Intelligent FMA using flexible displacement sensor with paste injection

Kure, Kenji; Kanda, Takefumi; Suzumori, Koichi; Wakimoto, Shuuichi

doi:10.1109/robot.2006.1641842

Cited by 13 publications

(8 citation statements)

References 7 publications

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“…High accuracy positioning of the nozzle on not flat surface is possible by using the laser displacement sensor. By using this system, some flexible sensors using conductive paste were developed [8]. Fig.4 shows a structure of piezoelectric polymer sensor.…”

Section: B Structure Of Flexible Displacement Sensormentioning

confidence: 99%

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Flexible displacement sensor using piezoelectric polymer for intelligent FMA

Yamamoto

Kure

Iwai

et al. 2007

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Recently, a variety of soft actuators have been developed. However, applicable sensors such as potentiometers and optical encoders generally have high stiffness. Therefore, a soft actuator loses its compliance when these sensors are used with the actuator. Thus, in this research, we have developed a flexible displacement sensor that can keep the compliance of a soft actuator. The fabricated flexible displacement sensor is composed of piezoelectric polymer, conductive paste and base rubber. Piezoelectric polymer: poly(vinylidene fluoridetrifluoroethylene) [P(VDF/TrFE)] was used for the detection of displacement and conductive paste was used for electrodes. An intelligent FMA (Flexible Microactuator) was developed by attaching these sensors. Displacement of the intelligent FMA and the sensor output voltage were compared, and sensing features were evaluated. Furthermore, servo control of the intelligent FMA using the sensor was performed. As a result, high positioning accuracy was verified.

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Section: B Structure Of Flexible Displacement Sensormentioning

confidence: 99%

“…Manuscript A soft-body mini-robot made of silicone rubber with piezoelectric polymer sensors and some flexible sensors using conductive film have developed [7]- [10]. Reference [8] is previous work of our research. The principle of the conductive film sensor is as follows.…”

Section: Introductionmentioning

confidence: 99%

Flexible displacement sensor using piezoelectric polymer for intelligent FMA

Yamamoto

Kure

Iwai

et al. 2007

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…FEAs can be innervated with rigid bend and pressure sensors [21], [24] or, alternatively, soft sensors based on liquid metals [25]- [27], conductive nanoparticle-polymer composites [28], [29], hydrogels [30]- [33], or elastomeric waveguides [8], [34]. However, conventional rigid sensors do not mechanically interface well with the soft elastomers of FEAs, nor do the rigid components required for elastomeric waveguides.…”

Section: Introductionmentioning

confidence: 99%

Soft Robotic Fingers with Embedded Ionogel Sensors and Discrete Actuation Modes for Somatosensitive Manipulation

Truby

Katzschmann

Lewis

et al. 2019

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)

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Soft robotic grippers enable gentle, adaptive, and bioinspired manipulation that is simply not possible using traditional rigid robots. However, it has remained challenging to create multi-degree-of-freedom soft actuators with appropriate sensory capabilities for soft manipulators requiring greater dexterity and closed-loop control. In this work, we use embedded 3D printing to produce soft robotic fingers with discrete actuation modes and integrated ionogel soft sensors that provide proprioceptive and tactile sensing corresponding to each degree of freedom. With new readout electronics that streamline the measurement of sensor resistance, we evaluate the fingers' sensory feedback through free and blocked displacement experiments. We integrate three of our sensorized fingers together to create a soft manipulator with different grasping poses. Finally, we showcase the importance of the fingers' discrete actuation modes and integrated sensors via a closed-loop grasping study. Our methods demonstrate an enabling manufacturing platform that can be adapted to create other soft multi-DOF manipulators requiring somatosensory feedback for a variety of closed-loop and machine learningbased control algorithms.

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“…The information of the detection can be transmitted by a properly designed wireless system [4] and it can be processed by intelligent algorithms [10]. Other proposed tactile sensors were used for thoracoscopic surgery with a sensitivity of the order of 1 N [13] (corresponding to 100 g as applied equivalent weight) and by considering conductive fillers in materials [8] or PVDF-membrane-type layouts [12]. Moreover, flexible polymers have already been exploited in the field of humanoid robotics for innovative tactile sensors and artificial skin with sensing capabilities based on capacitive chips [14]- [17].…”

Section: Introductionmentioning

confidence: 99%

Detection Analysis of Small Notches Damages Using a New Tactile Optical Device

Giannoccaro

Massaro

Spedicato

et al. 2015

IEEE/ASME Trans. Mechatron.

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In this paper, the experimental application of a new class of optical pressure sensors based on polydimethylsiloxane (PDMS)-Au aimed at detecting and classifying millimetric surface damages of mechanical components is developed. The device consists of a tapered bended optical fiber, where an optical signal goes across, embedded into a PDMS-gold nanocomposite material (GNM). The sensor is automatically moved for the optical scanning of surfaces by means of a high-accuracy servo motor. After moving and positioning the detector, the sensor output data are acquired and processed in such a way as to pinpoint small notches on a beam. Notches of different lengths to within a few millimeters were scanned to test the realized device capability in recognizing and characterizing very small defects. The experimental results are very encouraging; they exhibit high sensitivity and inspire the use of the sensor in multifarious applications of robotics.

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Intelligent FMA using flexible displacement sensor with paste injection

Cited by 13 publications

References 7 publications

Flexible displacement sensor using piezoelectric polymer for intelligent FMA

Flexible displacement sensor using piezoelectric polymer for intelligent FMA

Soft Robotic Fingers with Embedded Ionogel Sensors and Discrete Actuation Modes for Somatosensitive Manipulation

Detection Analysis of Small Notches Damages Using a New Tactile Optical Device

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