A Soft Robotic Gripper With Gecko-Inspired Adhesive

• Published in: IEEE robotics and automation letters Vol. 3; no. 2; pp. 903 - 910
• Main Authors: Glick, Paul, Suresh, Srinivasan A., Ruffatto, Donald, Cutkosky, Mark, Tolley, Michael T., Parness, Aaron
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.04.2018; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Adhesives; biologically-inspired robots; Elastomers; Force; Friction; Geckos; grasping; Grasping (robotics); Grasping force; Grippers; grippers and other end-effectors; Internal pressure; Properties (attributes); Raw materials; Soft material robotics; Soft robotics; Torque

Previous work has demonstrated the versatility of soft robotic grippers using simple control inputs. However, these grippers still face challenges in grasping large objects and in achieving high-strength grasps. This work investigates the combination of fluidic elastomer actuators and gecko-inspired...