Magnetic Augmented Self-sensing Flexible Electroadhesive Grippers

Jianglong Guo*, Chaoqun Xiang, Plinio Rodrigues De Oliveira Zanini, Jonathan Rossiter

*Corresponding author for this work

Research output: Contribution to journalArticle (Academic Journal)

1 Citation (Scopus)
128 Downloads (Pure)

Abstract

Current electroadhesion (EA) grippers cannot be used to lift objects with limited contact areas. Current electromagnetic adhesion (MA) grippers cannot be used to grip non-ferrous materials. Here we combine EA and MA into a monolithic, electrically controllable, flexible, and hybrid Electro/Magneto-adhesive (E/MA), to offer EA grippers augmented with magnetoadhesion and MA grippers augmented with electroadhesion. This E/MA was achieved by exploiting two intertwined coplanar coils inspired by Tesla's flat bifilar coil. By appropriate electrical connections an electromagnetic field is generated - driving magnetic attraction - or an electric field is generated - delivering electroadhesion - or both fields can be generated simultaneously. As a result, the E/MA grippers can not only be used to lift ferrous and non-ferrous materials but also low-density objects such as office paper clips. We also present a customized capacitance measurement method to enable an autonomous material handling system without embedding external sensors. E/MA grippers have the potential to expand the capabilities and impact of soft robotics and industrial gripper systems.
Original languageEnglish
Article number8662685
Pages (from-to)2364-2369
Number of pages6
JournalIEEE Robotics and Automation Letters
Volume4
Issue number3
Early online date7 Mar 2019
DOIs
Publication statusPublished - 1 Jul 2019

Structured keywords

  • Tactile Action Perception

Keywords

  • Soft sensors and actuators
  • grippers and other end-effectors
  • grasping
  • electroadhesion
  • exteroceptive sensing
  • flexible electroadhesive gripper
  • flexible electromagnetic gripper

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