Versatile Soft Grippers with Intrinsic Electroadhesion Based on Multifunctional Polymer 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. As a service to our authors and readers, this journal provides supporting information supplied by the authors. Such materials are peer reviewed and may be re-organized for online delivery, but are not copy-edited or typeset. Technical support issues arising from…

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  Schweizerischer Nationalfonds zur Förderung der Wissenschaftlichen Forschung

  Award: 200020-153122