Versatile Soft Grippers with Intrinsic Electroadhesion Based on Multifunctional Polymer Actuators.

A 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.