Soft gripper actuated by electro-hydraulic force

Tongil Park, Youngsu Cha

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

3 Citations (Scopus)


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.

Original languageEnglish
Title of host publicationElectroactive Polymer Actuators and Devices (EAPAD) XXI
EditorsYoseph Bar-Cohen, Iain A. Anderson, Nancy L. Johnson
ISBN (Electronic)9781510625877
Publication statusPublished - 2019
Externally publishedYes
EventElectroactive Polymer Actuators and Devices (EAPAD) XXI 2019 - Denver, United States
Duration: 2019 Mar 42019 Mar 7

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
ISSN (Print)0277-786X
ISSN (Electronic)1996-756X


ConferenceElectroactive Polymer Actuators and Devices (EAPAD) XXI 2019
Country/TerritoryUnited States


  • Electro-hydraulic force
  • Electrostatic force
  • Soft gripper

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering


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