# US 9,517,610 B2 · Grippers based on opposing van der Waals adhesive pads > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,517,610 B2 - Document ID: US9517610B2 - Status: Granted - Kind: B2 - Application number: 14/177,973 - Filed: 2014-02-11 - Published: 2014-08-14 - Granted: 2016-12-13 - Earliest claimed: 2013-02-14 - Assignees: California Institute of Technology; The Board of Trustees of the Leland Stanford Junior University - Applicants: California Institute of Technology; The Board of Trustees of the Leland Stanford Junior University - Inventors: Aaron Parness; Brett A. Kennedy; Matthew C Heverly; Mark R. Cutkosky; Elliot Wright Hawkes - Web page: https://patentgrep.com/patent/US9517610B2 ## CPC - B32B 7/12: using interposed adhesives or interposed materials with bonding properties - B25J 15/0052: {multiple gripper units or multiple end effectors} - B25J 15/008: {with sticking, gluing or adhesive means} - Y10T 428/21: Circular sheet or circular blank - Y10T 428/24025: Superposed movable attached layers or components - B32B: LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION ## Abstract Novel gripping structures based on van der Waals adhesive forces are disclosed. Pads covered with fibers can be activated in pairs by opposite forces, thereby enabling control of the adhesive force in an ON or OFF state. Pads can be used in groups, each comprising a group of opposite pads. The adhesive structures enable anchoring forces that can resist adverse forces from different directions. The adhesive structures can be used to enable the operation of robots on surfaces of space vehicles. ## Claims ### Claim 1 A structure comprising: at least two pads, each having a first surface and a second surface, wherein the at least two pads are spaced apart substantially a same distance from a center of symmetry of the structure; a plurality of fibers attached to the first surface of each pad, wherein the plurality of fibers substantially extend longitudinally in a direction away from the first surface; connecting elements, attached to the second surface of each pad, the connecting elements forming a mechanical supporting structure linking together the at least two pads; actuating elements, attached to the second surface of each pad, the actuating elements forming an actuating link between the at least two pads, wherein, during operation, the at least two pads are pulled in a tensing direction by the actuating elements, the tensing direction being towards or away from the center of symmetry, wherein a bending direction of the plurality of fibers of each pad is substantially opposite to the tensing direction, and wherein the plurality of fibers is configured to bend and compress against a surface external to the structure to enable adhesion through van der Waals forces; and a mechanical trigger element connected to the actuating elements, wherein the mechanical trigger element, when the at least two pads are pressed against the surface external to the structure, activates the actuating elements. ### Claim 2 (depends on 1) The structure of claim 1, wherein the at least two pads form one group of a plurality of groups, each group comprising at least two pads. ### Claim 3 (depends on 2) The structure of claim 2, wherein the actuating elements of each group of the plurality of groups operate independently from any other actuating element of another group of the plurality of groups. ### Claim 4 (depends on 1) The structure of claim 1, wherein the first surface of at least one pad of the at least two pads is substantially circular and the at least one pad comprises a counter-rotating mechanism comprising at least two concentric rings, wherein: at least one ring that is able to rotate clockwise; and at least one ring that is able to rotate counterclockwise, and wherein the bending direction of the plurality of fibers of each ring is substantially opposite to a rotating direction of said each ring. ### Claim 5 (depends on 2) The structure of claim 2, wherein the actuating elements of each group are activated by a single trigger or activating mechanism. ### Claim 6 (depends on 1) The structure of claim 1, wherein the plurality of fibers are made of polymers. ### Claim 7 (depends on 1) The structure of claim 1, wherein the actuating elements are selected from the group consisting of: springs, wires, cables, linear rails, ball-screws, linear actuators, spherical pivots, and ratchets. ### Claim 8 (depends on 1) The structure of claim 1, wherein the actuating elements are configured to set the structure in an adhesive state and a non adhesive state.