Novel soft robotic finger model driven by electrohydrodynamic (EHD) pump

Abstract

In summary, this work has pioneered the integration of an EHD robotic finger that incorporates a flexible rubber sheet embedded with soft EHD pumps. The model of this study links the electrical characteristics of the EHD pump (voltage input) with the geometric constraints of the robotic mechanism (deflection angle). The validity of this model has been empirically demonstrated. Our research findings primarily revolve around the manipulation of robotic arms and grasping mechanism. The synthesis of an experimental design and a comprehensive mathematical model showcases the potential of EHD pump-driven soft robotic applications ranging from delicate medical procedures to agile manufacturing processes. Moreover, the achieved maximum bending angle of 37° at 10 kV stands as a testament to the effectiveness of the proposed design and methodology. As an important foundation work in the realm of soft robotics, this research intends to serve as a catalyst for subsequent investigations in EHD pump-robot systems. Noteworthy examples include precision grasping in robotics, complex robotic hand operations, and promoting human-robot collaboration.