Nowadays, a large number of sensors are employed in the oceans to collect data for further analysis, which leads to a large number of demands for battery elimination in electronics due to the size reduction, environmental issues, and its laborious, pricy, and time-consuming recharge or replacement. Numerous methods for direct energy harvesting have been developed to power these low-power consumption sensors. Among all the developed harvesters, piezoelectric energy harvesters offer the most promise for eliminating batteries from future devices. These devices do not require maintenance, and they have compact and simple structures that can be attached to low-power devices to directly generate high-density power. In the present study, an atlas of 85 designs of piezoelectric energy harvesters in oceanic applications that have recently been reported in the state-of-the-art is provided. The atlas categorizes these designs based on their configurations, including cantilever beam, diaphragm, stacked, and cymbal configurations, and provides insightful information on their material, coupling modes, location, and power range. A set of unified schematics are drawn to show their working principles in this atlas. Moreover, all the concepts in the atlas are critically discussed in the body of this review. Different aspects of oceanic piezoelectric energy harvesters are also discussed in detail to address the challenges in the field and identify the research gaps.

This article focuses on enhancing the range of motion (ROM) of the Tetra II joint, a spherical compliant joint consisting of three internally interconnected tetrahedron-shaped elements that achieve motion through elastic deformation. Despite its excellent precision, this specific design is constrained in terms of ROM due to internal contacts among the tetrahedral elements. To overcome this limitation, this study utilizes a computer-aided engineering (CAE) framework to optimize the configuration of the Tetra II joint and enhance its ROM. The resultant optimized joint, referred to as Tetra III, is subsequently compared to Tetra II in terms of both ROM and center shift. Finite element models (FEM) are employed to validate the optimization results and examine how various tetrahedron-shaped geometries impact the joint’s performance. The newly optimized joint exhibits a significantly higher ROM compared to the previous version, while maintaining excellent precision and overall smaller dimensions. Finally, to demonstrate its manufacturability, the Tetra III joint is produced using selective laser sintering (SLS) technology, with Duraform PA serving as the construction material. The successful fabrication serves as a demonstrative example of the improved design of the Tetra III joint.

Human fingers possess compliant contact interfaces with predetermined compliance properties. Replicating these compliance properties in robotic limbs, particularly anthropomorphic hands, can significantly impact grasp stability and contact area. To address the limitations of homogeneous layers of soft material commonly used in anthropomorphic hands, this paper proposes optimizing differentiated structures to design soft pads, which consist of a continuous external layer (skin) coupled with an internal layer featuring voids. To achieve the desired compliance properties replicating those of human fingers, the paper introduces five distinct patterns for differentiated structures, along with their corresponding finite element analysis (FEA) models. Subsequently, by formulating an appropriate optimization function, the shapes of these patterns have been optimized to match the compliance of the human finger, and it has been demonstrated that one of the proposed and optimized pads closely approximates this target through the proposed methodology. The results affirm that this approach offers an effective solution for designing soft pads whose behavior needs to be aligned with the compliance of a specific target.

Recently, piezoelectric materials have received remarkable attention in marine applications for energy harvesting from the ocean, which is a harsh environment with powerful and impactful waves and currents. However, to the best of the authors’ knowledge, although there are various designs of piezoelectric energy harvesters for marine applications, piezoelectric materials have not been employed for sensory and measurement applications in marine environment. In the present research, a drifter-based piezoelectric sensor is proposed to measure ocean waves’ height and period. To analyze the motion principle and the working performance of the proposed drifter-based piezoelectric sensor, a dynamic model was developed. The developed dynamic model investigated the system’s response to an input of ocean waves and provides design insights into the geometrical and material parameters. Next, finite element analysis (FEA) simulations using the commercial software COMSOL-Multiphysics were carried out with the help of a coupled physics analysis of Solid Mechanics and Electrostatics Modules to achieve the output voltages. An experimental prototype was fabricated and tested to validate the results of the dynamic model and the FEA simulation. A slider-crank mechanism was used to mimic ocean waves throughout the experiment, and the results showed a close match between the proposed dynamic modeling, FEA simulations, and experimental testing. In the end, a short discussion is devoted to interpreting the output results, comparing the results of the simulations with those of the experimental testing, sensor’s resolution, and the self-powering functionality of the proposed drifter-based piezoelectric sensor.

Soft pads are increasingly utilized in robotic grippers for applications requiring secure handling, such as fruit harvesting and delicate object manipulation. However, the interplay of material compliance, surface texture, and environmental conditions (e.g., moisture, wind) complicates selecting the optimal frictional performance. This paper investigates four soft pad textures—flat, cavity, protrusion, and hybrid—fabricated from two silicone rubbers with different Shore hardness (10A and 30A). Their frictional behavior was tested under varying loads (0–200 g), speeds (14–84 mm/s), and wet/dry conditions. A Friction Stability Index (FSI) was then introduced to capture both friction magnitude and slip oscillations. Results show that while flat pads provide the highest mean friction, they exhibit pronounced stick–slip, specially at higher speeds. Textured pads (cavity, protrusion, hybrid) yield more stable friction, particularly in wet, outdoor-like scenarios, albeit with somewhat lower peak friction. The findings underscore the importance of balancing high friction against stability for safe handling.

As global food demand rises and agricultural labor shortages intensify, robotic automation has become essential for sustainable fruit grasping. Among emerging technologies, ElectroAdhesion (EA) grippers offer a promising alternative to traditional mechanical end-effectors, enabling gentle, low-pressure handling through electrostatically induced adhesion. This paper presents a methodical review of EA grippers applied to fruit grasping, focusing on their advantages, limitations, and key design considerations. A targeted literature search identified ten EA-based and hybrid EA gripping systems tested on fruit manipulation, though none has yet been tested in real-world environments such as fields or greenhouses. Despite a significant variability in experimental setups, materials, and grasp types, qualitative insights are drawn from our analysis demonstrating the potentialities of EA technologies. The EA grippers found in the targeted review are effective on diverse fruits, shapes, and surface textures; they can hold load capacities ranging from 10 g (~0.1 N) to 600 g (~6 N) and provide minimal compressive stress at high electrostatic shear forces. Along with custom EA grippers designed accordingly to specific use cases, field and greenhouse testing will be crucial for advancing the technology readiness level of EA grippers and unlocking their full potential in automated crop harvesting.