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Soft gripper actuated by electro-hydraulic force
Author(s): Tongil Park; Youngsu Cha
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Paper Abstract

In this paper, we propose a soft robotic gripper to be mounted easily and to have high actuation force by harnessing electrostatic and hydraulic phenomena. Specifically, we develop a soft actuator to consist of swelling pouches, a silicon backbone beam, and a supplying pouch with electrodes on its both surfaces. The two pouches include dielectric fluid, and they are connected. When a high voltage is applied to the electrode of the supplying pouch, the fluid in the pouch moves to the swelling one. In addition, we present a soft gripper using the soft electro-hydraulic actuators.

Paper Details

Date Published: 13 March 2019
PDF: 6 pages
Proc. SPIE 10966, Electroactive Polymer Actuators and Devices (EAPAD) XXI, 109661Q (13 March 2019); doi: 10.1117/12.2514008
Show Author Affiliations
Tongil Park, Korea Institute of Science and Technology (Korea, Republic of)
Youngsu Cha, Korea Institute of Science and Technology (Korea, Republic of)

Published in SPIE Proceedings Vol. 10966:
Electroactive Polymer Actuators and Devices (EAPAD) XXI
Yoseph Bar-Cohen, Editor(s)

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