Double-layered electrohydraulic actuator for bi-directional bending motion of soft gripper

Sohyun Kim, Youngsu Cha

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

There are significant demands to develop soft grippers capable of performing sophisticated tasks such as grasping various types of unstructured objects. To facilitate the development of soft grippers, new actuators based on soft materials and structures that can increase their adaptability to objects are needed. In this study, we propose a new soft electrohydraulic actuator and a robotic gripper. The proposed actuator creates bi-directional bending motion by that two modules are constrained to each other. Also, the gripper based on the soft actuators realizes a wide operating range depending on the combination of the actuator's bending direction. The results demonstrate the grasping ability to grab deformable and delicate objects of various shapes. These bi-directional soft actuators provide new design ideas for mobile robots and wearable devices as well as soft grippers.

Original languageEnglish
Title of host publication2021 18th International Conference on Ubiquitous Robots, UR 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages645-649
Number of pages5
ISBN (Electronic)9781665438995
DOIs
Publication statusPublished - 2021 Jul 12
Event18th International Conference on Ubiquitous Robots, UR 2021 - Gangneung-si, Gangwon-do, Korea, Republic of
Duration: 2021 Jul 122021 Jul 14

Publication series

Name2021 18th International Conference on Ubiquitous Robots, UR 2021

Conference

Conference18th International Conference on Ubiquitous Robots, UR 2021
Country/TerritoryKorea, Republic of
CityGangneung-si, Gangwon-do
Period21/7/1221/7/14

ASJC Scopus subject areas

  • Biomedical Engineering
  • Mechanical Engineering
  • Control and Optimization
  • Artificial Intelligence

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