Self-Sensing Origami-Inspired Soft Twisting Actuators and Its Application in Soft Robots

Yang, Yang; Yan, Shaoyang; Xie, Yuan; Wang, Yuchao; Liu, Jia; Li, Yunquan; Zhou, Jianshu

doi:10.1109/lra.2023.3347142

Cited by 1 publication

(1 citation statement)

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“…This effect can be used for perceiving the feedback. When imposed with force, the conductive carbon particles in the fabric material show micro-Brownian motion [38,40], changing the distance between the carbon particles, so that the resistivity of the material changes [41]. Additionally, to increase friction when holding heavier objects, a flexible high friction layer is attached to the surface on one side of the sensor.…”

Section: Pre-charged Sensor Bag Designmentioning

confidence: 99%

Soft robotic fingers with sensorized pre-charged finger pulp

Zhu,

Yang,

Yan

et al. 2024

Smart Mater. Struct.

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Pneumatically driven soft actuators with sensors have been developing rapidly these years. They can perceive external stimulus and be applied to different scenarios. In this study, we present a novel soft robotic finger with sensorized finger pulp based on sealing a flexible fabric piezoresistive film called Velostat into a pre-charged air bag, which can perceive the contact force with an object based on changes in resistance value of the sensor. The soft sensor mimics human finger pulp and deforms passively according to the shape of objects during grasping, so that it can firmly contact with objects and as such improves the gripper’s grasping stability. Moreover, based on force feedback, the actuator can reduce or increase the input pressure to hold the object and control the contact force precisely. The sensor exhibits a sensitivity of up to 0.328 kPa−1 and can measure pressures ranging from 0 to over 10 kPa. The sensor’s measurement range and sensitivity can be pre-adjusted by regulating the pre-charged pressure during fabrication for different grasping tasks. The response/recovery time of the sensor is 80/60 ms on average. Experiments show that the finger with sensorized pulp can be applied for object softness and size detection, object transport minitoring as well as force control grasping. The proposed soft robotic finger has potential for applications in scenarios that require safe contact and closed-loop control.

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Section: Pre-charged Sensor Bag Designmentioning

confidence: 99%