Grasping without squeezing: Shear adhesion gripper with fibrillar thin film

Hawkes, Elliot W.; Christensen, David L.; Han, Amy Kyungwon; Jiang, Hao; Cutkosky, Mark R.

doi:10.1109/icra.2015.7139505

Cited by 87 publications

(60 citation statements)

References 15 publications

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“…Finally, we discuss implications of the work, conclude and suggest future directions. This paper is an extension of work presented at ICRA 2015 [14]. A single example case has been extended to a general concept of shear-activated grippers.…”

Section: Introductionmentioning

confidence: 99%

“…Thus for a given length of slipped film, l s , the slipping force F can be written as follows: We can now predict the shear force that a length of slipped film can support. It is interesting to note that the predicted force when the entire film has stretched is identical to that predicted if the film is considered inextensible, as assumed in previous work [14]. Finally, it is useful to predict the amount of stretch, d, of the film by integrating the film strain across the slipped region:…”

Section: A Film Shear Stress Modelmentioning

confidence: 99%

“…In previous work, we introduced a simple shear-activated gripper for curved surfaces [14]. We briefly describe this design, then we introduce a new design that builds on the curved surface gripper to allow the application of moments to the gripped object.…”

Section: Designsmentioning

confidence: 99%

“…In previous work [14], we considered the film to be inextensible, resulting in a constant shear stress across its length at the interface with the object. This model matched well with data, not because the film is truly inextensible, but because during stretch local slippage redistributes shear stresses.…”

Section: A Film Shear Stress Modelmentioning

confidence: 99%

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Grasping Without Squeezing: Design and Modeling of Shear-Activated Grippers

et al. 2018

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Abstract-Grasping objects that are too large to envelop is traditionally achieved using friction that is activated by squeezing. We present a family of shear-activated grippers that can grasp such objects without the need to squeeze. When a shear force is applied to the gecko-inspired material in our grippers, adhesion is turned on; this adhesion in turn results in adhesion-controlled friction, a friction force that depends on adhesion rather than a squeezing normal force. Removal of the shear force eliminates adhesion, allowing easy release of an object. A compliant shearactivated gripper without active sensing and control can use the same light touch to lift objects that are soft, brittle, fragile, light, or very heavy. We present three grippers, the first two designed for curved objects, and the third for nearly any shape. Simple models describe the grasping process, and empirical results verify the models. The grippers are demonstrated on objects with a variety of shapes, materials, sizes, and weights.

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Section: Introductionmentioning

confidence: 99%

Section: A Film Shear Stress Modelmentioning

confidence: 99%

Section: Designsmentioning

confidence: 99%

Section: A Film Shear Stress Modelmentioning

confidence: 99%

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Grasping Without Squeezing: Design and Modeling of Shear-Activated Grippers

et al. 2018

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“…Gecko-inspired adhesion uses van der Waals forces between passively deformed micro fibers and the target surface. However, in this technology, the adhesion mechanism relies upon external mechanical preloading in the normal or shear direction [21,[37][38][39][40][41] , which may cause unpredictable deformation and possible damage when the target object is deformable or fragile. Reversibility of the gecko adhesion is also challenging to achieve with lightweight objects, and the adhesion mechanism works poorly on low surface-energy materials, such as Teflon [42] .…”

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Versatile Soft Grippers with Intrinsic Electroadhesion Based on Multifunctional Polymer Actuators

et al. 2015

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Functional Fibers and Fabrics for Soft Robotics, Wearables, and Human–Robot Interface

2020

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Fiber that has been known for thousands of years for textile engineering, is a kind of thin 1D material with large length-diameter ratio and softness. Fiber can be further processed into 1D or 3D yarns and 2D or 3D fabrics and can be subjected to wellestablished textile manufacturing techniques, such as dyeing, twisting, sewing, knitting, weaving, braiding, etc. [1] As commercially available material, fabric has been widely used for clothing, bedding, or furniture. Such wide-adoption demonstrates fabrics/textiles to be important and adaptable as daily useable material due to their merits of protection, breathability, comfort, and durability. [2] In recent years, novel smart responsive functions are desirable to be implemented on fibers and fabrics for seamless integrations of actuators, sensors, power sources, etc., to realize the robotic fibers/fabric-based manipulators and human-robot interfaces. These emerging responsive fibers/ fabrics are desirable to offer programmable functions, actuations, perception and capable of building an intuitive and dynamic collaborative scenarios with human, promising in enabling applications such as remote operation, human motion assistance, human perception, health monitoring and biomedical detection and therapy. [3][4][5] It is an attractive concept that the future human-robot interfaces could be embodied in familiar forms for humans such as textiles or clothes. Compared with the polymeric and elastomeric soft robotics, [6][7][8][9] fibers and fabrics are advantageous in applications of soft robotics and wearables for human. The devices could be programmable to have accurate designs in configuration and high performance by traditional manufacturing processes of textile, applying twist to transform fibers into coils, yarns with hierarchical structures, which could be further fabricated into fabrics or textiles by sewing, weaving, knitting, etc., techniques (Figure 1), guaranteeing good wearability, skin affinity, washability, and durability, which are intriguing and necessary for friendly robotics interactions with human.Soft robotics include three main components of actuators, sensors, and control modules with power sources. [10,11] Of which, actuators, sensors and power sources all could be designed in the form of fibers or fabrics, rendering facile assembly, and integration by interlocking. [12] Common actuations can be Soft robotics inspired by the movement of living organisms, with excellent adaptability and accuracy for accomplishing tasks, are highly desirable for efficient operations and safe interactions with human. With the emerging wearable electronics, higher tactility and skin affinity are pursued for safe and user-friendly human-robot interactions. Fabrics interlocked by fibers perform traditional static functions such as warming, protection, and fashion. Recently, dynamic fibers and fabrics are favorable to deliver active stimulus responses such as sensing and actuating abilities for soft-robots and wearables. First, the responsive mechanisms of fiber/fabric actu...

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Grasping without squeezing: Shear adhesion gripper with fibrillar thin film

Cited by 87 publications

References 15 publications

Grasping Without Squeezing: Design and Modeling of Shear-Activated Grippers

Grasping Without Squeezing: Design and Modeling of Shear-Activated Grippers

Versatile Soft Grippers with Intrinsic Electroadhesion Based on Multifunctional Polymer Actuators

Functional Fibers and Fabrics for Soft Robotics, Wearables, and Human–Robot Interface

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