Autonomous and Reversible Adhesion using Elastomeric Suction Cups for In-vivo Medical Treatments

Grasping is one of the key tasks for robots. Gripping fragile and complex three-dimensional (3D) objects without applying excessive contact forces has been a challenge for traditional rigid robot grippers. To solve this challenge, soft robotic grippers have been recently proposed for applying small forces and for conforming to complex 3D object shapes passively and easily. However, rigid grippers are still able to exert larger forces, necessary for picking heavy objects. Therefore, in this study, we propose a magnetically switchable soft suction gripper (diameter: 20 mm) to be able to apply both small and large forces. The suction gripper is in its soft state during approach and attachment while it is switched to its rigid state during picking. Such stiffness switching is enabled by filling the soft suction cup with a magnetorheological fluid (MR fluid), which is switched between low-viscosity (soft) and high-viscosity (rigid) states using a strong magnetic field. We characterized the gripper by measuring the force required to pull the gripper from a smooth glass surface. The force was up to 90% larger when the magnetic field was applied (7.1 N vs. 3.8 N). We also demonstrated picking of curved, rough, and wet 3D objects, and thin and delicate films. The proposed stiffness-switchable gripper can also carry heavy objects and still be delicate while handling fragile objects, which is very beneficial for future potential industrial part pick-and-place applications.

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“… f Estimated from the video in [ 2 ]. g Estimated from the video in [ 29 ]. h Separated filtering system for liquids is needed.…”

Section: Figmentioning

confidence: 99%

Magnetically switchable soft suction grippers

Koivikko

Drotlef

Sitti

et al. 2021

Extreme Mechanics Letters

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“…Suction disks allowed clingfish robots to exhibit wet adhesion of up to 436.6 N, which is capable of adhering to biological and non-biological target objects, such as fishes and hulls. Iwasaki et al presented a medical soft robot with a millimeter-scale suction cup array integrated with a neodymium magnet that could control the adhesion and locomotion via external magnetic fields, enabling strong adhesion to the wet surfaces of an internal organ (Iwasaki et al, 2020). Ma et al presented a robot system that can climb to a steep slope under dry and wet conditions using a gecko dry adhesive coated poly(dopamine methacrylate-co-2-methoxyethyl acrylate-coisopropyl acrylamide)(p(DMA-co-MEA-co-NIAAM))/iron oxide (Fe 3 O 4 ) composite (Ma et al, 2018).…”

Section: Bioinspired Adhesives On Advanced Robotsmentioning

confidence: 99%

Applications of Bioinspired Reversible Dry and Wet Adhesives: A Review

et al. 2021

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Bioinspired adhesives that emulate the unique dry and wet adhesion mechanisms of living systems have been actively explored over the past two decades. Synthetic bioinspired adhesives that have recently been developed exhibit versatile smart adhesion capabilities, including controllable adhesion strength, active adhesion control, no residue remaining on the surface, and robust and reversible adhesion to diverse dry and wet surfaces. Owing to these advantages, bioinspired adhesives have been applied to various engineering domains. This review summarizes recent efforts that have been undertaken in the application of synthetic dry and wet adhesives, mainly focusing on grippers, robots, and wearable sensors. Moreover, future directions and challenges toward the next generation of bioinspired adhesives for advanced industrial applications are described.

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Section: Directing Movements By Applying Magnetic Fieldsmentioning

confidence: 99%

“…[ 155 ] Another interesting idea is from Miyashita and coworkers who attached a neodymium permanent magnet at the center of the nonadhering side of an elastomeric suction cup (Figure 5c). [ 156 ] Using this simple idea, the authors steered the motion of the array of suction cups and then anchored the array to a desired location, all by controlling the magnetic field. The adhesion and detachment of the suction cup were also controlled by the applied magnetic field; thus, manipulation and release of an object was fully possible.…”

Section: Directing Movements By Applying Magnetic Fieldsmentioning

confidence: 99%

Magnetically Controlled Soft Robotics Utilizing Elastomers and Gels in Actuation: A Review

Chung

Parsons

Zheng

2020

Advanced Intelligent Systems

114

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A magnetic field has unique advantages in controlling soft robotics inside of an enclosed space, such as surgical catheters or untethered drug‐delivering robots operating in the human body. Soft actuators, made of elastomers and gels functionalized with magnetically active materials, are natural choices to drive magnetically controlled motions of soft robots. Recent innovations in soft material technologies, including 3D printing, origami/kirigami, tough hydrogels, mechanical metamaterials, and liquid metal‐injected elastomers, offer technological foundations to develop soft actuators and robots with significantly enhanced performance. Herein, an overview of magnetic soft actuators and robots from a materials engineer's perspective is provided. First, the historical background and recent trends of magnetic soft actuators are discussed. Second, the motions of tethered or untethered magnetic soft robotics are classified into aquatic swimmers, terrestrial locomotors, and grippers. Herein, preprogrammed motion under patterned magnetic stimuli is achieved by controlled magnetization of elastomeric materials containing hard magnetic particles. Finally, the applications of magnetically controlled soft robotics in surgical and therapeutic medical devices are discussed.

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Autonomous and Reversible Adhesion using Elastomeric Suction Cups for In-vivo Medical Treatments

Abstract: This is a repository copy of Autonomous and reversible adhesion using elastomeric suction cups for in-vivo medical treatments.

Cited by 18 publications

References 28 publications

Magnetically switchable soft suction grippers

Magnetically switchable soft suction grippers

Applications of Bioinspired Reversible Dry and Wet Adhesives: A Review

Magnetically Controlled Soft Robotics Utilizing Elastomers and Gels in Actuation: A Review

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