning model, to reconstruct the force trend and provide explicit compensation during holding. Experiments show that, in a 280s force-controlled grasp-and-hold task, the proposed method maintains the desired force with a mean absolute error of 0.066N, outperforming fixed-aperture and instantaneous-only baselines by 80% and 95%, respectively. Overall, the results support a mechanism--AI co-design view: mechanisms shape feasible interactions, while learning compensates remaining uncertainty in viscoelastic dynamics, together enabling stable, sustained grasping. Comments: 11 pages, 9 figures. Published in Robotics: Science and Systems (RSS 2026) Subjects: Robotics (cs.RO) Cite as: arXiv:2608.26622 [cs.RO] (or arXiv:2608.26622v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.26622 arXiv-issued DOI via DataCite (pending registration) Journal reference: Proceedings of Robotics: Science and Systems XXII, Sydney, Australia, July 13-17, 2026 Submission history From: Yanzhe Wang [view email] [v1] Thu, 27 Aug 2026 05:19:02 UTC (40,623 KB) Full-text links: Access Paper: View a PDF of the paper titled Relaxation-Aware Multimodal Sensing of Soft Gripper Driven by Structure-Perception-Learning, by Yanzhe Wang and 3 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-08 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)