Zihui Zhu, Yang Yang, Shaoyang Yan, Songyan Wang, Yuan Xie, Yili Fu, Yunquan Li and Pei Jiang
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引用次数: 0
Abstract
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.
期刊介绍:
Smart Materials and Structures (SMS) is a multi-disciplinary engineering journal that explores the creation and utilization of novel forms of transduction. It is a leading journal in the area of smart materials and structures, publishing the most important results from different regions of the world, largely from Asia, Europe and North America. The results may be as disparate as the development of new materials and active composite systems, derived using theoretical predictions to complex structural systems, which generate new capabilities by incorporating enabling new smart material transducers. The theoretical predictions are usually accompanied with experimental verification, characterizing the performance of new structures and devices. These systems are examined from the nanoscale to the macroscopic. SMS has a Board of Associate Editors who are specialists in a multitude of areas, ensuring that reviews are fast, fair and performed by experts in all sub-disciplines of smart materials, systems and structures.
A smart material is defined as any material that is capable of being controlled such that its response and properties change under a stimulus. A smart structure or system is capable of reacting to stimuli or the environment in a prescribed manner. SMS is committed to understanding, expanding and dissemination of knowledge in this subject matter.