2021
DOI: 10.1016/j.eml.2021.101263
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Magnetically switchable soft suction grippers

Abstract: 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 … Show more

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Cited by 51 publications
(13 citation statements)
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“…Unfortunately, commercialization failed due to challenges such as leaks, difficult actuation and assembly, and materials. Koivikko et al (2021) developed soft suction grippers with switchable stiffness to achieve both small and large forces. The grippers were tested on fruits, such as mangoes and bananas.…”
Section: Recent Advancesmentioning
confidence: 99%
“…Unfortunately, commercialization failed due to challenges such as leaks, difficult actuation and assembly, and materials. Koivikko et al (2021) developed soft suction grippers with switchable stiffness to achieve both small and large forces. The grippers were tested on fruits, such as mangoes and bananas.…”
Section: Recent Advancesmentioning
confidence: 99%
“…Suction cup grippers are inspired by plethora of animals such as octopus, squid, frogs, and geckos. Suction cups have mainly been used for research, commercial and industrial applications to affix objects, manipulate delicate food products, anchor mobile robots to vertical surfaces, or for handling materials with nonporous surfaces in industrial settings (Mantriota and Messina, 2011;Sareh et al, 2017;Koivikko et al, 2021). However, deployment of the current suction cup designs in medical operations is challenging because of their large design and small sliding resistance if anchoring tools shifts base (Iwasaki et al, 2020).…”
Section: Chemical Adhesionmentioning
confidence: 99%
“…To grasp objects of irregular shapes and in confined environments, Mazzolai et al [9] designed and fabricated a soft arm mimicking octopuses' tentacles, which consists of an elastic arm made by polydimethylsiloxane and a pneumatically actuated suction cup array. Besides the conventional passive and fluid actuated suction cups, some researchers attempted to employ new actuation mechanisms [11,[15][16][17]. Lee et al [11] fabricated micro suction cups, of which the inner chamber is covered by temperature-sensitive hydrogel, Polymers 2021, 13, 3481 2 of 12 changing the chamber volume under different temperatures and reversely switching the adhesive force.…”
Section: Introductionmentioning
confidence: 99%