A highly versatile soft gripper that can handle an unprecedented range of object types is developed based on a new design dielectric elastomer actuators employing interdigitated electrode geometry, simultaneously maximizing both electroadhesion and electrostatic actuation while incorporating self-sensing. The multifunctionality the actuator leads to integrated, lightweight, fast, with simplified structure control. As service our authors readers, this journal provides supporting information...

This article presents the design, fabrication, and characterization of a soft biomimetic robotic fish based on dielectric elastomer actuators (DEAs) that swims by body and/or caudal fin (BCF) propulsion. BCF is promising locomotion mechanism potentially offers swimming at higher speeds acceleration rates, efficient locomotion. The robot consists laminated silicone layers wherein two DEAs are used in an antagonistic configuration, generating undulating fish-like motion. design guided...

Abstract The advent of soft robotics has led to the development devices that harness compliance and natural deformability media with nonlinear elasticity. This a need batch‐manufacturable sensors can sustain large strains maintain kinematic compatibility systems they track. In this article, an approach address challenge is presented highly stretchable strain operate at up 500%. consist carbon black‐filled elastomer composite batch manufactured using film‐casting techniques CO 2 laser...

Debris in space presents an ever-increasing problem for spacecraft Earth orbit. As a step the mitigation of this issue, CleanSpace One (CSO) microsatellite has been proposed. Its mission is to perform active debris removal decommissioned nanosatellite (the CubeSat SwissCube). An important aspect project development gripper system that will entrap capture target. We present rollable dielectric elastomer minimum energy structures (DEMES) as main component CSO's deployable gripper. DEMES...

A novel variable stiffness actuator composed of a dielectric elastomer (DEA) and low-melting-point-alloy (LMPA) embedded silicone substrate is demonstrated. The device which we call (VSDEA) enables functional soft robots with simplified structure, where the DEA generates bending actuation LMPA provides controllable between rigid states by Joule heating. entire structure VSDEA made silicones an elastic modulus less than 1 MPa providing high compliance when active. has dimension 40 mm length ×...

A variable stiffness fiber made of silicone and low melting point alloys quickly becomes >700 times softer >400 more deformable when heated above 62 °C. It shows remarkable self-healing properties can be clamped, knitted, bonded, as shown in a foldable multi-purpose drone, wearable cast for bone injuries, soft multi-directional actuator.

Abstract In minimally invasive surgery, such as cardiac ablation, magnetically steered catheters made of variable‐stiffness materials can enable higher dexterity and force application to human tissue. However, the long transition time between soft rigid states leads a significant increase in procedure duration. Here, fast‐response, multisegmented catheter is described for surgery thread (FRVST) that encapsulates helical cooling channel. The rapid stiffness change FRVST, composed nontoxic...

Origami manufacturing has led to considerable advances in the field of foldable structures with innovative applications robotics, aerospace, and metamaterials. However, existing origami are either load-bearing that prone tear fail if overloaded or resilient soft limited load capability. In this manuscript, we describe an structure displays both high bearing resilience characteristics. The structure, which is inspired by insect wings, consists a prestretched elastomeric membrane, akin resilin...

We present a fully edible pneumatic actuator based on gelatin-glycerol material. The is monolithic, fabricated via molding process, and measures 90 mm in length, 20 width, 17 thickness. Thanks to the material mechanical characteristics similar those of silicone elastomers, exhibits bending angle 170.3 ° blocked force 0.34 N at applied pressure 25 kPa. These values are comparable elastomer actuators. As validation example, two actuators integrated form gripper capable handling various...

Abstract Variable stiffness (VS) is an important feature that significantly enhances the dexterity of magnetic catheters used in minimally invasive surgeries. Existing with VS consist sensors, heaters, and tubular structures filled low melting point alloys, which have a large change ratio but are toxic to humans. In this paper, catheter described for surgery; based on novel variable thread (VST), made conductive shape memory polymer (CSMP). The CSMP nontoxic simultaneously serves as heater,...

Fixing a prestretched dielectric elastomer actuator (DEA) on flexible frame allows transformation of the intrinsic in-plane area expansion DEAs into complex three-dimensional (3D) structures whose shape is determined by configuration that minimizes elastic energy and bending frame. These stuctures can then unfold upon application voltage. This article presents an analytical modelling minimal structure in case simple rectangular geometry studies influence main design parameters actuator's...

Dielectric elastomer actuators (DEAs), a soft actuator technology, hold great promise for biomimetic underwater robots. The high-voltages required to drive DEAs can however make them challenging use in water. This paper demonstrates method create DEA-based swimming robots that operate reliably even conductive liquids. We ensure the insulation of high-voltage DEA electrodes without degrading actuation performance by laminating silicone layers. A fish and jellyfish were fabricated tested robot...

Abstract A lightweight, textile fabricated, haptic device consisting of an electrostatic adhesive clutch is introduced, which can constrain body movement when activated at low power (≈1 mW). The electrodes are composite structures, prepared by coating copper‐plated polyester fabric with thin films high‐κ dielectric ink. When voltage applied across a pair overlapping electrodes, the charge separation created between overlapped surfaces gives rise to forces that resist tensile loads along...

Soft robots leverage deformable bodies to achieve different types of locomotion, improve transportability, and safely navigate cluttered environments. In this context, variable-stiffness structures provide soft with additional properties, such as the ability increase forces transmitted environment, lock into body configurations, reduce number actuators required for morphological change. Tensegrity have been recently proposed a biologically inspired design principle robots. However, few...

Highly stretchable sensors that can detect large strains are useful in deformable systems, such as soft robots and wearable devices. For strain sensors, two types of sensing methods exist, namely, resistive capacitive. Capacitive has several advantages over the type, high linearity, repeatability, low hysteresis. However, sensitivity (gauge factor) capacitive is theoretically limited to 1, which much lower than resistive-type sensors. The objective this study improve highly by integrating...

We report on an actuator based dielectric elastomers that is capable of antagonistic actuation and passive folding. This enables foldability in robots with simple structures. Unlike other elastomer devices, our concept uses elastic hinges to allow the folding structure, which also provides additional design parameter. To validate through a specific application test, foldable elevon outline size 70 mm × 130 developed angular displacement range torque specifications matched 400-mm wingspan...

This paper presents a method to create fish-like robots with tensegrity systems and describes prototype modeled on the body shape of rainbow trout length 400 mm mass 102 g that is driven by waterproof servomotor. The structure robot consists rigid segments elastic cables represent bone/tissue muscles fish, respectively. structural configuration employing class 2 much simpler than other tensegrity-based underwater robots. It also allows tuning mechanical stiffness, which often said be an...

In recent years, there has been a growing interest in the development of universal soft grippers that can handle objects varying form factors (including flat objects), surface conditions moistened or oily and mechanical properties (deformable fragile). Yet, is no single gripper gently grip with such wide range properties. Herein, combines granular jamming (GJ) electroadhesion (EA) to grasp release large set diverse presented. The operate GJ mode only, EA combination simultaneously activates...

Soft robotics, a research field wherein robots are fabricated from compliant materials, has sparked widespread interest because of its potential applications in variety scenarios. In soft robots, luminescence is an important functionality for communication and information transmission, it typically achieved through electroluminescence, which relies on synthetic substances activated by external electric sources, such as batteries. This paper focuses the use luciferase, biologically derived...