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Updated: Jan 19, 2026

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation

Published on: August 2, 2016

Electrohydraulic Actuator for a Soft Gripper.

Tongil Park¹, Keehoon Kim¹, Sang-Rok Oh¹

¹Center for Intelligent and Interactive Robotics, Korea Institute of Science and Technology, Seongbuk-gu, Republic of Korea.

|September 25, 2019

Summary

This summary is machine-generated.

Researchers developed a novel electrohydraulic gripper using electrostatic and hydraulic forces. This soft robot gripper can grasp delicate materials without an external fluid supply, offering versatile robotic applications.

Keywords:

electrohydraulic force electrostatic force soft gripper

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Area of Science:

Robotics
Materials Science

Background:

Soft robots are increasingly demanded for sophisticated tasks like handling delicate objects and navigating confined spaces.
Existing robotic grippers often lack the compliance and dexterity required for such applications.

Purpose of the Study:

To propose and investigate a novel electrohydraulic gripper based on electrostatic and hydraulic principles.
To demonstrate the gripper's ability to generate hydraulic force without an external fluid source.
To evaluate the compliance and grasping capabilities of the soft robotic gripper.

Main Methods:

The study proposes an electrohydraulic gripper constructed from soft materials like polyethylene film and silicone.
Experimental investigations were conducted to characterize the actuator's properties.
The gripper's performance in grasping delicate materials was assessed.

Main Results:

The electrohydraulic gripper successfully generates hydraulic force intrinsically, without requiring an external fluid supply.
The soft construction of the gripper, utilizing polyethylene film and silicone, results in significant compliance.
Experimental validation confirmed the gripper's effectiveness in grasping delicate materials.

Conclusions:

The developed electrohydraulic gripper offers a promising solution for tasks requiring delicate manipulation and compliance in soft robotics.
The intrinsic hydraulic force generation and soft material composition make it suitable for human-robot interaction and navigating complex environments.