Soft robotic gripper based on multi-layers of dielectric elastomer actuators

Witchuda Thongking, Ardi Wiranata, Ayato Minaminosono, Zebing Mao, Shingo Maeda

Research output: Contribution to journalArticlepeer-review

17 Citations (Scopus)


Dielectric elastomer actuators (DEAs) are a promising technology for soft robotics. The use of DEAs has many advantages, including light weight, resilience, and fast response for its applications, such as grippers, artificial muscles, and heel strike generators. Grippers are commonly used as grasping devices. In this study, we focus on DEA applications and propose a technology to expand the applicability of a soft grip-per. The advantages of gripper-based DEAs include light weight, fast response, and low cost. We fabricated soft grippers using multiple DEA layers. The grippers successfully held or gripped an object, and we investigated the response time of the grippers and their angle characteristics. We studied the relationship between the number of DEA layers and the performance of our grippers. Our experimental results show that the multi-layered DEAs have the potential to be strong grippers.

Original languageEnglish
Pages (from-to)968-974
Number of pages7
JournalJournal of Robotics and Mechatronics
Issue number4
Publication statusPublished - 2021 Aug


  • Dielectric elastomer actuator
  • Multi-layer of dielectric elastomer actuators
  • Soft gripper

ASJC Scopus subject areas

  • Computer Science(all)
  • Electrical and Electronic Engineering


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