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  4. Stretchable Electroadhesion for Soft Robots
 
conference paper

Stretchable Electroadhesion for Soft Robots

Germann, Jürg Markus  
•
Schubert, Bryan Edward  
•
Floreano, Dario  
2014
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)
IEEE/RSJ International Conference on Intelligent Robots and Systems

With the ongoing rise of soft robots there emerges a need for new soft robotic technologies that can cope with hyper-flexibility and stretchability. In this paper, we describe our developments on enabling controllable adhesion, namely electroadhesion, for the use in soft robots. We present a method to manufacture stretchable electroadhesive pads and characterize their performance when stretching the pad more than double its original length. Our results suggest that the normal detachment force per area slightly decreases with the stretching, while the shear detachment force per area increase with the stretch ratio. These results imply that stretchable electroadhesive pads have higher adaptivity to a given task compared to non-stretchable pads, because the stretchable pads are adaptable in terms of their mechanical stiffness as well as their adhesive force.

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Type
conference paper
DOI
10.1109/IROS.2014.6943115
Web of Science ID

WOS:000349834604007

Author(s)
Germann, Jürg Markus  
Schubert, Bryan Edward  
Floreano, Dario  
Date Issued

2014

Publisher

Ieee

Publisher place

New York

Published in
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)
Total of pages

6

Start page

3933

End page

3938

Subjects

Electroadhesion

•

Soft Robotics

Note

NCCR, softSRrobots

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
LIS  
Event nameEvent placeEvent date
IEEE/RSJ International Conference on Intelligent Robots and Systems

Chicago, Illinois, USA

September 14-18, 2014

Available on Infoscience
May 19, 2014
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/103421
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