Advances in soft robotics, materials science, and stretchable electronics have enabled rapid progress in soft grippers. Here, a critical overview of soft robotic grippers is presented, covering different material sets, physical principles, and device architectures. Soft gripping can be categorized into three technologies, enabling grasping by: a) actuation, b) controlled stiffness, and c) controlled adhesion. A comprehensive review of each type is presented. Compared to rigid grippers, end-effectors fabricated from flexible and soft components can often grasp or manipulate a larger variety of objects. Such grippers are an example of morphological computation, where control complexity is greatly reduced by material softness and mechanical compliance. Advanced materials and soft components, in particular silicone elastomers, shape memory materials, and active polymers and gels, are increasingly investigated for the design of lighter, simpler, and more universal grippers, using the inherent functionality of the materials. Embedding stretchable distributed sensors in or on soft grippers greatly enhances the ways in which the grippers interact with objects. Challenges for soft grippers include miniaturization, robustness, speed, integration of sensing, and control. Improved materials, processing methods, and sensing play an important role in future research.

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system. [11] Researchers have developed highly stretchable strain sensors made of compliant elastomers and various conductive materials, such as silver nanowire, [12] carbon nanotube (CNT), [13][14][15][16][17][18] carbon grease, [19] graphene, [20] graphite, [21] laser-carbonized polyimide, [22] conductive acrylic elastomer, [10] liquid metal, [23,24] ionic liquid, [25][26][27] and conductive fabric. [28] However, not all of these technologies can be manufactured in large scale at low cost.Here, we propose the use of carbon black (CB)-filled elastomer composites for highly stretchable strain sensors (up to 500%) that can be batch manufactured at low cost. CBs are a type of low-cost conductive nanoparticle, which, when used as a filler in an elastomeric matrix, enhances the mechanical strength, abrasion resistance, UV resistance, and light absorbency of the composite. [29][30][31] The CB-filled elastomer can be printed in large areas by means of a layer-by-layer process, [32] with good wettability and high adhesion to silicone surfaces. Mixing various types of CBs and elastomers [33] gives material designers flexibility to achieve high compliance and stretchability.Our layer-by-layer CB-filled elastomer fabrication process can be used to create resistive or capacitive sensors. [11] Resistive sensing relies on the piezoresistive effect and geometrical changes of electrodes, where mechanical strain causes a change in electrical resistivity. Capacitive sensing exploits changes of the capacitance between a pair of electrodes sandwiching a dielectric layer. Strain expands the area of the electrodes and reduces the thickness of the dielectric layer, leading to an increase of the capacitance. A recent review on strain sensors has pointed that resistive type strain sensors have high sensitivity but hysteresis and nonlinear response, while capacitive type strain sensors display excellent linearity and hysteresis performance but low sensitivity. [11] On the other hand, according to other literature, both resistive and capacitive type strain sensors show good linearity, low hysteresis, and repeatability. [10,13,15,28] Therefore, there is a lack of comprehensive knowledge of highly stretchable strain sensors that clarifies advantages and disadvantages of the two sensing methods. In addition, other characteristics, such as responses to different strain speed and temperature, have not yet been compared. This would result in difficulty when it is required to select an appropriate sensor The advent of soft robotics has led to the development of devices that harness the compliance and natural deformability of media with nonlinear elasticity. This has led to a need of batch-manufacturable soft sensors that can sustain large strains and maintain kinematic compatibility with the systems they track. In this article, an approach to address this challenge is presented with highly stretchable strain sensors that can operate at strains up to 500%. The sensors consist of a carbon black-filled elastomer composite that is batch manufacture...

A variable stiffness fiber made of silicone and low melting point alloys quickly becomes >700 times softer and >400 times more deformable when heated above 62 °C. It shows remarkable self‐healing properties and can be clamped, knitted, and bonded, as shown in a foldable multi‐purpose drone, a wearable cast for bone injuries, and a soft multi‐directional actuator.

Abstract-Debris in space present an ever-increasing problem for spacecraft in Earth orbit. As a step in the mitigation of this issue, the CleanSpace One (CSO) microsatellite has been proposed. Its mission is to perform active debris removal of a decommissioned nanosatellite (the CubeSat SwissCube). An important aspect of this project is the development of the gripper system that will entrap the capture target. We present the development of roll-able dielectric elastomer minimum energy structures (DEMES) as the main component of CSO's deployable gripper. DEMES consist of a prestretched dielectric elastomer actuator membrane bonded to a flexible frame. The actuator finds equilibrium in bending when the prestretch is released and the bending angle can be changed by the application of a voltage bias. The inherent flexibility and lightweight nature of the DEMES enables the gripper to be stored in a rolled-up state prior to deployment. We fabricated proof of concept actuators of three different geometries using a robust and repeatable fabrication methodology. The resulting actuators were mechanically resilient to external deformation, and display conformability to objects of varying shapes and sizes. Actuator mass is less than 0.65 g and all the actuators presented survived the rolling-up and subsequent deployment process. Our devices demonstrate a maximum change of bending angle of more than 60 degrees and a maximum gripping (reaction) force of 2.2 mN for a single actuator.Index Terms-Active debris removal (ADR), artificial muscles, deployable mechanism, dielectric elastomer actuator (DEA), space debris.

This article presents the design, fabrication, and characterization of a soft biomimetic robotic fish based on dielectric elastomer actuators (DEAs) that swims by body and/or caudal fin (BCF) propulsion. BCF is a promising locomotion mechanism that potentially offers swimming at higher speeds and acceleration rates, and efficient locomotion. The robot consists of laminated silicone layers wherein two DEAs are used in an antagonistic configuration, generating undulating fish-like motion. The design of the robot is guided by a mathematical model based on the Euler–Bernoulli beam theory and takes account of the nonuniform geometry of the robot and of the hydrodynamic effect of water. The modeling results were compared with the experimental results obtained from the fish robot with a total length of 150 mm, a thickness of 0.75 mm, and weight of 4.4 g. We observed that the frequency peaks in the measured thrust force produced by the robot are similar to the natural frequencies computed by the model. The peak swimming speed of the robot was 37.2 mm/s (0.25 body length/s) at 0.75 Hz. We also observed that the modal shape of the robot at this frequency corresponds to the first natural mode. The swimming of the robot resembles real fish and displays a Strouhal number very close to those of living fish. These results suggest the high potential of DEA-based underwater robots relying on BCF propulsion, and applicability of our design and fabrication methods.

Abstract-A novel variable stiffness actuator composed of a dielectric elastomer actuator (DEA) and a low-melting-pointalloy (LMPA) embedded silicone substrate is demonstrated. The device which we call variable stiffness dielectric elastomer actuator (VSDEA) enables functional soft robots with a simplified structure, where the DEA generates a bending actuation and the LMPA provides controllable stiffness between soft and rigid states by Joule heating. The entire structure of VSDEA is made of soft silicones with an elastic modulus of less than 1 MPa providing a high compliance when the LMPA is active. The device has the dimension of 40 mm length × 10 mm width × 1 mm thickness, with mass of ∼1 g. We characterize VSDEA in terms of the actuation stroke angle, the blocked force, and the reaction force against a forced displacement. The results show the controllable actuation angle and the blocked force up to 23.7• and 2.4 mN in the soft state, and 0.6• and 2.1 mN in the rigid state. Compared to an actuator without the LMPA, VSDEA exhibits ∼90× higher rigidity. We develop a VSDEA gripper where the mass of active parts is ∼2 g, which is able to successfully hold an object mass of 11 g, exhibiting the high performance of the actuator.