Versatile Soft Grippers with Intrinsic Electroadhesion Based on Multifunctional Polymer Actuators

作者：Jun Shintake, Samuel Rosset, Bryan Schubert, Dario Floreano, Herbert Shea · 发表于：Advanced Materials · 年份：2015 · DOI：10.1002/adma.201504264 · 被引用次数：803 · 研究领域：Advanced Materials and Mechanics、Advanced Sensor and Energy Harvesting Materials、Dielectric materials and actuators

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.