Patent Document ID: 9914212
Application ID: 15400168
Patent Flag: 1

Claim One:
1. A system for gripping an object, comprising: a robotic gripper comprising a substrate wrapped around at least a portion thereof, wherein said substrate comprises a polymer, wherein said substrate comprises a plurality of non-metallic sensing electrodes embedded therein, wherein said non-metallic sensing electrodes are flexible, and wherein said plurality of non-metallic sensing electrodes embedded in said substrate is adapted to generate signals indicative of a change in electrical impedance in said substrate when disposed at or in proximity to said object; and a controller electrically coupled to said plurality of non-metallic sensing electrodes and said robotic gripper, wherein said controller is programmed to (i) detect said signals indicative of said change in electrical impedance in said substrate of at least a subset of said plurality of non-metallic sensing electrodes, (ii) use said signals to determine a profile indicative of one or more forces applied to said substrate, which profile is indicative of one or more characteristics of said object, and (iii) based on said one or more characteristics, instruct said robotic gripper to grip said object.