Soft dielectrics for capacitive sensing in robot skins: Performance of different elastomer types

Maiolino, Perla; Galantini, Fabia; Mastrogiovanni, Fulvio; Gallone, Giuseppe; Cannata, Giorgio; Carpi, Federico

doi:10.1016/j.sna.2015.02.010

Cited by 64 publications

(68 citation statements)

References 30 publications

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“…There are generally three routes for enhancing the dielectric constant of an elastomer, which include addition of high permittivity inorganic particles [24,25], addition of conductive fillers [26] and chemical design [27]. Chemical design involves polymer chain modification.…”

Section: Elastomers 234mentioning

confidence: 99%

Dielectric Elastomer Sensors

Ni¹,

Zhang²

2017

Elastomers

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Dielectric elastomers (DEs) represent a class of electroactive polymers (EAPs) that exhibit a significant electromechanical effect, which has made them very attractive over the last several decades for use as soft actuators, sensors and generators. Based on the principle of a plane-parallel capacitor, dielectric elastomer sensors consist of a flexible and stretchable dielectric polymer sandwiched between two compliant electrodes. With the development of elastic polymers and stretchable conductors, flexible and sensitive dielectric elastomer tactile sensors, similar to human skin, have been used for measuring mechanical deformations, such as pressure, strain, shear and torsion. For high sensitivity and fast response, air gaps and microstructural dielectric layers are employed in pressure sensors or multiaxial force sensors. Multimodal dielectric elastomer sensors have been reported that can detect mechanical deformation but can also sense temperature, humidity, as well as chemical and biological stimulation in human-activity monitoring and personal healthcare. Hence, dielectric elastomer sensors have great potential for applications in soft robotics, wearable devices, medical diagnostic and structural health monitoring, because of their large deformation, low cost, ease of fabrication and ease of integration into monitored structures.

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Section: Elastomers 234mentioning

confidence: 99%

Dielectric Elastomer Sensors

Ni¹,

Zhang²

2017

Elastomers

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“…The most common elastomers used for dielectrics do not have as high ε r as is desired, which has motivated researchers to find improvements. A typical solution is mixing high permittivity fillers such as PMN-PT or titanate with the base elastomer [9], [14]. A good mixer is necessary to create a uniform compound that can be cast and cured in dielectric sheet.…”

Section: A Microstructured Dielectrics and Capacitive Sensorsmentioning

confidence: 99%

“…The displacement of the dielectric is determined by the applied pressure and the hardness of the dielectric. In order to increase the displacement given a certain pressure, soft dielectrics and elastomer foams have [9] and closed cell [10]). Using these types of dielectrics, one can obtain an extremely sensitive sensor since its thickness changes even when pressure is only slightly applied.…”

Section: A Microstructured Dielectrics and Capacitive Sensorsmentioning

confidence: 99%

“…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%

“…Several researchers have succeeded in improving the sensitivity of their capacitive sensors by using dielectrics made of elastomer foam [9], [14], [10] and microstructured rubber [15]. Another research group from our lab attained extremely high sensitivity using a microstructured dielectric made of nanoparticle-filled elas-tomer [14].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

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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Nanodielectric Elastomers for Flexible Generators

Yin

Dang

2018

Flexible Energy Conversion and Storage Devices

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Soft dielectrics for capacitive sensing in robot skins: Performance of different elastomer types

Cited by 64 publications

References 30 publications

Dielectric Elastomer Sensors

Dielectric Elastomer Sensors

A highly sensitive multimodal capacitive tactile sensor

Nanodielectric Elastomers for Flexible Generators

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