Wireless power transfer (WPT) has the significant potential for soft-bodied continuum robots to extend the operational time limitlessly and reduce weight. However, rigid power receiver coils, widely used in WPT, hinder the continuum deformation of the robot, and as a result, the function realization using the continuum deformation (e.g., locomotion) is impaired. Therefore, this article introduces that a soft-bodied continuum robot can be designed by using thin film receiver coils and an inductively coupled wireless powering solution without sacrificing the continuum deformation and locomotion ability. A system is described for powering and controlling a soft robotic caterpillar consisting of nothing more than its continuum structure, actuators, and thin/ flexible power receiving coils.
Wearable electronics require thin and flexible substrate materials for user comfort. We propose a substrate material based on a nanocellulose-polyurethane matrix. The stretchability, i.e. Young's modulus and breaking strain, of the material can be tuned by nanocellulose concentration. We describe the fabrication process and demonstrate the modulation of the mechanical properties. Further, we present oxygen and water vapour permeability, as well as dielectric properties' measurements. Effects of substrate properties on printing of metallic conductors are considered. Laser cutting of the substrate and lamination of several layers of substrate material together are demonstrated, as well as hybrid integration of discrete components on the substrate. As an integrated demonstrator, a patch for local skin surface temperature measurement is presented. The patch thickness is 50μm, and it consists of two layers of the substrate material, printed metallic conductors and hybrid integrated temperature sensors.
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