Switchable adhesion of soft composites induced by a magnetic field

Testa, Paolo Valerio; Chappuis, Benoît; Kistler, Sabrina; Style, Robert W.; Heyderman, Laura J.; Dufresne, Eric R.

doi:10.1039/d0sm00626b

Cited by 30 publications

(26 citation statements)

References 34 publications

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“…[27] This caused the surface to change from smooth and wet, to rough and dry upon magnetisation, and hence from slippery to sticky. Testa et al [186] have dispersed MRF droplets in a soft, silicone gel. The composite increases adhesion (i.e.…”

Section: E Optical Propertiesmentioning

confidence: 99%

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Solid–Liquid Composites for Soft Multifunctional Materials

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Tutika

Kim

et al. 2020

Adv Funct Materials

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Soft materials with a liquid component are an emerging paradigm in materials design. The incorporation of a liquid phase, such as water, liquid metals, or complex fluids, into solid materials imparts unique properties and characteristics that emerge as a result of the dramatically different properties of the liquid and solid. Especially in recent years, this has led to the development and study of a range of novel materials with new functional responses, with applications in topics including soft electronics, soft robotics, 3D printing, wet granular systems and even in cell biology. Here we provide a review of solid-liquid composites, broadly defined as a material system with at least one, phase-separated liquid component, and discuss their morphology and fabrication approaches, their emergent mechanical properties and functional response, and the broad range of their applications.

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Section: E Optical Propertiesmentioning

confidence: 99%

“…Testa et al. [ 186 ] have dispersed MRF droplets in a soft, silicone gel. The composite increases adhesion (i.e., pull‐off force) when it is magnetized, as the MRF becomes a yield‐stress solid and dissipates a significant amount of energy as an indenter is pulled off the surface.…”

Section: Properties Of Slcsmentioning

confidence: 99%

Solid–Liquid Composites for Soft Multifunctional Materials

Style

Tutika

Kim

et al. 2020

Adv Funct Materials

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“…To evaluate the effectiveness of the gripper, pull-off tests 18,34,38,41 were conducted using a materials testing machine (Instron 5969). During the tests, the gripper was attached to a -10 N load cell that was mounted to the crosshead of the Instron, and an acrylic substrate was fixed in place directly below.…”

Section: Methodsmentioning

confidence: 99%

“…We also note that various robotic grippers have been developed that rely upon other adhesion-based mechanisms, including electroadhesion, 36 tackiness-based adhesion, 37 and adhesion induced by magnetic fields. 38 For a more comprehensive review of adhesion-based grasping, the reader should consult other sources. 3,39 In the following sections, we investigate the hypothesis that an LMPP-based stiffness tuning element can be used in a soft robotic gripper to enable adhesion-based grasping that is both adaptive (meaning the geometry of the gripper can match the geometry of the object being grasped) and controllable (meaning the force capacity of the gripper can be modulated).…”

Section: Introductionmentioning

confidence: 99%

“…As a result, pull-off force is often used as a metric for evaluating the efficacy of adhesion-based grippers. 18,34,38,40,41 To test the effectiveness of our gripper and help guide its future design, we conduct experiments to measure pull-off force as a function of various parameters. Additionally, a finite element model is developed to simulate the behavior of the gripper.…”

Section: Introductionmentioning

confidence: 99%

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Versatile Soft Robot Gripper Enabled by Stiffness and Adhesion Tuning via Thermoplastic Composite

et al. 2022

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Within the field of robotics, stiffness tuning technologies have potential for a variety of applications-perhaps most notably for robotic grasping. Many stiffness tuning grippers have been developed that can grasp fragile or irregularly shaped objects without causing damage and while still accommodating large loads. In addition to limiting gripper deformation when lifting an object, increasing gripper stiffness after contact formation improves load sharing at the interface and enhances adhesion. In this study, we present a novel stiffness and adhesion tuning gripper, enabled by the thermally induced phase change of a thermoplastic composite material embedded within a silicone contact pad. The gripper operates by bringing the pad into contact with an object while in its heated, soft state, and then allowing the pad to cool and stiffen to form a strong adhesive bond before lifting the object. Pull-off tests conducted using the gripper show that transitioning from a soft to stiff state during grasping enables up to 6 • increase in adhesion strength. Additionally, a finite element model is developed to simulate the behavior of the gripper. Finally, pick-and-place demonstrations are performed, which highlight the gripper's ability to delicately grasp objects of various shapes, sizes, and weights.

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Magnetically Switchable Adhesion and Friction of Soft Magnetoactive Elastomers

et al. 2022

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Herein, the effect of an applied moderate (≈240 mT) magnetic field on the work of adhesion (WoA) of mechanically soft (the shear modulus ≈10 kPa) magnetoactive elastomer (MAE) samples with two different mass fractions (70 and 80 wt%) of carbonyl iron powder (CIP) is concerned. The unfilled elastomer sample is used for comparison. Due to some sedimentation of filling particles, the concentration of inclusions in thin (≈10 μm) subsurface layers is different. It is shown that the WoA increases (up to 1.8‐fold) on the particle‐enriched side (PES) in the magnetic field and its value is higher for higher filler concentration. On the particle‐depleted side (PDS), WoA does not depend on particle concentration and on the magnetic field. Adhesion and friction are coupled in MAEs. No statistically significant difference in the friction coefficient, determined from the extended Amontons´ law, depending on sample side, CIP concentration, or presence of magnetic field is found. However, the PDS in the magnetic field demonstrates significantly higher critical shear stress compared to that for the PES or PDS in the absence of magnetic field. Correlations between different surface properties are discussed. Obtained results are useful for the development of magnetically controllable soft robots.

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Switchable adhesion of soft composites induced by a magnetic field

Abstract:
Magnetically-switchable adhesion of a two-phase composite to non-magnetic objects is achieved by magnetically addressing the material dissipative properties.

Cited by 30 publications

References 34 publications

Solid–Liquid Composites for Soft Multifunctional Materials

Solid–Liquid Composites for Soft Multifunctional Materials

Versatile Soft Robot Gripper Enabled by Stiffness and Adhesion Tuning via Thermoplastic Composite

Magnetically Switchable Adhesion and Friction of Soft Magnetoactive Elastomers

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Switchable adhesion of soft composites induced by a magnetic field

Abstract: Magnetically-switchable adhesion of a two-phase composite to non-magnetic objects is achieved by magnetically addressing the material dissipative properties.

Cited by 30 publications

References 34 publications

Solid–Liquid Composites for Soft Multifunctional Materials

Solid–Liquid Composites for Soft Multifunctional Materials

Versatile Soft Robot Gripper Enabled by Stiffness and Adhesion Tuning via Thermoplastic Composite

Magnetically Switchable Adhesion and Friction of Soft Magnetoactive Elastomers

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Product

Resources

About

Abstract:
Magnetically-switchable adhesion of a two-phase composite to non-magnetic objects is achieved by magnetically addressing the material dissipative properties.