Versatile Soft Grippers with Intrinsic Electroadhesion Based on Multifunctional Polymer Actuators
Versatile Soft Grippers with Intrinsic Electroadhesion Based on Multifunctional Polymer Actuators
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DOI：
10.1002/adma.201504264
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发表时间：
2016-01-13
影响因子：
29.4
通讯作者：
Shea, Herbert
中科院分区：
文献类型：
--
作者：
Shintake, Jun;Rosset, Samuel;Shea, Herbert
一个高度通用的软夹持器，可以处理前所未有的范围内的对象类型的基础上开发的一种新设计的电介质弹性体致动器采用叉指电极的几何形状，同时最大限度地提高电粘附和静电致动，同时结合自感。致动器的多功能性导致高度集成、重量轻、快速、柔软的夹持器具有简化的结构和控制。
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.