Gecko-inspired controllable adhesive for robotic gripper : design, fabrication and sensing integration

Abstract

The ability of robots to interact with their environment and handle various objects is a crucial aspect of their usefulness in diverse fields, including manufacturing and exploration. In recent years, there has been an increasing demand for advanced robotic grippers capable of handling delicate, fragile, and small objects with precision, adaptability, and sensitivity. Bioinspired adhesive structures and tactile sensing techniques have been extensively studied to address this need, taking inspiration from the remarkable attachment systems observed in nature, like the one found in the Tokay gecko. Gecko-inspired adhesives have attracted significant interest in robotics due to their remarkable properties, such as strong yet controllable attachment, insensitivity to surface conditions, and simple actuation means. These adhesives offer advantages over conventional attachment methods, such as pressure-sensitive adhesives and suction cups, by providing swift switching between attachment and detachment modes without leaving residues. Furthermore, they require only small preload forces to generate high adhesion in both normal and shear directions. This thesis presents a comprehensive investigation into the design and optimization, fabrication, and integration of these bioinspired adhesive microstructures with vision-based tactile sensors to enhance the performance of robotic grippers. It enables gripper to perform complex tasks with improved dexterity, adaptability, and sensitivity, offering promising solutions for various applications.

Date of Award	2023
Original language	English
Awarding Institution	The Hong Kong University of Science and Technology
Supervisor	Hongyu YU (Supervisor) & Michael Yu WANG (Supervisor)