Mimicking Emotional Chinese Calligraphy Using a Variable Stiffness Flexible Gripper

摘要

Abstract Flexible grippers require appropriate stiffness to ensure stability and efficiency in unpredictable environments. While combining materials with variable stiffness and elastomers holds significant promise in this regard, concurrently achieving actuation and stiffness modulation typically results in heightened structural complexity and responsiveness issues. In this study, a giant electrorheological dielectric elastomer (GERDE) with high dielectric and high electrorheological (ER) properties is obtained by introducing giant electrorheological particles into silicone elastomers, further substantiating the ability to functionally couple actuation and stiffness‐tuning, as well as application of a flexible gripper in mimicking emotive calligraphy. Specifically, GERDE exhibits better actuating (area strain rate of 33%) and ER performance (storage modulus increment of 1.5 MP) than existing conventional dielectric elastomer (DE) actuators (such as PDMS and VHB4910) under a low electric field. Compared to reported flexible grippers, bionic flexible grippers based on GERDE actuator have enhanced actuation, stiffness adjustment capability (i.e., stiffness is increased by 2.4 times), fast response (≈180 ms), and coupling effect, and can write Chinese calligraphy of different emotions by the same trajectory. This work provides ideas and methods for achieving the integration of actuator‐variable stiffness and emotional transmission in robots.