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Title: Soft pneumatic grippers embedded with stretchable electroadhesion
Authors: Guo, Jianglong
Elgeneidy, Khaled
Xiang, Chaoqun
Lohse, Niels
Justham, Laura
Rossiter, Jonathan
Keywords: Electroadhesion
Robotic material handling
Soft electroadhesive
Soft pneumatic gripper
Issue Date: 2018
Publisher: © IOP Publishing Ltd.
Citation: GUO, J. ... et al, 2018. Soft pneumatic grippers embedded with stretchable electroadhesion. Smart Materials and Structures, doi:10.1088/1361-665X/aab579.
Abstract: Current soft pneumatic grippers cannot robustly grasp flat and flexible objects on curved surfaces without distorting them. Current electroadhesive grippers, on the other hand, cannot actively deform to complex shapes to pick up free-form surfaces or objects. An easy-to-implement PneuEA gripper is proposed by the combination the integration of an electroadhesive gripper and a two-fingered soft pneumatic gripper. The electroadhesive gripper was fabricated by segmenting a soft conductive silicon sheet into a two-part electrode design and embedding it in a soft dielectric elastomer. The two-fingered soft pneumatic gripper was manufactured using a standard soft lithography approach. This novel integration has combined the benefits of both the electroadhesive and soft pneumatic grippers. As a result, the proposed PneuEA gripper was not only able to pick-and-place flat and flexible materials such as a porous cloth but also delicate objects such as a light bulb. By combining two soft touch sensors with the electroadhesive, an intelligent and shape-adaptive PneuEA material handling system has been developed. This work is expected to widen the applications of both soft gripper and electroadhesion technologies.
Description: As the Version of Record of this article is going to be / has been published on a gold open access basis under a CC BY 3.0 licence, this Accepted Manuscript is available for reuse under a CC BY 3.0 licence immediately. The accepted version will be replaced by the published version once this is available. Although reasonable endeavours have been taken to obtain all necessary permissions from third parties to include their copyrighted content within this article, their full citation and copyright line may not be present in this Accepted Manuscript version. Before using any content from this article, please refer to the Version of Record on IOPscience once published for full citation and copyright details, as permissions may be required.
Sponsor: The authors acknowledge support from the EPSRC Centre for Innovative Manufacturing in Intelligent Automation, under grant reference number EP/IO33467/1, for undertaking the work presented in section 2 and 3. In addition, the authors acknowledge support from the EPSRC Fellowship project (Soft robotic technologies for next-generation bio-integrative medical devices), under grant reference numbers: EP/M020460/1 and EP/M026388/1, for undertaking the work presented in section 4.
Version: Accepted for publication
DOI: 10.1088/1361-665X/aab579
URI: https://dspace.lboro.ac.uk/2134/32350
Publisher Link: https://doi.org/10.1088/1361-665X/aab579
ISSN: 0964-1726
Appears in Collections:Published Articles (Mechanical, Electrical and Manufacturing Engineering)

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