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Open AccessArticle

A Gecko-Inspired Soft Passive Gripper

Workgroup on System Technologies and Engineering Design Methodology, Hamburg University of Technology, 21073 Hamburg, Germany
Author to whom correspondence should be addressed.
Biomimetics 2020, 5(2), 12;
Received: 28 November 2019 / Revised: 1 February 2020 / Accepted: 20 March 2020 / Published: 25 March 2020
This paper presents a soft passive gripper consisting of six fluidic soft bending actuators arranged in a star-shaped manner. The actuators are oriented such that, upon pressurization, they bend against gravity. Gripping is realized by a commercial tape with mushroom-shaped adhesive structures that is glued to the bottom patches of the gripper. In this way, the object is released by peeling away the actuators from the object’s surface. In contrast to active grippers, which require continuous pressurization during gripping and holding, the presented passive gripper only requires energy for the release process. However, due to its working principle, the gripper is restricted to only flat objects or objects with at least one flat surface. View Full-Text
Keywords: soft robotics; fluidic elastomer actuators; soft passive gripper; gecko-inspired adhesive soft robotics; fluidic elastomer actuators; soft passive gripper; gecko-inspired adhesive
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MDPI and ACS Style

Seibel, A.; Yıldız, M.; Zorlubaş, B. A Gecko-Inspired Soft Passive Gripper. Biomimetics 2020, 5, 12.

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