Center for Intelligent and Interactive Robotics, Korea Institute of Science and Technology, Seongbuk-gu, Republic of Korea.
Soft Robot. 2020 Feb;7(1):68-75. doi: 10.1089/soro.2019.0009. Epub 2019 Sep 24.
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.
人们对于能够执行复杂任务的机器人有很大的需求，例如抓取易碎材料、通过狭窄通道，以及充当人类和机器人之间的媒介。软机器人可以为这些应用提供解决方案。在这项研究中，我们提出了一种基于静电和液压力的电液夹持器。有趣的是，夹持器在没有外部流体供应源的情况下产生液压力。此外，由于夹持器由软质材料如聚乙烯薄膜和硅酮制成，因此它具有良好的顺应性。我们实验研究了夹持器的执行器的特性。此外，电液夹持器展示了抓取易碎材料的能力。
