This letter introduces Mag-Gripper, a novel robotic gripper specifically designed for autonomous clothing manipulation. It is capable of improving grasp repeatability, and precision, compensating uncertainties in the target grasping locations. We propose to approach the autonomous clothing manipulation challenge by involving a suitable magnetic force. For this reason, Mag-Gripperis equipped with an electromagnet capable of interacting with small metal parts properly placed on the garment to be grasped. Electromagnet exploitation is not a novelty in literature, but our design innovation consists in embedding the electromagnet in the structure of a jaw gripper. In so doing, we revisit a classic end-effector type, corresponding to the simplest representation of a hand capable of opposability, allowing easily controllable devices to perform grasps similar to the human pinch grasp. Mag-Grippercan find applications either in Research labs investigating Machine Learning-based clothing manipulation techniques either in companies having to manage a large amount of returns, either in home setting scenarios.

中文翻译：

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Mag-Gripper：一种带有电磁铁的软刚性夹具，可以精确地抓握衣服

这封信介绍了 Mag-Gripper，这是一种专为自主服装操作而设计的新型机器人抓手。它能够提高抓取的重复性和精度，补偿目标抓取位置的不确定性。我们建议通过引入合适的磁力来应对自主服装操纵挑战。出于这个原因，Mag-Gripperis 配备了一个电磁铁，能够与正确放置在要抓握的衣服上的小金属部件相互作用。电磁铁的开发在文献中并不是什么新鲜事，但我们的设计创新在于将电磁铁嵌入颚式夹持器的结构中。这样做时，我们重新审视了经典的末端执行器类型，对应于能够对抗性的手的最简单表示，允许易于控制的设备执行类似于人类捏抓的抓握。Mag-Gripper 可以在研究基于机器学习的服装操纵技术的研究实验室中找到应用，或者在必须管理大量退货的公司中，或者在家庭环境中。