Soft gripper actuated by electro-hydraulic force

Tongil Park, Youngsu Cha

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

5 Citations (Scopus)


In this paper, we propose a soft robotic gripper to be mounted easily and to have high actuation force by harnessing electrostatic and hydraulic phenomena. Specifically, we develop a soft actuator to consist of swelling pouches, a silicon backbone beam, and a supplying pouch with electrodes on its both surfaces. The two pouches include dielectric fluid, and they are connected. When a high voltage is applied to the electrode of the supplying pouch, the fluid in the pouch moves to the swelling one. In addition, we present a soft gripper using the soft electro-hydraulic actuators.

Original languageEnglish
Title of host publicationElectroactive Polymer Actuators and Devices (EAPAD) XXI
EditorsYoseph Bar-Cohen, Iain A. Anderson, Nancy L. Johnson
ISBN (Electronic)9781510625877
Publication statusPublished - 2019
Externally publishedYes
EventElectroactive Polymer Actuators and Devices (EAPAD) XXI 2019 - Denver, United States
Duration: 2019 Mar 42019 Mar 7

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
ISSN (Print)0277-786X
ISSN (Electronic)1996-756X


ConferenceElectroactive Polymer Actuators and Devices (EAPAD) XXI 2019
Country/TerritoryUnited States

Bibliographical note

Funding Information:
This work was supported in part by Korea Institute of Science and Technology Institutional Program under grant number 2E29460 and in part by the Technology Innovation Program for Development of robotic work control technology capable of grasping and manipulating various objects in everyday life environment based on multimodal recognition and using tools funded By the Ministry of Trade, Industry & Energy under grant number 20001856

Publisher Copyright:
© COPYRIGHT SPIE. Downloading of the abstract is permitted for personal use only.


  • Electro-hydraulic force
  • Electrostatic force
  • Soft gripper

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering


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