Systems and methods for robotic grippers with fiber optic spectroscopy

A system for determining one or more properties of an object, the system comprising:

• a gripping element configured to grasp the object, the gripping element including one or more soft gripping fingers;
• a probe element including a gripper pad, the gripper pad (i) attached to a soft gripping finger of the one or more soft gripping fingers and (ii) embedded with a light source and at least a portion of an optical fiber, the soft gripping finger including an exoskeleton, the light source configured to illuminate the object and cause light to be reflected from a surface of the object,
• the optical fiber configured to convey the light reflected from the surface of the object;
• a spectrometer configured to:
• (i) receive, from the optical fiber, the light reflected from the surface of the object and (ii) generate spectral data based on the received light reflected from the surface of the object;
• and
• a processor configured to:
• (i) receive the generated spectral data from the spectrometer and (ii) determine one or more properties of the object based on the received generated spectral data.