Investigation on a soft grasping gripper based on dielectric elastomer actuators
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Bibliographic record
Abstract
Abstract A novel soft grasping gripper which is based on dielectric elastomer actuators (DEAs) is presented in this paper. The gripper presents a self-contained and inherently soft approach for grasping objects. A single actuator membrane based on an acrylic elastomer inflates upon application of high electrical voltages. The actuation deformation of the membrane results in a frictional grasp of an underlying object from multiple angles simultaneously. The gripper comprises of a pressurized chamber sealed by the cylindrical DEA and relies on the friction force between the DEA membrane and the object. Mathematical analyses are carried out to simulate the actuation deformation of the DEA membrane and to estimate the grasping force with 3 cylindrical objects of different sizes. Experimental results validate the analytical analyses and show up to around 20% of membrane actuation deformation and 2N of grasping forces.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it