Versatile Soft Grippers with Intrinsic Electroadhesion Based on Multifunctional Polymer Actuators

Shintake, Jun; Rosset, Samuel; Schubert, Bryan Edward; Floreano, Dario; Shea, Herbert

doi:10.1002/adma.201504264

Cited by 627 publications

(453 citation statements)

References 58 publications

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“…Underwater, the weight is balanced by the buoyant force and the water can be used as an electric ground, thereby enabling high payload 64 and even untethered swimming 65 . When combined with other actuators, such as stiffness-tuning components 69 or electrostatic adhesives 70 (Fig. 2j), the maximum achievable force is increased, enabling significantly higher gripper loads.…”

Section: Nature Electronicsmentioning

confidence: 99%

Untethered soft robotics

2018

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Research in soft matter engineering has introduced new approaches in robotics and wearable devices that can interface with the human body and adapt to unpredictable environments. However, many promising applications are limited by the dependence of soft systems on electrical or pneumatic tethers. Recent work in soft actuation and electronics has made removing such cords more feasible, heralding a variety of applications from autonomous field robotics to wireless biomedical devices. Here we review the development of functional untethered soft robotics. We focus on recent advances in soft robotic actuation, sensing and integration as they relate to untethered systems, and consider the key challenges the field faces in engineering systems that could have practical use in real-world conditions.

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Section: Nature Electronicsmentioning

confidence: 99%

Untethered soft robotics

2018

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“…These examples use primarily a normal force that is directed away from the object to lift it. Electrostatic adhesion requires much less pressing force to engage but provides limited adhesion that would require a very large piece and additional control infrastructures for large load applications [12], [13].…”

Section: Introductionmentioning

confidence: 99%

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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“…The versatility of the electroadhesive force led to the development of wall-climbing robots [9][10][11], and perching mechanism of a robotic insect [12] in the field of robotics. For manipulation tasks, it is also applied to manipulation of arbitrary objects [13], fabrics [14], carbon fibers [15], unbound sheets of papers [16], and silicon wafers [17]. Thus far, the maximum force that electroadhesion can generate has mainly been studied [18].…”

Section: B Electroadhesive Forcementioning

confidence: 99%

Automatic page-turning mechanism with near-field electroadhesive force for linearly correctable imaging

Lee

Jeon

Cha

et al. 2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-Recently, demand for digitization of books has increased in tandem with the spread of portable devices for electronic books. However, in a number of invented bookscanning devices, pages are turned manually by users, or pricey three-dimensional cameras are needed for image correction. Our automatic page-turning mechanism employs near-field electroadhesive force to turn a single page. As the near-field electroadhesive force on the closest sheet of paper is far stronger than that on the second, only a single sheet of paper can be lifted. Using Fourier series expansion, we prove that regardless of the geometrical configuration of electrodes, the force ratio on the closest to the second is dominantly controlled by the period of the configuration. Based on this, a novel electrode configuration is designed aiming to give higher force ratio than the conventional interdigital patterns. The advantage of our mechanism in image processing is that perspective correction is compatible with our mechanism, hence not requiring devices for acquiring 3-D information to reconstruct images. Our automatic page-turning mechanism with a fair success rate and the reduced number of components shows that it is a promising method for automatic low-cost book-scanning devices.

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Versatile Soft Grippers with Intrinsic Electroadhesion Based on Multifunctional Polymer Actuators

Cited by 627 publications

References 58 publications

Untethered soft robotics

Untethered soft robotics

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

Automatic page-turning mechanism with near-field electroadhesive force for linearly correctable imaging

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