Abstract
Gripping devices help patients carry out everyday tasks and increase their independence. However, there seems to be a lack of bionic gripping technologies that can fully adapt to any possible shape, as the use of artificial fingers and predetermined grip settings limits the operating space. The development of a more agile device, which is operated by a simple control paradigm, could greatly benefit users. An electrorheological (ER) fluid system should be able to adapt to the shape of an object and then hold that configuration. The aim of this study was to explore if a conceptual prototype of an ER system could hold a geometric shape when it is activated. A test rig was constructed with a moving part (set in different silicone oils) that could be displaced using a tensometer. Silica particles were dispersed in the silicone oils, and a field with a voltage of 4 kV mm−1 was generated to activate the fluid. The results show that the developed system can support an increased force when activated and hold a simple geometric position without any noticeable delay. This outcome provides an initial proof of concept for a possible new (gravity-assisted) gripping approach using smart fluids, which could be developed with materials that are biocompatible and widely available.
Highlights
The change to bipedalism and the development of truly dexterous upper limbs can be thought of as key physical evolutionary markers that started mankind’s control of our planet
Significant differences were found among the conditions (F(14,135) 19.80, p < 0.001), and the post hoc test revealed that the largest significant difference, between activation and deactivation, was found for the 10 cSt silicone oil with 30% silica particles condition
No difference was found in the measured force when the silica particles were removed from the oil
Summary
The change to bipedalism and the development of truly dexterous upper limbs can be thought of as key physical evolutionary markers that started mankind’s control of our planet. The greater part of our interactions with our environment is via gripping actions. This reliance on the hands means that even a slight change in hand capabilities leads to a change in behavior [1]. Different tactic and use for example shape memory alloy actuators to selectively change the stiffness of the finger joints [5]. Contact pressure or geometric constraints can prevent an object from slipping while it is being gripped, and these are the two fundamental ways of holding on to objects. The complexity of the grip control is dependent on the selected technique and design, with geometric constraints providing a more elegant and simple solution
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