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DEA for soft robotics: 1-gram actuator picks up a 60-gram egg
2015
Electroactive Polymer Actuators and Devices (EAPAD) 2015
We introduce a soft actuator for grippers using DEA capable of bending actuation. The actuator is also able to generate the electro-adhesion by the fringe field formed at the edges of the electrodes. The adhesion improves the holding force and ensures the conformation of the structure to the object. After the characterization of the actuator, we develop a 2finger soft gripper capable of holding various objects. The gripper has a mass of around 1 g, and consists of a few cm long actuation parts,
doi:10.1117/12.2084043
fatcat:qwjzhn6m2jfoplaapb6b7ur7v4