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Screen-printed curvature sensors for soft robots

Research output: Other conference contributionPaper, poster or abstractProfessional

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Screen-printed curvature sensors for soft robots. / Koivikko, Anastasia; Sadeghian Raei, Ehsan; Mosallaei, Mahmoud; Mäntysalo, Matti; Sariola, Veikko.

2018. 46 Paper presented at Micronano System Workshop, Espoo, Finland.

Research output: Other conference contributionPaper, poster or abstractProfessional

Harvard

Koivikko, A, Sadeghian Raei, E, Mosallaei, M, Mäntysalo, M & Sariola, V 2018, 'Screen-printed curvature sensors for soft robots' Paper presented at Micronano System Workshop, Espoo, Finland, 13/05/18 - 15/05/18, pp. 46.

APA

Koivikko, A., Sadeghian Raei, E., Mosallaei, M., Mäntysalo, M., & Sariola, V. (2018). Screen-printed curvature sensors for soft robots. 46. Paper presented at Micronano System Workshop, Espoo, Finland.

Vancouver

Koivikko A, Sadeghian Raei E, Mosallaei M, Mäntysalo M, Sariola V. Screen-printed curvature sensors for soft robots. 2018. Paper presented at Micronano System Workshop, Espoo, Finland.

Author

Koivikko, Anastasia ; Sadeghian Raei, Ehsan ; Mosallaei, Mahmoud ; Mäntysalo, Matti ; Sariola, Veikko. / Screen-printed curvature sensors for soft robots. Paper presented at Micronano System Workshop, Espoo, Finland.1 p.

Bibtex - Download

@conference{8522495c0c00451f9612db3be81de95f,
title = "Screen-printed curvature sensors for soft robots",
abstract = "Castable elastomers have been used to fabricate soft robotic devices and it has been shown that the technique scales well from prototyping to mass manufacturing. However, similarly scalable techniques for integrating strain or curvature sensors into such devices are still lacking. In this poster, we will summarize our recent progress1,2 towards integrating screen-printed silver-ink curvature sensors into soft robotic devices. The curvature sensors are fabricated onto elastomer substrates in a single screen-printing step and then integrated into soft pneumatic actuators. We have characterized the resistance-curvature relationship of the sensors, which allows the curvature of the actuators to be estimated from the sensor measurements. Hysteresis was observed, which does limit the absolute accuracy of the sensors. However, temperature characterizations showed that the sensor measurements are not significantly affected by temperature fluctuations during normal operation. Dynamic experiments showed that the system bandwidth is limited by the actuators, rather than the sensors. We experimentally validated that these sensors can be used to detect whether the motion of an actuator has been blocked, clearing the way towards simple-to-fabricate soft robots that react to their surroundings. Finally, we demonstrate a three-fingered soft robotic gripper with integrated sensors. We conclude that screen-printing is a promising way to integrate curvature sensors into soft robots.",
keywords = "Soft robotics, stretchable electronics",
author = "Anastasia Koivikko and {Sadeghian Raei}, Ehsan and Mahmoud Mosallaei and Matti M{\"a}ntysalo and Veikko Sariola",
year = "2018",
month = "5",
day = "14",
language = "English",
pages = "46",
note = "Micronano System Workshop, MSW ; Conference date: 13-05-2018 Through 15-05-2018",
url = "https://msw2018.aalto.fi/",

}

RIS (suitable for import to EndNote) - Download

TY - CONF

T1 - Screen-printed curvature sensors for soft robots

AU - Koivikko, Anastasia

AU - Sadeghian Raei, Ehsan

AU - Mosallaei, Mahmoud

AU - Mäntysalo, Matti

AU - Sariola, Veikko

PY - 2018/5/14

Y1 - 2018/5/14

N2 - Castable elastomers have been used to fabricate soft robotic devices and it has been shown that the technique scales well from prototyping to mass manufacturing. However, similarly scalable techniques for integrating strain or curvature sensors into such devices are still lacking. In this poster, we will summarize our recent progress1,2 towards integrating screen-printed silver-ink curvature sensors into soft robotic devices. The curvature sensors are fabricated onto elastomer substrates in a single screen-printing step and then integrated into soft pneumatic actuators. We have characterized the resistance-curvature relationship of the sensors, which allows the curvature of the actuators to be estimated from the sensor measurements. Hysteresis was observed, which does limit the absolute accuracy of the sensors. However, temperature characterizations showed that the sensor measurements are not significantly affected by temperature fluctuations during normal operation. Dynamic experiments showed that the system bandwidth is limited by the actuators, rather than the sensors. We experimentally validated that these sensors can be used to detect whether the motion of an actuator has been blocked, clearing the way towards simple-to-fabricate soft robots that react to their surroundings. Finally, we demonstrate a three-fingered soft robotic gripper with integrated sensors. We conclude that screen-printing is a promising way to integrate curvature sensors into soft robots.

AB - Castable elastomers have been used to fabricate soft robotic devices and it has been shown that the technique scales well from prototyping to mass manufacturing. However, similarly scalable techniques for integrating strain or curvature sensors into such devices are still lacking. In this poster, we will summarize our recent progress1,2 towards integrating screen-printed silver-ink curvature sensors into soft robotic devices. The curvature sensors are fabricated onto elastomer substrates in a single screen-printing step and then integrated into soft pneumatic actuators. We have characterized the resistance-curvature relationship of the sensors, which allows the curvature of the actuators to be estimated from the sensor measurements. Hysteresis was observed, which does limit the absolute accuracy of the sensors. However, temperature characterizations showed that the sensor measurements are not significantly affected by temperature fluctuations during normal operation. Dynamic experiments showed that the system bandwidth is limited by the actuators, rather than the sensors. We experimentally validated that these sensors can be used to detect whether the motion of an actuator has been blocked, clearing the way towards simple-to-fabricate soft robots that react to their surroundings. Finally, we demonstrate a three-fingered soft robotic gripper with integrated sensors. We conclude that screen-printing is a promising way to integrate curvature sensors into soft robots.

KW - Soft robotics

KW - stretchable electronics

M3 - Paper, poster or abstract

SP - 46

ER -