Sliding Mode Impedance Controlled Smart Fingered Microgripper for Automated Grasp and Release Tasks at the Microscale

The grasp and release of objects have been widely studied in robotics. At the microscale, this problem becomes more difficult due to the microscale specificities which are notably manifested by the high dynamics of microsystems, their small inertia, their fragility, the predominance of surface forces and the high complexity of integrating adapted sensors.