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Directly printable flexible strain sensors for bending and contact feedback of soft actuators
journal contribution
posted on 2018-01-18, 13:51 authored by Khaled Elgeneidy, Gerhard Neumann, Michael R. Jackson, Niels LohseNiels LohseThis paper presents a fully printable sensorised bending actuator that can be calibrated to provide reliable bending feedback and
simple contact detection. A soft bending actuator following a pleated morphology, as well as a flexible resistive strain sensor, were
directly 3D printed using easily accessible FDM printer hardware with a dual-extrusion tool head. The flexible sensor was directly
welded to the bending actuator’s body and systematically tested to characterise and evaluate its response under variable input
pressure. A signal conditioning circuit was developed to enhance the quality of the sensory feedback and flexible conductive
threads were used for wiring. The sensorised actuator’s response was then calibrated using a vision system to convert the
sensory readings to real bending angle values. The empirical relationship was derived using linear regression and validated at
untrained input conditions to evaluate its accuracy. Furthermore, the sensorised actuator was tested in a constrained setup that
prevents bending, to evaluate the potential of using the same sensor for simple contact detection by comparing the constrained
response to that of the free-bending state at the same input pressure. The results of this work demonstrated how a
dual-extrusion FDM printing process can be tuned to directly print highly customisable flexible strain sensors that are able to
provide reliable bending feedback and basic contact detection. The addition of such sensing capability to bending actuators
enhances their functionality and reliability for applications such as; controlled soft grasping, flexible wearables, and haptic devices.
Funding
The reported work has been partially funded by the EPSRC Centre for Innovative Manufacturing in Intelligent Automation (EP/IO33467/1).
History
School
- Mechanical, Electrical and Manufacturing Engineering
Published in
Front. Robot. AICitation
ELGENEIDY, K. ...et al., 2018. Directly printable flexible strain sensors for bending and contact feedback of soft actuators. Frontiers in Robotics and AI, 5, Article 2.Publisher
© 2018 Elgeneidy, Neumann, Jackson and Lohse. Published by Frontiers Media S.A.Version
- VoR (Version of Record)
Publisher statement
This work is made available according to the conditions of the Creative Commons Attribution 4.0 International (CC BY 4.0) licence. Full details of this licence are available at: http://creativecommons.org/licenses/ by/4.0/Acceptance date
2018-01-15Publication date
2018-02-13Notes
This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.ISSN
2296-9144Publisher version
Language
- en