Characterization of the electrical resistance of carbon-black-filled silicone: Application to a flexible and stretchable robot skin

Lacasse, Marc-Antoine; Duchaine, Vincent; Gosselin, Clément

doi:10.1109/robot.2010.5509283

Cited by 57 publications

(71 citation statements)

References 15 publications

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“…Unlike their metallic alternatives, sensors made of silicone can sustain very large elongations and typically have relatively high gauge factors [11] due to the bandgaps resulting from the change in the inter-atomic spacing. However, the latter characteristic makes their output highly nonlinear and thus difficult to predict [12]. Indeed, the change in the resistance of such materials is dominated by much more complex effects such as quantum tunneling [13], [14] rather than simple changes in geometry, making their responses nonlinear and often exhibiting hysteresis.…”

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confidence: 99%

A Soft Strain Sensor Based on Ionic and Metal Liquids

et al. 2013

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Abstract-A novel soft strain sensor capable of withstanding strains of up to 100% is described. The sensor is made of a hyperelastic silicone elastomer that contains embedded microchannels filled with conductive liquids. This is an effort of improving the previously reported soft sensors that uses a single liquid conductor. The proposed sensor employs a hybrid approach involving two liquid conductors: an ionic solution and an eutectic gallium-indium alloy. This hybrid method reduces the sensitivity to noise that may be caused by variations in electrical resistance of the wire interface and undesired stress applied to signal routing areas. The bridge between these two liquids is made conductive by doping the elastomer locally with nickel nanoparticles. The design, fabrication, and characterization of the sensor are presented.Index Terms-Wearable sensors, microfluidics, strain measurement, ionic solution, eutectic gallium indium (eGaIn).

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A Soft Strain Sensor Based on Ionic and Metal Liquids

et al. 2013

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“…New robotic skin was presented made of carbon black filled silicone for sensing surrounding environments (Lacasse et al 2010). Inspired by previous literature, we propose a novel elastomeric skin embedded with actuators for ubiquitous use in the field of soft robotics.…”

Section: Introductionmentioning

confidence: 99%

Twisted and coiled polymer (TCP) muscles embedded in silicone elastomer for use in soft robot

Almubarak

Tadesse

2017

Int J Intell Robot Appl

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Researchers are seeking to create robots that could conform to non-uniform objects during handling and manipulation. High performance artificial muscles are the key factors that determine the capabilities of a robot. Twisted and coiled polymeric (TCP) muscle embedded in soft silicone skin solves some of the problems of soft robots in attaining morphed structure using low voltages, contrary to other technologies such as dielectric elastomer and piezoelectric. Furthermore, the TCP actuation system does not generate noise like pneumatic systems. The TCP embedded skin shows great promise for robotics to mimic the flexible appendages of certain animals. In this paper, we present experimental results on the effect of muscle placement and the thickness of the artificial skin on the actuation behavior, which can be used as a benchmark for modeling. We demonstrate the effect of three different skin thicknesses and three different muscle locations within the skin, by taking experimental deformation data from stereo camera. In general, two modes of actuations (undulatory and bending) were observed depending on the muscle placement, skin thickness, applied voltage, and actuation time. The thinner skin showed two-wave undulatory actuation in most cases, whereas the 4 mm skins showed mixed actuation and the 5 mm skins exhibited one-wave undulatory actuation. In all cases, the increase in voltage resulted in higher magnitudes of actuation. In addition, we showed consistent strain of the TCP muscles from 18 samples from two batches that produced an average strain of 22% (batch 1) to 20% (batch 2) with standard deviation of 2.5-1.8% respectively.

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“…In an attempt to replicate these functions robotically, researchers have developed tactile sensors based on numerous different sensing principles, including piezoresistive rubber [3], [4], conductive ink [5], piezoelectric material [6], conductive fluid [7], [8], and change in capacitance [9], [10]. Most of these approaches are about measuring contact pressure, however the human sense of touch also includes senses of vibration, temperature and shear loading, among others.…”

Section: Introductionmentioning

confidence: 99%

A highly sensitive multimodal capacitive tactile sensor

Maslyczyk

Roberge

et al. 2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-As technology develops, manufacture process becomes more and more automated using robots. There is demand for high performance tactile sensor which can support robotic grippers in manipulation tasks especially for unstructured flexible objects. Despite the efforts that have been spent, the fabrication process of those functional sensor remains complicated due to their requirement of specialized materials and equipment. The proposed multimodal sensor overcomes the difficulty by enhancing the electrical and mechanical design therefore simplifying the manufacture steps. In this version, static and dynamic sensing are integrated in the same layer of capacitive sensor with direct written microstructured dielectric. This structure allows it to have large range of force sensing as well as the ability of detecting contact events such as slippage or losing of contact.

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Characterization of the electrical resistance of carbon-black-filled silicone: Application to a flexible and stretchable robot skin

Cited by 57 publications

References 15 publications

A Soft Strain Sensor Based on Ionic and Metal Liquids

A Soft Strain Sensor Based on Ionic and Metal Liquids

Twisted and coiled polymer (TCP) muscles embedded in silicone elastomer for use in soft robot

A highly sensitive multimodal capacitive tactile sensor

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