{
  "abstract": "This disclosure concerns ascertaining a force applied to a finger element of a gripper assembly of a robotic manipulator during the manipulation of an object. In one aspect, it discloses a gripper assembly comprising a finger element, an actuator, a linkage assembly comprising a plurality of arms connecting the finger element to the actuator, and a sensor assembly configured to output signals indicative of force components applied to the plurality of arms as a result of a force being applied to the finger element.",
  "assignees": [
    "OCADO INNOVATION LTD"
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  "authors": [
    "DEACON GRAHAM",
    "FRAS JAN",
    "SOTIROPOULOS PANAGIOTIS"
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  "published_at": "2026-09-15T19:16:29.110777Z",
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  "source_date": "2026-02-12",
  "source_id": "AU-2022348822-B2",
  "source_name": "the AU patent office",
  "source_url": "https://patents.google.com/patent/AU2022348822B2",
  "supersedes": null,
  "title": "A gripper assembly for a robotic manipulator",
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