Additive manufacturing of flexible 3D surface electrodes for electrostatic adhesion control and smart robotic gripping
Abstract Mechanically flexible surface structures with embedded conductive electrodes are attractive in contact-based devices, such as those used in reversible dry/adhesion and tactile sensing. Geometrical shapes of the surface structures strongly determine the contact behavior and ther...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
Tsinghua University Press
2023
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| Online Access: | https://hdl.handle.net/1721.1/150863 |
| _version_ | 1811084843904139264 |
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| author | Kim, Dong G. Je, Hyeongmin Hart, A. J. Kim, Sanha |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Kim, Dong G. Je, Hyeongmin Hart, A. J. Kim, Sanha |
| author_sort | Kim, Dong G. |
| collection | MIT |
| description | Abstract
Mechanically flexible surface structures with embedded conductive electrodes are attractive in contact-based devices, such as those used in reversible dry/adhesion and tactile sensing. Geometrical shapes of the surface structures strongly determine the contact behavior and therefore the resulting adhesion and sensing functionalities; however, available features are often restricted by fabrication techniques. Here, we additively manufacture elastomeric structure arrays with diverse angles, shapes, and sizes; this is followed by integration of conductive nanowire electrodes. The fabricated flexible three-dimensional (3D) surface electrodes are mechanically compliant and electrically conductive, providing multifunctional ability to sense touch and to switch adhesion via a combined effect of shear- and electro adhesives. We designed soft, anisotropic flexible structures to mimic the gecko’s reversible adhesion, which is governed by van der Waals forces; we integrated nanowires to further manipulate the localized electric field among the adjacent flexible 3D surface electrodes to provide additional means to digitally tune the electrostatic attraction at the contact interface. In addition, the composite surface can sense the contact force via capacitive sensing. Using our flexible 3D surface electrodes, we demonstrate a complete soft gripper that can grasp diverse convex objects, including metal, ceramic, and plastic products, as well as fresh fruits, and that exhibits 72% greater electroadhesive gripping force when voltage is applied. |
| first_indexed | 2024-09-23T12:58:29Z |
| format | Article |
| id | mit-1721.1/150863 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T12:58:29Z |
| publishDate | 2023 |
| publisher | Tsinghua University Press |
| record_format | dspace |
| spelling | mit-1721.1/1508632024-01-10T18:23:19Z Additive manufacturing of flexible 3D surface electrodes for electrostatic adhesion control and smart robotic gripping Kim, Dong G. Je, Hyeongmin Hart, A. J. Kim, Sanha Massachusetts Institute of Technology. Department of Mechanical Engineering Abstract Mechanically flexible surface structures with embedded conductive electrodes are attractive in contact-based devices, such as those used in reversible dry/adhesion and tactile sensing. Geometrical shapes of the surface structures strongly determine the contact behavior and therefore the resulting adhesion and sensing functionalities; however, available features are often restricted by fabrication techniques. Here, we additively manufacture elastomeric structure arrays with diverse angles, shapes, and sizes; this is followed by integration of conductive nanowire electrodes. The fabricated flexible three-dimensional (3D) surface electrodes are mechanically compliant and electrically conductive, providing multifunctional ability to sense touch and to switch adhesion via a combined effect of shear- and electro adhesives. We designed soft, anisotropic flexible structures to mimic the gecko’s reversible adhesion, which is governed by van der Waals forces; we integrated nanowires to further manipulate the localized electric field among the adjacent flexible 3D surface electrodes to provide additional means to digitally tune the electrostatic attraction at the contact interface. In addition, the composite surface can sense the contact force via capacitive sensing. Using our flexible 3D surface electrodes, we demonstrate a complete soft gripper that can grasp diverse convex objects, including metal, ceramic, and plastic products, as well as fresh fruits, and that exhibits 72% greater electroadhesive gripping force when voltage is applied. 2023-06-06T19:09:59Z 2023-06-06T19:09:59Z 2023-06-01 2023-06-04T03:11:06Z Article http://purl.org/eprint/type/JournalArticle https://hdl.handle.net/1721.1/150863 Kim, Dong G., Je, Hyeongmin, Hart, A. J. and Kim, Sanha. 2023. "Additive manufacturing of flexible 3D surface electrodes for electrostatic adhesion control and smart robotic gripping." en https://doi.org/10.1007/s40544-022-0691-9 Creative Commons Attribution http://creativecommons.org/licenses/by/4.0/ The author(s) application/pdf Tsinghua University Press Springer |
| spellingShingle | Kim, Dong G. Je, Hyeongmin Hart, A. J. Kim, Sanha Additive manufacturing of flexible 3D surface electrodes for electrostatic adhesion control and smart robotic gripping |
| title | Additive manufacturing of flexible 3D surface electrodes for electrostatic adhesion control and smart robotic gripping |
| title_full | Additive manufacturing of flexible 3D surface electrodes for electrostatic adhesion control and smart robotic gripping |
| title_fullStr | Additive manufacturing of flexible 3D surface electrodes for electrostatic adhesion control and smart robotic gripping |
| title_full_unstemmed | Additive manufacturing of flexible 3D surface electrodes for electrostatic adhesion control and smart robotic gripping |
| title_short | Additive manufacturing of flexible 3D surface electrodes for electrostatic adhesion control and smart robotic gripping |
| title_sort | additive manufacturing of flexible 3d surface electrodes for electrostatic adhesion control and smart robotic gripping |
| url | https://hdl.handle.net/1721.1/150863 |
| work_keys_str_mv | AT kimdongg additivemanufacturingofflexible3dsurfaceelectrodesforelectrostaticadhesioncontrolandsmartroboticgripping AT jehyeongmin additivemanufacturingofflexible3dsurfaceelectrodesforelectrostaticadhesioncontrolandsmartroboticgripping AT hartaj additivemanufacturingofflexible3dsurfaceelectrodesforelectrostaticadhesioncontrolandsmartroboticgripping AT kimsanha additivemanufacturingofflexible3dsurfaceelectrodesforelectrostaticadhesioncontrolandsmartroboticgripping |