Electrohydraulic Actuator for a Soft Gripper

Tongil Park; Keehoon Kim; Sang Rok Oh; Youngsu Cha

doi:10.1089/soro.2019.0009

Electrohydraulic Actuator for a Soft Gripper

Tongil Park, Keehoon Kim, Sang Rok Oh, Youngsu Cha

Research output: Contribution to journal › Article › peer-review

43 Citations (Scopus)

Abstract

There is a considerable demand to develop robots that can perform sophisticated tasks such as grabbing delicate materials, passing through narrow pathways, and acting as mediators between humans and robots. Soft robots can provide a solution for such applications. In this study, we propose an electrohydraulic gripper, which is based on electrostatic and hydraulic forces. Interestingly, the gripper generates a hydraulic force without an external fluid supply source. In addition, it achieves good compliance, because the gripper is composed of soft materials such as polyethylene film and silicone. We experimentally investigate the characteristics of the actuator of the gripper. In addition, the electrohydraulic gripper demonstrates an ability to grasp delicate materials.

Original language	English
Pages (from-to)	68-75
Number of pages	8
Journal	Soft Robotics
Volume	7
Issue number	1
DOIs	https://doi.org/10.1089/soro.2019.0009
Publication status	Published - 2020 Feb
Externally published	Yes

Keywords

electrohydraulic force
electrostatic force
soft gripper

ASJC Scopus subject areas

Control and Systems Engineering
Biophysics
Artificial Intelligence

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10.1089/soro.2019.0009

Cite this

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abstract = "There is a considerable demand to develop robots that can perform sophisticated tasks such as grabbing delicate materials, passing through narrow pathways, and acting as mediators between humans and robots. Soft robots can provide a solution for such applications. In this study, we propose an electrohydraulic gripper, which is based on electrostatic and hydraulic forces. Interestingly, the gripper generates a hydraulic force without an external fluid supply source. In addition, it achieves good compliance, because the gripper is composed of soft materials such as polyethylene film and silicone. We experimentally investigate the characteristics of the actuator of the gripper. In addition, the electrohydraulic gripper demonstrates an ability to grasp delicate materials.",

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Electrohydraulic Actuator for a Soft Gripper

Abstract

Keywords

ASJC Scopus subject areas

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