Versatile Soft Grippers with Intrinsic Electroadhesion Based on Multifunctional Polymer Actuators.

Journal: Advanced materials (Deerfield Beach, Fla.)
PMID: 26551665

Abstract

A highly versatile soft gripper that can handle an unprecedented range of object types is developed based on a new design of dielectric elastomer actuators employing an interdigitated electrode geometry, simultaneously maximizing both electroadhesion and electrostatic actuation while incorporating self-sensing. The multifunctionality of the actuator leads to a highly integrated, lightweight, fast, soft gripper with simplified structure and control.

Authors

  • Jun Shintake
    Institute of Microengineering Neuchâtel Campus, École Polytechnique Fédérale de Lausanne (EPFL), Rue de la Maladière 71b, CH-2000, Neuchâtel, Switzerland.
  • Samuel Rosset
    Institute of Microengineering Neuchâtel Campus, École Polytechnique Fédérale de Lausanne (EPFL), Rue de la Maladière 71b, CH-2000, Neuchâtel, Switzerland.
  • Bryan Schubert
    Institute of Microengineering Lausanne Campus, School of Engineering, École Polytechnique Fédérale de Lausanne (EPFL), Station 17, CH-1015, Lausanne, Switzerland.
  • Dario Floreano
  • Herbert Shea
    Institute of Microengineering Neuchâtel Campus, École Polytechnique Fédérale de Lausanne (EPFL), Rue de la Maladière 71b, CH-2000, Neuchâtel, Switzerland.

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