Stretchable electroadhesion for soft robots

Germann, Jürg Markus; Schubert, Bryan Edward; Floreano, Dario

doi:10.1109/iros.2014.6943115

Cited by 48 publications

(44 citation statements)

References 17 publications

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“…III. ELECTROSTATIC ADHESION A simplified model [24] can be used to describe the EA force between two contacting surfaces in the presence of an electric field. Consider an EA pad of area A, the electrodes of which are at a potential difference V. If this pad is in contact with a surface, the force of attraction F N can be given as…”

Section: B Dea Modelmentioning

confidence: 99%

“…The electro-adhesive pads are fabricated by casting multiple layers of silicone in a manner similar to that presented in [24]. Instead of an engraved mould, a mask is used to form the electrode region.…”

Section: B Fabrication Of Ea Feetmentioning

confidence: 99%

“…This enables quick changes in design if required. The order of constructing the layers is reversed as compared to the method in [24]. Ecoflex 00-30 from Smooth-On has been chosen as the elastomer material.…”

Section: B Fabrication Of Ea Feetmentioning

confidence: 99%

See 2 more Smart Citations

Multi-directional crawling robot with soft actuators and electroadhesive grippers

Digumarti

Cao

Guo

et al. 2018

2018 IEEE International Conference on Soft Robotics (RoboSoft)

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This paper presents the design of a planar, low profile, multi-directional soft crawling robot. The robot combines soft electroactive polymer actuators with compliant electroadhesive feet. A theoretical model of a multi-sector dielectric elastomer actuator is presented. The relation between actuator stroke and blocking force is experimentally validated. Electrostatic adhesion is employed to provide traction between the feet of the robot and the crawling surface. Shear force is experimentally determined and forces up to 3N have been achieved with the current pad design. A 2D multi-directional gait is demonstrated with the robot prototype. Speeds up to 12mm/s (0.1 body-lengths/s) have been observed. The robot has the potential to move on a variety of surfaces and across gradients, a useful ability in scenarios involving exploration.

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Section: B Dea Modelmentioning

confidence: 99%

Section: B Fabrication Of Ea Feetmentioning

confidence: 99%

See 1 more Smart Citation

Multi-directional crawling robot with soft actuators and electroadhesive grippers

Digumarti

Cao

Guo

et al. 2018

2018 IEEE International Conference on Soft Robotics (RoboSoft)

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“…Various stretchable electroadhesive manufacturing methods have been reported such as mixing carbon black powers with Ecoflex elastomeric dielectric materials [15]. The stretchable electrodes can also be manufactured from the aforementioned soft lithography approach such as pouring prepared conductive PDMS [16] into a 3D printed mould featured with a certain electrode geometry.…”

Section: Electroadhesive Design and Fabricationmentioning

confidence: 99%

Soft pneumatic grippers embedded with stretchable electroadhesion

Guo

Elgeneidy

Xiang

et al. 2018

Smart Mater. Struct.

133

100

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Current soft pneumatic grippers cannot robustly grasp flat materials and flexible objects on curved surfaces without distorting them. Current electroadhesive grippers, on the other hand, are difficult to actively deform to complex shapes to pick up free-form surfaces or objects. An easyto-implement PneuEA gripper is proposed by the integration of an electroadhesive gripper and a two-fingered soft pneumatic gripper. The electroadhesive gripper was fabricated by segmenting a soft conductive silicon sheet into a two-part electrode design and embedding it in a soft dielectric elastomer. The two-fingered soft pneumatic gripper was manufactured using a standard soft lithography approach. This novel integration has combined the benefits of both the electroadhesive and soft pneumatic grippers. As a result, the proposed PneuEA gripper was not only able to pick-and-place flat and flexible materials such as a porous cloth but also delicate objects such as a light bulb. By combining two soft touch sensors with the electroadhesive, an intelligent and shape-adaptive PneuEA material handling system has been developed. This work is expected to widen the applications of both soft gripper and electroadhesion technologies.

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“…Based on these proprieties electro adhesive devices have been developed in the form of stretchable electro adhesive pads. In this case, the forces that generate electro adhesion vary depending on how the pads are deformed [7]. Figure 7: Stratchabl electro adhesive device [7] If the electro adhesive pads are stretched, the space between electrodes increases, decreasing the electric field strength thus resulting in decreased polarization.…”

Section: Stretchable Electro Adhesive Padsmentioning

confidence: 99%

Study on the Current State of Research in the Field of Artificial Clamping Systems Using Astringent Electro Adhesion Technology

2018

IJOMAM

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This paper aims to provide an analysis of the current state of research in the field of artificial clamping systems using astringent electro adhesive technology. The principle of electro adhesion phenomenon is described based on devices build as research prototypes made by several technology developers and research institutes. Here is presented, starting with the first uses of electro adhesion devices in the 1960's as a standalone technology by NASA Research Center on astronaut garment for outer space, to the prehensile prototypes developed by Laboratory of Intelligent Systems, School of Engineering, Ecole Polytechnique Federale de Lausanne, used for gripping soft, fragile objects. In this paper we show the various advantages of electro adhesion devices, also the limitations that depend on the proprieties of the adherent object. Focusing on the reliability, the materials and the operating environment in the future commercial users(factories, logistics centers etc.) could envision the replacement of classic devices based on vacuum or magnetic technology with electro adhesive devices.

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Stretchable electroadhesion for soft robots

Cited by 48 publications

References 17 publications

Multi-directional crawling robot with soft actuators and electroadhesive grippers

Multi-directional crawling robot with soft actuators and electroadhesive grippers

Soft pneumatic grippers embedded with stretchable electroadhesion

Study on the Current State of Research in the Field of Artificial Clamping Systems Using Astringent Electro Adhesion Technology

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