Shintake, JunRosset, SamuelSchubert, Bryan EdwardFloreano, DarioShea, Herbert2015-09-292015-09-292015-09-29201610.1002/adma.201504264https://infoscience.epfl.ch/handle/20.500.14299/119491WOS:000367842400002A highly versatile soft gripper that can handle an unprecedented range of object types is developed based on a new design of dielectric elastomer actuators employing an interdigitated electrode geometry, simultaneously maximizing both electroadhesion and electrostatic actuation while incorporating self-sensing. The multifunctionality of the actuator leads to a highly integrated, lightweight, fast, soft gripper with simplified structure and control.Soft GrippersDielectric Elastomer ActuatorsSoft RoboticsElectroadhesionMultifunctional Actuatorstext::journal::journal article::research article