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Related Experiment Video

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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

A hydraulic soft microgripper for biological studies.

Sina Baghbani Kordmahale¹, Jian Qu², Anastasia Muliana²

¹Department of Electrical Engineering and Computer Science, Texas A&M University, College Station, TX, USA.

Scientific Reports

|December 10, 2022

Summary

A new microscale hydraulic soft gripper made from Polydimethylsiloxane (PDMS) can gently handle delicate objects like insects. This microgripper shows potential for precise micro-manipulation tasks in biological and microfluidic applications.

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Area of Science:

Materials Science
Robotics
Microfluidics

Background:

Micro-manipulation requires precise and gentle handling tools.
Existing microgrippers may lack the dexterity or force sensitivity for delicate biological samples.

Purpose of the Study:

To develop and characterize a novel microscale hydraulic soft gripper.
To demonstrate its capability in handling small, fragile objects without causing damage.

Main Methods:

Fabrication of a soft gripper using Polydimethylsiloxane (PDMS) via soft material casting.
Integration of three finger-like columns on a circular membrane actuated by hydraulic pressure.
Characterization of PDMS material properties and simulation of gripper motion using Abaqus software.

Main Results:

The microgripper successfully manipulated an ant without damage.
Demonstrated a maximum gripping force of 543 µN and the ability to lift a 0.5 mm diameter ball (168.4 mg).
Experimental and simulation results for gripper deformation showed good agreement.

Conclusions:

The developed microscale hydraulic soft gripper is effective for delicate object manipulation.
The device shows significant potential as a versatile micro/bio manipulator.
Its microfluidic compatibility opens avenues for advanced microscale operations.