微尺度化学
夹持器
接口
抓住
软机器人
有效载荷(计算)
计算机科学
机器人
微流控
纳米技术
材料科学
生物医学工程
信号(编程语言)
人工智能
机械工程
工程类
计算机硬件
网络数据包
数学教育
程序设计语言
数学
计算机网络
作者
Yeonwook Roh,Min-Ho Kim,Sang Hee Won,Daseul Lim,Insic Hong,Seung-Gon Lee,Taewi Kim,Changhwan Kim,Doohoe Lee,Sunghoon Im,Gunhee Lee,Dong-Jin Kim,Dong M. Shin,Dohyeon Gong,Baekgyeom Kim,SeongYeon Kim,Sungyeong Kim,Hyo-Soo Kim,Bon-Kwon Koo,SungChul Seo,Je-Sung Koh,Daeshik Kang,Seungyong Han
出处
期刊:Science robotics
[American Association for the Advancement of Science (AAAS)]
日期:2021-10-13
卷期号:6 (59)
被引量:18
标识
DOI:10.1126/scirobotics.abi6774
摘要
Soft grippers that incorporate functional materials are important in the development of mechanically compliant and multifunctional interfaces for both sensing and stimulating soft objects and organisms. In particular, the capability for firm and delicate grasping of soft cells and organs without mechanical damage is essential to identify the condition of and monitor meaningful biosignals from objects. Here, we report a millimeter-scale soft gripper based on a shape memory polymer that enables manipulating a heavy object (payload-to-weight ratio up to 6400) and grasping organisms at the micro/milliscale. The silver nanowires and crack-based strain sensor embedded in this soft gripper enable simultaneous measurement of the temperature and pressure on grasped objects and offer temperature and mechanical stimuli for the grasped object. We validate our miniaturized soft gripper by demonstrating that it can grasp a snail egg while simultaneously applying a moderate temperature stimulation to induce hatching process and monitor the heart rate of a newborn snail. The results present the potential for widespread utility of soft grippers in the area of biomedical engineering, especially in the development of conditional or closed-loop interfacing with microscale biotissues and organisms.
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