We report electrically shielded capacitive stretchable force sensors, that simultaneously measure normal and shear strains, even near electric sparks. The device consists of an outer conductive stretchable shielding layer (carbon-loaded silicone) and a central silicone layer with embedded air channels and three liquid metal electrodes. We report sub-mN force resolution in both normal and shear directions, can measure forces larger than 10 N, and operate reliably after repeated loading to 20 N load. Performance is unaffected by nearby high DC and AC electric fields, allowing use in a wide range of robotic sensing applications.
We present a compact, prehensile and soft gripper capable of varying its stiffness on demand, allowing not only grasping but also manipulation of objects. The gripper consists of fluidic chambers within a silicone structure and two electrostatic clutches bonded to opposite external surfaces. Actuation is achieved by pressurizing the chambers using an integrated electrohydrodynamic ‘ion-drag’ pump while simultaneously blocking one of the clutches, causing the structure to bend around and grasp an object. Once the object is grasped, the second clutch is blocked, significantly increasing the bending stiffness of the structure and allowing the object to be manipulated.
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