Active suction cup actuated by ElectroHydroDynamics phenomenon

Yu Kuwajima, Hiroki Shigemune, Vito Cacucciolo, Matteo Cianchetti, Cecilia Laschi, Shingo Maeda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

Designing and manufacturing actuators using soft materials are among the most important subjects for future robotics. In nature, animals made by soft tissues such as the octopus have attracted the attention of the robotics community in the last years. Suckers (or suction cups) are one of the most important and peculiar organs of the octopus body, giving it the ability to apply high forces on the external environment. The integration of suction cups in soft robots can enhance their ability to manipulate objects and interact with the environment similarly to what the octopus does. However, artificial suction cups are currently actuated using fluid pressure so most of them require external compressors, which will greatly increase the size of the soft robot. In this work, we proposed the use of the ElectroHydroDynamics (EHD) principle to actuate a suction cup. EHD is a fluidic phenomenon coupled with electrochemical reaction that can induce pressure through the application of a high-intensity electric field. We succeeded in developing a suction cup driven by EHD keeping the whole structure extremely simple, fabricated by using a 3D printer and a cutting plotter. We can control the adhesion of the suction cup by controlling the direction of the fluidic flow in our EHD pump. Thanks to a symmetrical arrangement of the electrodes, composed by plates parallel to the direction of the channel, we can change the direction of the flow by changing the sign of the applied voltage. We obtained the pressure of 643 Pa in one unit of EHD pump and pressure of 1428 Pa in five units of EHD pump applying 6 kV. The suction cup actuator was able to hold and release a 2.86 g piece of paper. We propose the soft actuator driven by the EHD pump, and expand the possibility to miniaturize the size of soft robots.

Original languageEnglish
Title of host publicationIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages470-475
Number of pages6
Volume2017-September
ISBN (Electronic)9781538626825
DOIs
Publication statusPublished - 2017 Dec 13
Event2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
Duration: 2017 Sep 242017 Sep 28

Other

Other2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
CountryCanada
CityVancouver
Period17/9/2417/9/28

Fingerprint

Electrohydrodynamics
Pumps
Actuators
Fluidics
Robots
Robotics
Plotters (computer)
3D printers
Compressors
Animals
Adhesion
Electric fields
Tissue
Electrodes
Fluids
Electric potential

Keywords

  • EHD pump
  • Planer electrode
  • Suction cup actuator

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Kuwajima, Y., Shigemune, H., Cacucciolo, V., Cianchetti, M., Laschi, C., & Maeda, S. (2017). Active suction cup actuated by ElectroHydroDynamics phenomenon. In IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems (Vol. 2017-September, pp. 470-475). [8202195] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2017.8202195

Active suction cup actuated by ElectroHydroDynamics phenomenon. / Kuwajima, Yu; Shigemune, Hiroki; Cacucciolo, Vito; Cianchetti, Matteo; Laschi, Cecilia; Maeda, Shingo.

IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2017-September Institute of Electrical and Electronics Engineers Inc., 2017. p. 470-475 8202195.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kuwajima, Y, Shigemune, H, Cacucciolo, V, Cianchetti, M, Laschi, C & Maeda, S 2017, Active suction cup actuated by ElectroHydroDynamics phenomenon. in IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. vol. 2017-September, 8202195, Institute of Electrical and Electronics Engineers Inc., pp. 470-475, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, Canada, 17/9/24. https://doi.org/10.1109/IROS.2017.8202195
Kuwajima Y, Shigemune H, Cacucciolo V, Cianchetti M, Laschi C, Maeda S. Active suction cup actuated by ElectroHydroDynamics phenomenon. In IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2017-September. Institute of Electrical and Electronics Engineers Inc. 2017. p. 470-475. 8202195 https://doi.org/10.1109/IROS.2017.8202195
Kuwajima, Yu ; Shigemune, Hiroki ; Cacucciolo, Vito ; Cianchetti, Matteo ; Laschi, Cecilia ; Maeda, Shingo. / Active suction cup actuated by ElectroHydroDynamics phenomenon. IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2017-September Institute of Electrical and Electronics Engineers Inc., 2017. pp. 470-475
@inproceedings{bc110e894a594af0a24f3806b5e442be,
title = "Active suction cup actuated by ElectroHydroDynamics phenomenon",
abstract = "Designing and manufacturing actuators using soft materials are among the most important subjects for future robotics. In nature, animals made by soft tissues such as the octopus have attracted the attention of the robotics community in the last years. Suckers (or suction cups) are one of the most important and peculiar organs of the octopus body, giving it the ability to apply high forces on the external environment. The integration of suction cups in soft robots can enhance their ability to manipulate objects and interact with the environment similarly to what the octopus does. However, artificial suction cups are currently actuated using fluid pressure so most of them require external compressors, which will greatly increase the size of the soft robot. In this work, we proposed the use of the ElectroHydroDynamics (EHD) principle to actuate a suction cup. EHD is a fluidic phenomenon coupled with electrochemical reaction that can induce pressure through the application of a high-intensity electric field. We succeeded in developing a suction cup driven by EHD keeping the whole structure extremely simple, fabricated by using a 3D printer and a cutting plotter. We can control the adhesion of the suction cup by controlling the direction of the fluidic flow in our EHD pump. Thanks to a symmetrical arrangement of the electrodes, composed by plates parallel to the direction of the channel, we can change the direction of the flow by changing the sign of the applied voltage. We obtained the pressure of 643 Pa in one unit of EHD pump and pressure of 1428 Pa in five units of EHD pump applying 6 kV. The suction cup actuator was able to hold and release a 2.86 g piece of paper. We propose the soft actuator driven by the EHD pump, and expand the possibility to miniaturize the size of soft robots.",
keywords = "EHD pump, Planer electrode, Suction cup actuator",
author = "Yu Kuwajima and Hiroki Shigemune and Vito Cacucciolo and Matteo Cianchetti and Cecilia Laschi and Shingo Maeda",
year = "2017",
month = "12",
day = "13",
doi = "10.1109/IROS.2017.8202195",
language = "English",
volume = "2017-September",
pages = "470--475",
booktitle = "IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - Active suction cup actuated by ElectroHydroDynamics phenomenon

AU - Kuwajima, Yu

AU - Shigemune, Hiroki

AU - Cacucciolo, Vito

AU - Cianchetti, Matteo

AU - Laschi, Cecilia

AU - Maeda, Shingo

PY - 2017/12/13

Y1 - 2017/12/13

N2 - Designing and manufacturing actuators using soft materials are among the most important subjects for future robotics. In nature, animals made by soft tissues such as the octopus have attracted the attention of the robotics community in the last years. Suckers (or suction cups) are one of the most important and peculiar organs of the octopus body, giving it the ability to apply high forces on the external environment. The integration of suction cups in soft robots can enhance their ability to manipulate objects and interact with the environment similarly to what the octopus does. However, artificial suction cups are currently actuated using fluid pressure so most of them require external compressors, which will greatly increase the size of the soft robot. In this work, we proposed the use of the ElectroHydroDynamics (EHD) principle to actuate a suction cup. EHD is a fluidic phenomenon coupled with electrochemical reaction that can induce pressure through the application of a high-intensity electric field. We succeeded in developing a suction cup driven by EHD keeping the whole structure extremely simple, fabricated by using a 3D printer and a cutting plotter. We can control the adhesion of the suction cup by controlling the direction of the fluidic flow in our EHD pump. Thanks to a symmetrical arrangement of the electrodes, composed by plates parallel to the direction of the channel, we can change the direction of the flow by changing the sign of the applied voltage. We obtained the pressure of 643 Pa in one unit of EHD pump and pressure of 1428 Pa in five units of EHD pump applying 6 kV. The suction cup actuator was able to hold and release a 2.86 g piece of paper. We propose the soft actuator driven by the EHD pump, and expand the possibility to miniaturize the size of soft robots.

AB - Designing and manufacturing actuators using soft materials are among the most important subjects for future robotics. In nature, animals made by soft tissues such as the octopus have attracted the attention of the robotics community in the last years. Suckers (or suction cups) are one of the most important and peculiar organs of the octopus body, giving it the ability to apply high forces on the external environment. The integration of suction cups in soft robots can enhance their ability to manipulate objects and interact with the environment similarly to what the octopus does. However, artificial suction cups are currently actuated using fluid pressure so most of them require external compressors, which will greatly increase the size of the soft robot. In this work, we proposed the use of the ElectroHydroDynamics (EHD) principle to actuate a suction cup. EHD is a fluidic phenomenon coupled with electrochemical reaction that can induce pressure through the application of a high-intensity electric field. We succeeded in developing a suction cup driven by EHD keeping the whole structure extremely simple, fabricated by using a 3D printer and a cutting plotter. We can control the adhesion of the suction cup by controlling the direction of the fluidic flow in our EHD pump. Thanks to a symmetrical arrangement of the electrodes, composed by plates parallel to the direction of the channel, we can change the direction of the flow by changing the sign of the applied voltage. We obtained the pressure of 643 Pa in one unit of EHD pump and pressure of 1428 Pa in five units of EHD pump applying 6 kV. The suction cup actuator was able to hold and release a 2.86 g piece of paper. We propose the soft actuator driven by the EHD pump, and expand the possibility to miniaturize the size of soft robots.

KW - EHD pump

KW - Planer electrode

KW - Suction cup actuator

UR - http://www.scopus.com/inward/record.url?scp=85041958847&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85041958847&partnerID=8YFLogxK

U2 - 10.1109/IROS.2017.8202195

DO - 10.1109/IROS.2017.8202195

M3 - Conference contribution

AN - SCOPUS:85041958847

VL - 2017-September

SP - 470

EP - 475

BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - Institute of Electrical and Electronics Engineers Inc.

ER -