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<p>The magnetically actuated flexible gripper demonstrates distinct advantages in handling anisotropic, angular, and fragile objects. However, the limited integration of sensing and actuation compromises both grasping speed and stability. Conventional approaches achieve grasping feedback by attaching external sensors to the surface of magnetically actuated grippers, which significantly increases the overall thickness, reduces flexibility, and impairs sensing accuracy. In this study, a laser-induced graphene (LIG) one-step fabrication process was employed to pattern sensing elements onto a polydimethylsiloxane (PDMS)/polyimide (PI) composite film. By leveraging the strong interfacial adhesion between polymers, a highly integrated actuation-sensing system was realized. The optimal composition of the actuation layer, consisting of PDMS, Ecoflex, and NdFeB, was systematically investigated, along with the influence of different sensing element geometries on sensing performance. As a result, the gripper achieved a rapid response time of 243 ms under a weak magnetic field of 50 mT and demonstrated a payload-to-weight ratio of 8.6, representing an approximate twofold enhancement in both payload capacity and response speed compared to existing studies. Furthermore, the sensor also exhibits excellent durability, maintaining stable performance over 10000 repeated cycles. The gripper can detect bending angles with a linearity of up to 94.8% and exhibits distinct initial resistance values when grasping targets of different sizes. These advancements highlight the significant potential of the proposed gripper in intelligent grasping applications.</p>

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Integrated design and optimization of magnetically actuated self-sensing flexible gripper with fast response, high stability, and high payload-to-weight ratio

  • 期刊论文

  • 发表日期：

    2025年8月18日

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  • Yang Chen,
  • Yiqian Shao,
  • Yin-gang Gui,
  • Haoran Huang,
  • Hang Xu,
  • Xiaojie Wang,
  • Ping-an Yang

摘要

The magnetically actuated flexible gripper demonstrates distinct advantages in handling anisotropic, angular, and fragile objects. However, the limited integration of sensing and actuation compromises both grasping speed and stability. Conventional approaches achieve grasping feedback by attaching external sensors to the surface of magnetically actuated grippers, which significantly increases the overall thickness, reduces flexibility, and impairs sensing accuracy. In this study, a laser-induced graphene (LIG) one-step fabrication process was employed to pattern sensing elements onto a polydimethylsiloxane (PDMS)/polyimide (PI) composite film. By leveraging the strong interfacial adhesion between polymers, a highly integrated actuation-sensing system was realized. The optimal composition of the actuation layer, consisting of PDMS, Ecoflex, and NdFeB, was systematically investigated, along with the influence of different sensing element geometries on sensing performance. As a result, the gripper achieved a rapid response time of 243 ms under a weak magnetic field of 50 mT and demonstrated a payload-to-weight ratio of 8.6, representing an approximate twofold enhancement in both payload capacity and response speed compared to existing studies. Furthermore, the sensor also exhibits excellent durability, maintaining stable performance over 10000 repeated cycles. The gripper can detect bending angles with a linearity of up to 94.8% and exhibits distinct initial resistance values when grasping targets of different sizes. These advancements highlight the significant potential of the proposed gripper in intelligent grasping applications.