Beyond Human Hand: Shape-Adaptive and Reversible Magnetorheological Elastomer-Based Robot Gripper Skin

Abstract

Developing a simple and universal solution for gripping fragile, multiscaled, and arbitrary-shaped objects using a robot gripper is challenging. Herein, we propose a universal, shapeadaptive/-retaining and reversible, hardness-variable gripper skin that serves as a resourceful solution for grasping such objects without damaging them. The proposed universal gripper skin based on a magnetorheological elastomer is attached to a robot gripper. The proposed skin takes the shape of a target object as soon as the gripper grasps the object. At this time, we solidify the gripper skin by applying a magnetic field, thereby allowing the gripper to grasp the target object easily. After releasing the objects, the magnetic field is removed and the deformed proposed gripper skin rapidly restores its original shape. The proposed adaptive gripper skin is made to grasp various target objects, such as cylinders, cuboids, and triangular prisms, based on which its grasping performance is evaluated.

Actuation Technologies for Soft Robot Grippers and Manipulators: A Review

“…No sensors were used in this design. A good response time comparable to the industrial applications was obtained[50]. The use of MR technology was also made by Véronneau et al…”

Magnetism-Responsive Anisotropic Film with Self-Sensing and Multifunctional Shape Manipulation

“…Numerous research studies demonstrate that anisotropic magnetorheological composites have excellent contact-free magnetoinduced actuation characteristics, which has been used to develop various functional devices, such as fertilization assistance, artificial muscles, and wireless microgrippers. − At present, the actuating systems have been undergone rapid growth; − and moreover, some of them with integrated mechanical-sensing elements can not only perform various actuating actions but also self-perceive their position, posture, and environmental change. − Particularly, as magnetism-responsive actuators have great application potentials in enclosed environments (such as blood vessels , ), the magnetic actuating devices are required to monitor and feedback in real-time for operation purposes. However, most research studies on magnetism-responsive actuators are focused on the actuating performances, and only a few can feedback the execution status of the actuator. − Studies on the self-sensing and distinguishment of actuation behaviors of magnetism-responsive materials with complex chain-orientation structure are rarely reported.…”

Magnetorheological Fluids with Surface-Modified Iron Oxide Magnetic Particles with Controlled Size and Shape

“…13,14 Examples of intelligent devices that may benefit from MR fluids include biomedical devices, precision polishing devices, chemical sensors, and soft gripper actuators. 15,16 A wide variety of magnetic particles, such as carbonyl iron (CI), iron(II and III) oxide (Fe 3 O 4 ), iron (Fe), and Fe-based alloys, have been applied in MR fluids owing to their good magnetic properties and tunable structures. 17−20 It is well known that particle size and particle shape have a significant influence on the magnetic properties of magnetic particles.…”

“…The reverse structural transition of MR fluids occurs as soon as the magnetic field is removed . Consequently, MR fluids have attracted significant attention over the past few decades for use in scientific research and industrial applications because of the potential to connect electronic controls and mechanical systems. , Numerous traditional mechanical devices, such as brakes, dampers, power steering pumps, and shock absorbers, can benefit from the rapid, controllable, and reversible rheological properties of MR fluids. , Examples of intelligent devices that may benefit from MR fluids include biomedical devices, precision polishing devices, chemical sensors, and soft gripper actuators. , A wide variety of magnetic particles, such as carbonyl iron (CI), iron­(II and III) oxide (Fe 3 O 4 ), iron (Fe), and Fe-based alloys, have been applied in MR fluids owing to their good magnetic properties and tunable structures. − …”