title: Versatile Soft Grippers with Intrinsic Electroadhesion Based on Multifunctional Polymer Actuators.
abstract: A highly versatile soft gripper that can handle an unprecedented range of object types is developed based on a new design of dielectric elastomer actuators employing an interdigitated electrode geometry, simultaneously maximizing both electroadhesion and electrostatic actuation while incorporating self-sensing. The multifunctionality of the actuator leads to a highly integrated, lightweight, fast, soft gripper with simplified structure and control.
authors.affiliation: Institute of Microengineering Neuchâtel Campus, École Polytechnique Fédérale de Lausanne (EPFL), Rue de la Maladière 71b, CH-2000, Neuchâtel, Switzerland.|Institute of Microengineering Lausanne Campus, School of Engineering, École Polytechnique Fédérale de Lausanne (EPFL), Station 17, CH-1015, Lausanne, Switzerland.
authors.forename: Jun
authors.initials: J
authors.lastname: Shintake
authors.affiliation: Institute of Microengineering Neuchâtel Campus, École Polytechnique Fédérale de Lausanne (EPFL), Rue de la Maladière 71b, CH-2000, Neuchâtel, Switzerland.
authors.forename: Samuel
authors.initials: S
authors.lastname: Rosset
authors.affiliation: Institute of Microengineering Lausanne Campus, School of Engineering, École Polytechnique Fédérale de Lausanne (EPFL), Station 17, CH-1015, Lausanne, Switzerland.
authors.forename: Bryan
authors.initials: B
authors.lastname: Schubert
authors.affiliation: Institute of Microengineering Lausanne Campus, School of Engineering, École Polytechnique Fédérale de Lausanne (EPFL), Station 17, CH-1015, Lausanne, Switzerland.
authors.forename: Dario
authors.initials: D
authors.lastname: Floreano
authors.affiliation: Institute of Microengineering Neuchâtel Campus, École Polytechnique Fédérale de Lausanne (EPFL), Rue de la Maladière 71b, CH-2000, Neuchâtel, Switzerland.
authors.forename: Herbert
authors.initials: H
authors.lastname: Shea
mesh_terms: D000818:Animals; D002645:Chickens; D020724:Elastomers; D055615:Electrical Equipment and Supplies; D004867:Equipment Design; D010063:Ovum; D010209:Paper; D011138:Polytetrafluoroethylene; D012371:Robotics; D012828:Silicones; D055672:Static Electricity
chemical_list: D020724:Elastomers; D012828:Silicones; D011138:Polytetrafluoroethylene
keywords: dielectric elastomer actuators; electroadhesion; multifunctional actuators; soft grippers; soft robotics