A Soft, Fast and Versatile Electrohydraulic Gripper with Capacitive Object Size Detection

Zachary Yoder; Daniela Macari; Gavriel KleinwaksIngemar SchmidtEric AcomeChristoph Keplinger

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A Soft, Fast and Versatile Electrohydraulic Gripper with Capacitive Object Size Detection

机译：A Soft, Fast and Versatile Electrohydraulic Gripper with Capacitive Object Size Detection

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Soft robotic grippers achieve increased versatility and reduced complexitythrough intelligence embodied in their flexible and conformal structures.The most widely used soft grippers are pneumatically driven; they are simpleand effective but require bulky air compressors that limit their applicationspace and external sensors or computationally expensive vision systems forpick verification. In this study, a multi-material architecture for self-sensingelectrohydraulic bending actuators is presented that enables a new class ofhighly versatile and reconfigurable soft grippers that are electrically drivenand feature capacitive pick verification and object size detection. These electrohydraulicgrippers are fast (step input results in finger closure in 50 ms),draw low power (6.5 mW per finger to hold grasp), and can pick a widevariety of objects with simple binary electrical control. Integrated high-voltagedriving electronics are presented that greatly increase the application space ofthe grippers and make them readily compatible with commercially availablerobotic arms.

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来源
《Advanced functional materials》 |2023年第3期|2209080.1-2209080.12|共12页
作者
Zachary Yoder; Daniela Macari; Gavriel KleinwaksIngemar SchmidtEric AcomeChristoph Keplinger;
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作者单位

Robotic Materials DepartmentMax Planck Institute for Intelligent SystemsHeisenbergstrasse 3, 70569 Stuttgart, Germany, Paul M. Rady Department of Mechanical EngineeringUniversity of Colorado, Boulder1111 Engineering Drive, Boulder, CO 80309, USA;

Robotic Materials DepartmentMax Planck Institute for Intelligent SystemsHeisenbergstrasse 3, 70569 Stuttgart, Germany;

Paul M. Rady Department of Mechanical EngineeringUniversity of Colorado, Boulder1111 Engineering Drive, Boulder, CO 80309, USARobotic Materials DepartmentMax Planck Institute for Intelligent SystemsHeisenbergstrasse 3, 70569 Stuttgart, Germany, Paul M. Rady Department of Mechanical EngineeringUniversity of Colorado, Boulder1111 Engineering Drive, Boulder, CO 80309, USA, Material;

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正文语种英语
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关键词
artificial muscles; capacitive sensing; electrostatic actuators; grippers; soft robotics;

A Soft, Fast and Versatile Electrohydraulic Gripper with Capacitive Object Size Detection

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