Ian J. Dargai, Antoine Gagne, John Gordon Hoover, Hayden Catherine Lingel


Presentation: 9:00-10:15, Kennedy Union Ballroom



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This research presents investigations into the cost-effective design of a soft robotic end-effector, engineered to perform tasks with dexterity and precision. The end-effector is being considered for performing manipulations either at the end of a continuum robot or as a stand-alone mechanism. The combination of continuum robot and end-effector is expected to provide a high degree of flexibility and safety. Such a soft robotic manipulator exhibits potential across applications in the realm of aerospace maintenance, particularly for jet engines during repairs. A similar concept could be considered for a soft-robot designed to navigate a pipe. Additionally, the soft aspect of the end-effector makes it suitable for recreational purposes, including a backyard "splash zone" or a larger water park installation. Several end-effector prototypes have been printed and tested.

Publication Date


Project Designation

Independent Research

Primary Advisor

Andrew P. Murray, Dave Harry Myszka

Primary Advisor's Department

Mechanical and Aerospace Engineering


Stander Symposium, School of Engineering

Institutional Learning Goals

Practical Wisdom

Soft Robotic End-Effector Design: A Potential for Cost-Effective Maintenance in Aerospace Inspection and Pipe Investigation