Delicate yet strong: Characterizing the electro-adhesion lifting force with a soft gripper

Compliant grippers are one of the most promising soft robotic devices for industrial tasks. Soft grippers dramatically simplify grasping control because the gripper automatically conforms to the object's shape. A common limitation of soft structures is that they can only generate low forces, limiting grasping ability. One approach to increase the holding force is to increase the shear force by using controlled adhesion: the lifting force is thus increased, while the clamping force can be kept low, important for manipulating delicate objects. In this work, we explore the lifting force generated with a soft gripper using electroadhesion. We show that this force is highly dependent on the holding posture, which depends on both the shape of the gripper and the shape of the object. For a 1 cm(2) electroadhesion area, we measure maximum lifting forces up to 16 N, strongly dependent on object's shape. Reliability is also an essential feature to move soft robots into industrial scenarios. The gripper survived over 100 cycles at high load with no damage, showing its high robustness. Combining electroadhesion and dielectric elastomers actuators, our soft gripper generates grasping forces so high that we reach the structural limits of the rigid plastic frame, yet it is delicate enough to gently pick up and release a cherry tomato.