Screen-printed curvature sensors for soft robots
Tutkimustuotos: Konferenssiesitys, posteri tai abstrakti ›
|Tila||Julkaistu - 14 toukokuuta 2018|
|Tapahtuma||Micronano System Workshop - Dipoli, Espoo, Suomi|
Kesto: 13 toukokuuta 2018 → 15 toukokuuta 2018
|Conference||Micronano System Workshop|
|Ajanjakso||13/05/18 → 15/05/18|
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.