IonPad adhesive gripper with variable-stiffness endoskeleton

In this study, we develop an innovative adhesion gripper capable of handling plate-like objects with various thicknesses without causing damage. The gripper combines an adhesion pad utilizing intermolecular forces and a variable-stiffness endoskeleton, allowing for precise adjustment of the pressing force during contact and the adhesion force while gripping an object. Central to its design is the fluid-driven and origami-structured endoskeleton that regulates contact and adhesion forces by controlling the fluid temperature. Furthermore, the gripper includes an outer frame which can be used for releasing the grasped objects by contracting the endoskeleton through fluid aspiration. Experimental evaluations demonstrate that the maximum contact force can be adjusted over a 27-fold range, while the adhesion force is tunable by up to a 12-fold variation. Notably, the ability to finely modulate the contact force facilitates the effective handling of thin plate components even on uneven surfaces. These results highlight the gripper's potential for applications that require the delicate and precise manipulation of fragile, thin objects.