Force-Sensitive Gripper for Autonomous Manipulation in Unstructured Space Environments

The paper presents a comprehensive analysis of recent advancements in autonomous lunar exploration technologies, with a particular emphasis on the development of a Force Sensing Gripper for robotic manipulation in complex, unpredictable space environments. We trace the evolution of lunar exploration, from early missions to modern multi-rover systems with enhanced autonomy, focusing on the technological innovations that overcome the Moon's challenging terrain. Central to this exploration is the Lunar Exploration Rover System (LERS), a cutting-edge platform designed for both navigation and task execution on the lunar surface. A key component of LERS is an intelligent, force-sensitive gripper designed for precise manipulation in low-gravity conditions. This two-fingered gripper, equipped with forcesensitive resistors (FSRs), provides real-time feedback on force dynamics, enabling safe and accurate handling of various objects in the Moon's microgravity. The gripper's modular design integrates a 5-turn speed servo for linear control and torque-based servos for wrist rotation and gripping functions, all coordinated by an ESP32 microcontroller that processes sensor data to optimize performance in real time. The deep learning framework enhances this system's adaptability, ensuring robust performance in space's extreme conditions. The innovations discussed here not only advance space robotics but also offer significant potential for terrestrial industries requiring precise, adaptive robotic systems in challenging environments. This work addresses key limitations in current gripper technologies, representing a transformative step in the development of versatile robotic systems capable of supporting future lunar missions and beyond