Design and Validation of Sensorized Tools for Deformable Object Manipulation in Meat Cutting and Doll Demoulding

Saltanat Seitzhan, Dionisio Cartagena González, Alexis Babut, Daniel Sánchez-Martínez, Juan Antonio Micó, Chedli Bouzgarrou, Juan Antonio Corrales Ramón

2025

Abstract

While robotic arms are extensively deployed in mass production environments, their application in tasks involving deformable object manipulation remains limited due to the complex dynamics of soft materials. Addressing this challenge requires task-specific end-effector tools capable of replicating manual operations with precision and adaptability. Standard human tools are often incompatible with robotic systems, especially in domains such as meat processing and doll manufacturing. This study presents the design and experimental validation of sensor-integrated end-effectors tailored for deformable object handling: a knife tool for roboticassisted meat cutting and a plier tool for analyzing the demoulding process in doll production. Both tools incorporate multimodal sensing, including force/torque sensors and inertial measurement units, and are synchronized via ROS to capture manipulation data under realistic conditions. While full cobotic manipulation and Learning from Demonstration (LfD) are reserved for future work, the results demonstrate the feasibility of embedding sensing into manual and robotic tools to support future automation in soft material handling.

Paper Citation

in Harvard Style

Seitzhan S., González D., Babut A., Sánchez-Martínez D., Micó J., Bouzgarrou C. and Corrales Ramón J. (2025). Design and Validation of Sensorized Tools for Deformable Object Manipulation in Meat Cutting and Doll Demoulding. In Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: COBOTA; ISBN 978-989-758-770-2, SciTePress, pages 552-565. DOI: 10.5220/0013967900003982

in Bibtex Style

@conference{cobota25,
author={Saltanat Seitzhan and Dionisio González and Alexis Babut and Daniel Sánchez-Martínez and Juan Micó and Chedli Bouzgarrou and Juan Corrales Ramón},
title={Design and Validation of Sensorized Tools for Deformable Object Manipulation in Meat Cutting and Doll Demoulding},
booktitle={Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: COBOTA},
year={2025},
pages={552-565},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013967900003982},
isbn={978-989-758-770-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: COBOTA
TI - Design and Validation of Sensorized Tools for Deformable Object Manipulation in Meat Cutting and Doll Demoulding
SN - 978-989-758-770-2
AU - Seitzhan S.
AU - González D.
AU - Babut A.
AU - Sánchez-Martínez D.
AU - Micó J.
AU - Bouzgarrou C.
AU - Corrales Ramón J.
PY - 2025
SP - 552
EP - 565
DO - 10.5220/0013967900003982
PB - SciTePress