{"id":"https://openalex.org/W2783801667","doi":"https://doi.org/10.1109/lra.2018.2792688","title":"A Soft Robotic Gripper With Gecko-Inspired Adhesive","display_name":"A Soft Robotic Gripper With Gecko-Inspired Adhesive","publication_year":2018,"publication_date":"2018-01-12","ids":{"openalex":"https://openalex.org/W2783801667","doi":"https://doi.org/10.1109/lra.2018.2792688","mag":"2783801667"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2792688","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2792688","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001605979","display_name":"Paul E. Glick","orcid":"https://orcid.org/0000-0001-9841-6503"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]},{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Paul Glick","raw_affiliation_strings":["Bioinspired Robotics and Design Lab, Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA, USA","Extreme Environment Robotics Group, NASA Jet Propulsion Lab, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-9841-6503","affiliations":[{"raw_affiliation_string":"Bioinspired Robotics and Design Lab, Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA, USA","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"Extreme Environment Robotics Group, NASA Jet Propulsion Lab, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072591282","display_name":"Srinivasan A. Suresh","orcid":"https://orcid.org/0000-0001-6029-7414"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Srinivasan A. Suresh","raw_affiliation_strings":["Biomimetics and Dexterous Manipulation Lab, Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-6029-7414","affiliations":[{"raw_affiliation_string":"Biomimetics and Dexterous Manipulation Lab, Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049307329","display_name":"Donald Ruffatto","orcid":"https://orcid.org/0000-0002-4462-6844"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Donald Ruffatto","raw_affiliation_strings":["Extreme Environment Robotics Group, NASA Jet Propulsion Lab, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Extreme Environment Robotics Group, NASA Jet Propulsion Lab, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046683404","display_name":"Mark R. Cutkosky","orcid":"https://orcid.org/0000-0003-4730-0900"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Cutkosky","raw_affiliation_strings":["Biomimetics and Dexterous Manipulation Lab, Department of Mechanical Engineering, Stanford University, Stanford, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-4730-0900","affiliations":[{"raw_affiliation_string":"Biomimetics and Dexterous Manipulation Lab, Department of Mechanical Engineering, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056621190","display_name":"Michael T. Tolley","orcid":"https://orcid.org/0000-0001-7821-7777"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael T. Tolley","raw_affiliation_strings":["Bioinspired Robotics and Design Lab, Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-7821-7777","affiliations":[{"raw_affiliation_string":"Bioinspired Robotics and Design Lab, Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091531962","display_name":"Aaron Parness","orcid":"https://orcid.org/0000-0002-5250-7917"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron Parness","raw_affiliation_strings":["Extreme Environment Robotics Group, NASA Jet Propulsion Lab, California Institute of Technology, Pasadena, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5250-7917","affiliations":[{"raw_affiliation_string":"Extreme Environment Robotics Group, NASA Jet Propulsion Lab, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5001605979"],"corresponding_institution_ids":["https://openalex.org/I1334627681","https://openalex.org/I36258959"],"apc_list":null,"apc_paid":null,"fwci":16.0516,"has_fulltext":false,"cited_by_count":371,"citation_normalized_percentile":{"value":0.99568314,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"3","issue":"2","first_page":"903","last_page":"910"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.9359068870544434},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7513275742530823},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.6903800964355469},{"id":"https://openalex.org/keywords/adhesive","display_name":"Adhesive","score":0.6299711465835571},{"id":"https://openalex.org/keywords/elastomer","display_name":"Elastomer","score":0.609773576259613},{"id":"https://openalex.org/keywords/fluidics","display_name":"Fluidics","score":0.4982762336730957},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46777477860450745},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.46642619371414185},{"id":"https://openalex.org/keywords/gecko","display_name":"Gecko","score":0.4593825936317444},{"id":"https://openalex.org/keywords/smt-placement-equipment","display_name":"SMT placement equipment","score":0.44962674379348755},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.40231987833976746},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3623112440109253},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23401322960853577},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.20977669954299927},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20841720700263977},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.14544904232025146},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.09426379203796387},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.08011198043823242}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.9359068870544434},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7513275742530823},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.6903800964355469},{"id":"https://openalex.org/C68928338","wikidata":"https://www.wikidata.org/wiki/Q131790","display_name":"Adhesive","level":3,"score":0.6299711465835571},{"id":"https://openalex.org/C38052585","wikidata":"https://www.wikidata.org/wiki/Q252266","display_name":"Elastomer","level":2,"score":0.609773576259613},{"id":"https://openalex.org/C132651336","wikidata":"https://www.wikidata.org/wiki/Q185571","display_name":"Fluidics","level":2,"score":0.4982762336730957},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46777477860450745},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.46642619371414185},{"id":"https://openalex.org/C2781006323","wikidata":"https://www.wikidata.org/wiki/Q16546828","display_name":"Gecko","level":2,"score":0.4593825936317444},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.44962674379348755},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.40231987833976746},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3623112440109253},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23401322960853577},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.20977669954299927},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20841720700263977},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.14544904232025146},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.09426379203796387},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.08011198043823242},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2018.2792688","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2792688","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8799999952316284,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1482343016","https://openalex.org/W1515749184","https://openalex.org/W1614964691","https://openalex.org/W1826399803","https://openalex.org/W1900860620","https://openalex.org/W1984187759","https://openalex.org/W2007924815","https://openalex.org/W2022024011","https://openalex.org/W2025613329","https://openalex.org/W2036485579","https://openalex.org/W2037321574","https://openalex.org/W2073442815","https://openalex.org/W2079762480","https://openalex.org/W2100467067","https://openalex.org/W2102501940","https://openalex.org/W2124614417","https://openalex.org/W2125778968","https://openalex.org/W2129993509","https://openalex.org/W2148931195","https://openalex.org/W2160670107","https://openalex.org/W2163974073","https://openalex.org/W2166585449","https://openalex.org/W2197206997","https://openalex.org/W2296718990","https://openalex.org/W2519437300","https://openalex.org/W2560704029","https://openalex.org/W2614511842","https://openalex.org/W2618733545","https://openalex.org/W2732249944","https://openalex.org/W2735680319","https://openalex.org/W2738259110","https://openalex.org/W2738870766","https://openalex.org/W2743548951","https://openalex.org/W2748291579","https://openalex.org/W2756012388","https://openalex.org/W2773239385","https://openalex.org/W2774646890","https://openalex.org/W4206706389","https://openalex.org/W4244367163","https://openalex.org/W4255466541"],"related_works":["https://openalex.org/W3014507301","https://openalex.org/W4377030113","https://openalex.org/W2908594317","https://openalex.org/W3206105843","https://openalex.org/W4376605699","https://openalex.org/W4307832533","https://openalex.org/W2901721787","https://openalex.org/W4385356446","https://openalex.org/W2812073887","https://openalex.org/W3119366040"],"abstract_inverted_index":{"Previous":[0],"work":[1,30],"has":[2],"demonstrated":[3,175],"the":[4,32,61,64,82,86,113,117,136],"versatility":[5],"of":[6,34,66,85,99,112,116,153,160,179,190],"soft":[7,45],"robotic":[8],"grippers":[9,16],"using":[10,81,167],"simple":[11],"control":[12],"inputs.":[13],"However,":[14],"these":[15],"still":[17],"face":[18],"challenges":[19],"in":[20,25,76,132],"grasping":[21,177],"large":[22],"objects":[23],"and":[24,38,48,142,156],"achieving":[26],"high-strength":[27],"grasps.":[28],"This":[29],"investigates":[31],"combination":[33],"fluidic":[35,93],"elastomer":[36,70,94],"actuators":[37,95],"gecko-inspired":[39,87,118],"adhesives":[40,88],"to":[41,129,138],"both":[42],"enhance":[43],"existing":[44],"gripper":[46,62,71,137,147],"properties":[47,84,115],"generate":[49],"new":[50],"capabilities.":[51],"On":[52],"rocky":[53],"or":[54],"dirty":[55],"surfaces":[56],"where":[57],"adhesion":[58],"is":[59],"limited,":[60],"retains":[63],"functionality":[65],"a":[67,97,171,176],"pneumatically":[68],"actuated":[69,185],"with":[72,101],"no":[73],"measured":[74],"loss":[75],"performance.":[77],"Design":[78],"strategies":[79],"for":[80,170],"unique":[83,114],"are":[89],"presented.":[90],"By":[91],"modeling":[92],"as":[96],"series":[98],"joints":[100],"associated":[102],"joint":[103],"torques,":[104],"we":[105],"designed":[106],"an":[107,187],"actuator":[108],"that":[109],"takes":[110],"advantage":[111],"adhesive.":[119],"Experiments":[120],"showed":[121],"higher":[122],"strength":[123],"grasps":[124],"at":[125,186],"lower":[126],"pressures":[127],"compared":[128],"nongecko":[130],"actuators,":[131],"many":[133],"cases":[134],"enabling":[135],"actuate":[139],"more":[140],"quickly":[141],"use":[143],"less":[144],"energy.":[145],"The":[146],"weighs":[148],"48.7":[149],"g,":[150],"uses":[151],"$7.25":[152],"raw":[154],"materials,":[155],"can":[157],"support":[158],"loads":[159],"over":[161],"50":[162],"N.":[163],"A":[164],"second":[165],"gripper,":[166],"three":[168],"fingers":[169],"larger":[172],"adhesive":[173],"surface,":[174],"force":[178],"111":[180],"N":[181],"(25":[182],"lbf)":[183],"when":[184],"internal":[188],"pressure":[189],"40":[191],"kPa.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":18},{"year":2025,"cited_by_count":49},{"year":2024,"cited_by_count":44},{"year":2023,"cited_by_count":58},{"year":2022,"cited_by_count":58},{"year":2021,"cited_by_count":58},{"year":2020,"cited_by_count":51},{"year":2019,"cited_by_count":27},{"year":2018,"cited_by_count":8}],"updated_date":"2026-06-02T09:04:35.204637","created_date":"2025-10-10T00:00:00"}
