Screen-Printed Curvature Sensors for Soft Robots

Koivikko, Anastasia; Raei, Ehsan Sadeghian; Mosallaei, Mahmoud; Mäntysalo, Matti; Sariola, Veikko

doi:10.1109/jsen.2017.2765745

Cited by 83 publications

(45 citation statements)

References 38 publications

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“…Fabrication of FEAs relies generally on the molding of the elastomer constituting the chamber. The molding process, dealing with the material in its liquid form, offers the possibility of incorporating functional elements in the actuator such as fibers, inextensible layers (e.g., papers and fabrics), porous materials, origamis, variable stiffness elements, adhesion, and strain sensors …”

Section: Gripping By Actuationmentioning

confidence: 99%

“…In order to expand the functionality of the grippers, researchers have integrated functional elements in their structure, exploiting the versatility offered by the molding process. Curvature sensing was implemented using resistive strain sensors made of stretchable or flexible electrodes, stretchable optical waveguides, as well as force sensing using a piezoresistive fabric component . The integration of variable stiffness elements can offer increased holding weight.…”

Section: Gripping By Actuationmentioning

confidence: 99%

“…Based on FEAs, several soft grippers with embedded resistive strain sensing have been developed . They mostly use strain sensors to detect curvature of gripper's finger, or to obtain contact information.…”

Section: Sensing Technologiesmentioning

confidence: 99%

“…They mostly use strain sensors to detect curvature of gripper's finger, or to obtain contact information. Figure a displays a resistive sensor embedded soft gripper developed by Koivikko et al The curvature sensor is integrated in a multichambered FEA as a part of the strain limiting substrate, and is made by screen‐printing of either silver ink or carbon ink. There are also FEA grippers combining flexible, resistive strain gauges that are commercially available, as shown in Figure c,d, showing one finger of the sensorized grippers developed by Elgeneidy et al and Wang and Hirai, respectively.…”

Section: Sensing Technologiesmentioning

confidence: 99%

Section: Sensing Technologiesmentioning

confidence: 99%

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Soft Robotic Grippers

et al. 2018

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Advances in soft robotics, materials science, and stretchable electronics have enabled rapid progress in soft grippers. Here, a critical overview of soft robotic grippers is presented, covering different material sets, physical principles, and device architectures. Soft gripping can be categorized into three technologies, enabling grasping by: a) actuation, b) controlled stiffness, and c) controlled adhesion. A comprehensive review of each type is presented. Compared to rigid grippers, end-effectors fabricated from flexible and soft components can often grasp or manipulate a larger variety of objects. Such grippers are an example of morphological computation, where control complexity is greatly reduced by material softness and mechanical compliance. Advanced materials and soft components, in particular silicone elastomers, shape memory materials, and active polymers and gels, are increasingly investigated for the design of lighter, simpler, and more universal grippers, using the inherent functionality of the materials. Embedding stretchable distributed sensors in or on soft grippers greatly enhances the ways in which the grippers interact with objects. Challenges for soft grippers include miniaturization, robustness, speed, integration of sensing, and control. Improved materials, processing methods, and sensing play an important role in future research.

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Section: Gripping By Actuationmentioning

confidence: 99%

Section: Gripping By Actuationmentioning

confidence: 99%

Section: Sensing Technologiesmentioning

confidence: 99%

Section: Sensing Technologiesmentioning

confidence: 99%

Section: Sensing Technologiesmentioning

confidence: 99%

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Soft Robotic Grippers

et al. 2018

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Graphene‐Based Actuator with Integrated‐Sensing Function

Chen

Weng

Zhou

et al. 2018

Adv Funct Materials

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Flexible actuators have important applications in artificial muscles, robotics, optical devices, and so on. However, most of the conventional actuators have only actuation function, lacking in real‐time sensing signal feedbacks. Here, to break the limitation and add functionality in conventional actuators, a graphene‐based actuator with integrated‐sensing function is reported, which avoids the dependence on image post‐processing for actuation detection and realizes real‐time measurement of the shape‐deformation amplitudes of the actuator. The actuator is able to show a large bending actuation (curvature of 1.1 cm−1) based on a dual‐mode actuation mechanism when it is driven by near infrared light. Meanwhile, the relative resistance change of the actuator is −17.5%. The sensing function is attributed to piezoresistivity and thermoresistivity of the reduced graphene oxide and paper composite. This actuator can be used as a strain sensor to monitor human motions. A smart gripper based on the actuators demonstrates perfect integration of the actuating and sensing functions, which can not only grasp and release an object, but also sense every actuation state of the actuator. The developed integrated‐sensing actuator is hopeful to open new application fields in soft robotics, artificial muscles, flexible wearable devices, and other integrated‐multifunctional devices.

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Progresses in Tensile, Torsional, and Multifunctional Soft Actuators

Zou

et al. 2021

Adv Funct Materials

103

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Soft actuators have received intensive attention in the fields of soft robots, sensors, intelligent control, artificial intelligence, and visual intelligence. By combination of tensile and torsional deformations, different types of motions can be realized, such as bending, rolling, and jumping. Soft robotics need soft actuators, such as artificial muscles to lift or move objects to perform some work. Additionally, actuation integrated with functions of sensing, signal transmission, and control is also needed in the development of advanced intelligent systems, which further stimulates the requirement of multifunctional actuators. Here different types of soft actuators that can perform tensile and torsional actuations are summarized, including twisted fiber artificial muscles, shape memory polymers, hydrogels, liquid crystal polymers, electrochemical actuators with conducting polymers, and some natural materials. Examples are also included regarding the bending or rolling deformations of the actuators for lifting objects. Then, recent interesting reports about multifunctional soft actuators combined with sensing and signal transmission performances, are summarized. Last, a summary of different ways to realize tensile and torsional actuations, different materials, and designs for lifting or moving objects, as well as construction of multifunctional actuators with actuation and sensing functions is provided.

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Screen-Printed Curvature Sensors for Soft Robots

Cited by 83 publications

References 38 publications

Soft Robotic Grippers

Soft Robotic Grippers

Graphene‐Based Actuator with Integrated‐Sensing Function

Progresses in Tensile, Torsional, and Multifunctional Soft Actuators

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