HASEL actuator with electroadhesion mechanism

Abstract

A soft gripper, distinguished by its flexibility, is capable of grasping objects without causing damage. A soft gripper composed of HASEL (hydraulically amplified self-healing electrostatic) actuators operates with significant deformations at high speed and efficiency. However, relying on friction to grip objects may result in insufficient holding force when the actuator deforms due to reactive forces. In this study, a HASEL actuator integrated with electrostatic adhesion functionality was developed. By configuring the electrodes of the HASEL actuator in a comb-like shape, actuation and electrostatic adhesion were seamlessly combined. Experimental results confirmed the operation of the integrated actuator. Furthermore, it was demonstrated that electrostatic adhesion can be controlled by voltage. In the future, applying this actuator to a gripper is expected to enhance grasping force.