Morphological computation in haptic sensation and interaction: from nature to robotics

Bernth, Julius E.; Ho, Van Anh; Liu, Hongbin

doi:10.1080/01691864.2018.1447393

Cited by 28 publications

(16 citation statements)

References 122 publications

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“…In nature, many living organisms can autonomously respond to mechanical stimulation without nervous control . This intelligent behavior can be found in the plant kingdom, such as the autonomous folding of the Venus flytrap and mimosa pudica when touched.…”

Section: Resultsmentioning

confidence: 99%

Magnetic Printing of Liquid Metal for Perceptive Soft Actuators with Embodied Intelligence

Cui

et al. 2021

ACS Appl. Mater. Interfaces

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Soft actuators with perception capability are essential for robots to intelligently interact with humans and the environment. However, existing perceptive soft actuators require complex integration and coupling between the discrete functional units to achieve autonomy. Here, we report entirely soft actuators with embodied sensing, actuation, and control at the single-unit level. This is achieved by synergistically harnessing the mechanosensing and electrothermal properties of liquid metal (LM) to actuate the thermally responsive liquid crystal elastomer (LCE). We create multifunctional LM circuits on the LCE surface using a simple and facile methodology based on magnetic printing. The fluidic LM circuit can not only be utilized as a conformable resistive heater but also as a sensory skin to perceive its own deformation. Moreover, the rational design of the LM circuits makes it possible to achieve biomimetic autonomous actuation in response to mechanical stimuli such as pressure or strain. In addition, the intrinsic stretchability of LM allows us to create 3D spring-like actuators via a simple prestretch step, and complex helical motions can be obtained upon mechanical stimulation. This work provides a unique and simple design for autonomous soft robotics with embodied intelligence.

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Section: Resultsmentioning

confidence: 99%

Magnetic Printing of Liquid Metal for Perceptive Soft Actuators with Embodied Intelligence

Cui

et al. 2021

ACS Appl. Mater. Interfaces

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“…In addition, the relationship between sensor morphology and action for perception has been explored ( Huang et al, 2019 ; Scimeca et al, 2020b ; Scimeca et al, 2021 ). These approaches highlight the importance of sensor structure and morphology when performing action based perception tasks ( Bernth et al, 2018 ). This research direction highlights some of the trade-offs that existing in optimizing sensor morphology.…”

Section: Introductionmentioning

confidence: 99%

Online Morphological Adaptation for Tactile Sensing Augmentation

et al. 2021

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Sensor morphology and structure has the ability to significantly aid and improve tactile sensing capabilities, through mechanisms such as improved sensitivity or morphological computation. However, different tactile tasks require different morphologies posing a challenge as to how to best design sensors, and also how to enable sensor morphology to be varied. We introduce a jamming filter which, when placed over a tactile sensor, allows the filter to be shaped and molded online, thus varying the sensor structure. We demonstrate how this is beneficial for sensory tasks analyzing how the change in sensor structure varies the information that is gained using the sensor. Moreover, we show that appropriate morphology can significantly influence discrimination, and observe how the selection of an appropriate filter can increase the object classification accuracy when using standard classifiers by up to 28%.

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“…Although many skin-inspired wearable or implantable sensors have been developed for motion detection and health monitoring, they are generally made of rigid and brittle electronic materials without high enough stretchability, resulting in fundamental mismatch and uncomfortable in mechanics with human bodies. [2][3][4][5] Human skin not only has powerful sensory organs but also is soft and stretchable to adapt the body motions. Development of soft and stretchable sensors is of significance in the realm of wearable sensing skins and has the advantages of higher flexibility, better adaptability, and conformal integration over their rigid counterparts.…”

Section: Introductionmentioning

confidence: 99%

Integrated Soft Ionotronic Skin with Stretchable and Transparent Hydrogel–Elastomer Ionic Sensors for Hand-Motion Monitoring

Peng

et al. 2019

Soft Robotics

111

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Skin-like stretchable sensors with the flexible and soft inorganic/organic electronics have many promising potentials in wearable devices, soft robotics, prosthetics, and health monitoring equipment. Hydrogels with ionic conduction, akin to the biological skin, provide an alternative for soft and stretchable sensor design. However, fully integrated and wearable sensing skin with ionically conductive hydrogel for hand-motion monitoring has not been achieved. In this article, we report a wearable soft ionotronic skin (iSkin) system integrating multichannel stretchable and transparent hydrogel-elastomer hybrid ionic sensors and a wireless electronic control module. The ionic sensor is of resistive type and fabricated by curing ionic hydrogel precursor on a benzophenone-treated preshaped elastomer to form a hydrogel-elastomer hybrid structure. The hydrogelelastomer hybrid iSkin is highly stretchable (*300% strain), transparent (*95% transmittance in the visible light range), and lightweight (<22 g). Experiments demonstrate that the fully integrated iSkin system can conformably attach onto the dexterous hands for recognizing the joint proprioception and hand gesture, and understanding the sign language. Our iSkin system would also provide a test bed for customized material selection and construction in a variety of applications.

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Morphological computation in haptic sensation and interaction: from nature to robotics

Cited by 28 publications

References 122 publications

Magnetic Printing of Liquid Metal for Perceptive Soft Actuators with Embodied Intelligence

Magnetic Printing of Liquid Metal for Perceptive Soft Actuators with Embodied Intelligence

Online Morphological Adaptation for Tactile Sensing Augmentation

Integrated Soft Ionotronic Skin with Stretchable and Transparent Hydrogel–Elastomer Ionic Sensors for Hand-Motion Monitoring

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