Adaptive Origami Electrostatic Adhesion Technology for Curved Objects

Abstract

Soft robots have promising applications in healthcare, manufacturing, and disaster relief. Inspired by biological models, their superior flexibility and environmental adaptability have increased their use in soft grippers. However, soft grippers often struggle with precise force control and high energy consumption during operation. One solution to these challenges is the utilization of electrostatic adhesion technology. This technology uses electrostatic forces generated by applying a high voltage between electrodes to adhere to objects, allowing for energy-efficient and delicate manipulation. We propose a novel paper-based origami electroadhesive pad (p-OEP) utilizing paper mechatronics. Thin-film comb electrodes were formed through inkjet printing, and self-folding technology was employed to create a structure that adapts to the curvature of the target object. This increases the adhesive area between the p-OEP and object, achieving high strength. This innovative approach expands the application range of soft grippers and provides a new gripping solution that is low-cost and environmentally friendly.