title: Dielectric Elastomer Based "Grippers" for Soft Robotics.
abstract: The use of few stiff fibers to control the deformation of dielectric elastomer actuators, in particular to break the symmetry of equi-biaxial lateral strain in the absence of prestretch, is demonstrated. Actuators with patterned fibers are shown to evolve into unique shapes upon electrical actuation, enabling novel designs of gripping actuators for soft robotics.
authors.affiliation: John A Paulson School of Engineering and Applied Sciences, Harvard University, 11 Oxford St., Cambridge, MA, 02138, USA.
authors.forename: Samuel
authors.initials: S
authors.lastname: Shian
authors.affiliation: John A Paulson School of Engineering and Applied Sciences, Harvard University, 11 Oxford St., Cambridge, MA, 02138, USA.
authors.forename: Katia
authors.initials: K
authors.lastname: Bertoldi
authors.affiliation: John A Paulson School of Engineering and Applied Sciences, Harvard University, 11 Oxford St., Cambridge, MA, 02138, USA.
authors.forename: David R
authors.initials: DR
authors.lastname: Clarke
keywords: bending; dielectric elastomer actuators; fiber stiffening; grippers; soft robotics