This study proposed a grasping force measurable soft finger using electro conductive material. Electro conductive material is attached on the side surface of a cantilever-based soft finger. Distance and velocity of the top edge of the soft finger are measured from resistance of the electro conductive material. Then, grasping force is able to estimate from distance, velocity of the top edge, Young's modulus and the viscosity coefficient of the finger material. To confirm the proposed method, the prototype was fabricated, and the grasping force was estimated using the electro conductive material of the soft finger. Good agreement was found between the estimated value and ground truth. The results suggest that our proposed method using electro conductive material can accurately estimated grasping force of a robotic grip with a soft finger.
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