A Universal Soft Gripper with the Optimized Fin Ray Finger

Shin, Ji Hyeon; Park, Jong Geon; Kim, Dong Il; Yoon, Hae-Sung

doi:10.1007/s40684-021-00348-1

Cited by 35 publications

(18 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The PPT hydrogels have relatively low conductivity (∼5 mS m –1 ) but showed a wide working range of up to 2000% strain. The conductivity of the PPT hydrogels can be improved by utilizing additional conductive filler materials such as carbon nanotubes, graphene oxides, or metallic nanowires, which will be our future work. ,, Nonetheless, we believe that ionotronic PPT hydrogels with self-adhesion, self-healing, 3D printability, and conductivity can be employed in a wide range of applications, including wearable healthcare devices, − energy storage devices, , structural health monitoring, and soft robotics. ,, In particular, the wide sensing range of PPT hydrogels is expected to be highly useful not only for monitoring human motion but also for application to emerging soft robots with high actuation ranges of hundreds of % or more. , …”

Section: Discussionmentioning

confidence: 99%

“…6,50,51 Nonetheless, we believe that ionotronic PPT hydrogels with self-adhesion, self-healing, 3D printability, and conductivity can be employed in a wide range of applications, including wearable healthcare devices, 52−54 energy storage devices, 8,55 structural health monitoring, 56 and soft robotics. 7,57,58 In particular, the wide sensing range of PPT hydrogels is expected to be highly useful not only for monitoring human motion but also for application to emerging soft robots with high actuation ranges of hundreds of % or more. 59,60 ■ ASSOCIATED CONTENT * sı Supporting Information…”

Section: Discussionmentioning

confidence: 99%

See 1 more Smart Citation

3D Printable Self-Adhesive and Self-Healing Ionotronic Hydrogels for Wearable Healthcare Devices

Seong

Kondaveeti

Choi

et al. 2023

ACS Appl. Mater. Interfaces

View full text Add to dashboard Cite

Ionotronic hydrogels have attracted significant attention in emerging fields such as wearable devices, flexible electronics, and energy devices. To date, the design of multifunctional ionotronic hydrogels with strong interfacial adhesion, rapid self-healing, three-dimensional (3D) printing processability, and high conductivity are key requirements for future wearable devices. Herein, we report the rational design and facile synthesis of 3D printable, self-adhesive, self-healing, and conductive ionotronic hydrogels based on the synergistic dual reversible interactions of poly(vinyl alcohol), borax, pectin, and tannic acid. Multifunctional ionotronic hydrogels exhibit strong adhesion to various substrates with different roughness and chemical components, including porcine skin, glass, nitrile gloves, and plastics (normal adhesion strength of 55 kPa on the skin). In addition, the ionotronic hydrogels exhibit intrinsic ionic conductivity imparting strain-sensing properties with a gauge factor of 2.5 up to a wide detection range of approximately 2000%, as well as improved self-healing behavior. Based on these multifunctional properties, we further demonstrate the use of ionotronic hydrogels in the 3D printing process for implementing complex patterns as wearable strain sensors for human motion detection. This study is expected to provide a new avenue for the design of multifunctional ionotronic hydrogels, enabling their potential applications in wearable healthcare devices.

show abstract

Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

3D Printable Self-Adhesive and Self-Healing Ionotronic Hydrogels for Wearable Healthcare Devices

Seong

Kondaveeti

Choi

et al. 2023

ACS Appl. Mater. Interfaces

View full text Add to dashboard Cite

show abstract

“…In the existing research, some end-effectors equipped with such fingers have realized the adaptive grasping function for fruits of various shapes [22,23]. However, after putting it into the tomatoes harvesting experiment, there are two problems to be solved.…”

Section: Structure Design and Optimization Ofmentioning

confidence: 99%

Research on the Bionic Flexible End-Effector Based on Tomato Harvesting

Guo

Zheng

et al. 2022

Journal of Sensors

View full text Add to dashboard Cite

Aiming at the problems that tomatoes are fragile and the traditional end-effector design is not suitable for tomato picking, a combination of the bionic principle of FRE structure and finger design was proposed. Based on the physical properties of tomatoes, a flexible underactuated end-effector for tomato picking and sorting was designed. The optimal structural parameters of fingers were determined by finite element analysis, and the tomato grasping experiment was carried out. The results show that the flexible end can grasp and transport tomatoes with diameters ranging from 65 to 95 mm without damage, which can withstand 7 N tensile force, the load is more than 2 times of its own weight, the tomato coverage rate is greater than 23.6%, and the effective grab rate is 100% and has the advantages of the strong stability, universality, and protection. The research provides a novel solution for the design and application of the tomato picking and sorting robot end-effector.

show abstract

“…However, the basic finger structure is not optimal for soft grippers, and studies have recently increased the gripping force by improving the finger structure [23][24][25][26]. Crooks et al [23] proposed a multi-material structure gripper with a higher grabbing weight, but the fabrication method for this multi-material structure is quite tricky.…”

Section: Introductionmentioning

confidence: 99%

“…However, the effects of other variables have not been fully tested. Shin et al [25] analyzed the changes in stress and displacement when the finger touched an object by varying the number of cross beams, the front beam slope, and the slope of the cross beams. Elgeneidy et al [26] developed a soft finger that could handle fragile objects by varying the angle and number of cross beams.…”

Section: Introductionmentioning

confidence: 99%

A Soft Gripper Design for Apple Harvesting with Force Feedback and Fruit Slip Detection

Chen

Yan

et al. 2022

Agriculture

View full text Add to dashboard Cite

This research presents a soft gripper for apple harvesting to provide constant-pressure clamping and avoid fruit damage during slippage, to reduce the potential danger of damage to the apple pericarp during robotic harvesting. First, a three-finger gripper based on the Fin Ray structure is developed, and the influence of varied structure parameters during gripping is discussed accordingly. Second, we develop a mechanical model of the suggested servo-driven soft gripper based on the mappings of gripping force, pulling force, and servo torque. Third, a real-time control strategy for the servo is proposed, to monitor the relative position relationship between the gripper and the fruit by an ultrasonic sensor to avoid damage from the slip between the fruit and fingers. The experimental results show that the proposed soft gripper can non-destructively grasp and separate apples. In outdoor orchard experiments, the damage rate for the grasping experiments of the gripper with the force feedback system turned on was 0%; while the force feedback system was turned off, the damage rate was 20%, averaged for slight and severe damage. The three cases of rigid fingers and soft fingers with or without slip detection under the gripper structure of this study were tested by picking 25 apple samples for each set of experiments. The picking success rate for the rigid fingers was 100% but with a damage rate of 16%; the picking success rate for soft fingers with slip detection was 80%, with no fruit skin damage; in contrast, the picking success rate for soft fingers with slip detection off increased to 96%, and the damage rate was up to 8%. The experimental results demonstrated the effectiveness of the proposed control method.

show abstract

A Universal Soft Gripper with the Optimized Fin Ray Finger

Cited by 35 publications

References 17 publications

3D Printable Self-Adhesive and Self-Healing Ionotronic Hydrogels for Wearable Healthcare Devices

3D Printable Self-Adhesive and Self-Healing Ionotronic Hydrogels for Wearable Healthcare Devices

Research on the Bionic Flexible End-Effector Based on Tomato Harvesting

A Soft Gripper Design for Apple Harvesting with Force Feedback and Fruit Slip Detection

Contact Info

Product

Resources

About