Continuous Adhesive Grasping Enabled by Thermoresponsive Ionogel and Flexible Thermoelectric Device in a Wearable Glove

Current wearable assistive gloves typically rely on external mechanical actuators to bend fingers, providing support for patients with impaired hand function. However, this method proves impractical for individuals with stiff fingers. This study presents a continuous adhesive grasping approach enabled by multifunctional smart adhesives (MSAs), implemented on a wearable glove platform to provide grasping assistance without the necessity of finger flexion. Each MSA integrates a thermoresponsive ionogel with switchable adhesion, coupled with a flexible thermoelectric device (FTED) that integrates a temperature sensor and two infrared proximity sensors. This configuration enables closed-loop, bidirectional temperature control of the ionogel, achieving rapid adhesion switching. Notably, active cooling significantly decreases cooling time, supporting continuous adhesive grasping. Real-time proximity sensing allows selective heating only upon contact, minimizing unnecessary energy consumption. The system also incorporates a voice-controlled interface for intuitive operation. Demonstrated through the completion of a two-story Tower of Hanoi task in 50 seconds, the proposed adhesive grasping system demonstrates its practical effectiveness for assistive applications in users with limited hand mobility.