EA-SoGripper: Electroadhesion-Stiffening Self-Adaptive Soft Robotic Gripper

Abstract

This article introduces the electroadhesion-stiffening self-adaptive soft robotic gripper (EA-SoGripper), a novel solution to the limitations of traditional rigid robotic grippers. The EA-SoGripper leverages electroadhesion (EA) clutches to dynamically adjust the tension of films, enabling adaptive grasping for objects of varying shapes, sizes, weights, and stiffness. By controlling the applied voltage, the gripper achieves tunable grasping stiffness, with a range of 0.06–1.25 N/mm. A mathematical model predicting load capacity as a function of stiffness and input voltage offers theoretical guidance for practical applications. The gripper integrates a real-time force sensor and a feedback control algorithm, achieving grasping force regulation with high precision. A portable, low-cost ($130), and lightweight (197 g) ac high-voltage power supply system, with a fast response time of 75 ms, further enhances its versatility. Experimental validation demonstrates the EA-SoGripper's ability to securely grasp objects with diverse geometries, including fragile and delicate items, while adapting stiffness to support up to 400 g loads. These results highlight the gripper's potential for applications requiring precise and adaptive handling.