Zihan Wang;Kai-Chong Lei;Huaze Tang;Yang Luo;Hongfa Zhao;Peisheng He;Wenbo Ding;Liwei Lin
{"title":"用于软体机器人感知振动的可拉伸液态金属电子皮肤","authors":"Zihan Wang;Kai-Chong Lei;Huaze Tang;Yang Luo;Hongfa Zhao;Peisheng He;Wenbo Ding;Liwei Lin","doi":"10.1109/JSEN.2024.3392837","DOIUrl":null,"url":null,"abstract":"Vibration perception can help robots recognize their dynamic states to explore the surrounding environment. However, the intrinsic stretchability of soft robots poses challenges to integrating vibration sensors. This study introduces an innovative stretchable electronic skin (e-skin) that facilitates vibration proprioception in soft robots. Constructed with a thickness of approximately 0.1 mm, this ultrathin e-skin is produced using a screen-printing technique with liquid metal particles (LMPs), incorporating a kirigami design for seamless integration. The e-skin works by the triboelectric nanogenerator-based sensing mechanism, which transduces mechanical vibration into an electrical signal without an external power source. By analyzing the vibration signals generated by the dynamic motions of soft robots, the e-skin shows a wide range of applications. From the vibration signal of the soft robotic finger’s sliding motion, 17 different textures can be distinguished with 99% accuracy. Furthermore, analysis of the vibration signal from a soft robotic gripper’s swinging motion enables the estimation of both the type and weight of grains inside the container it grips, achieving accuracies of 97.7% and 95.3%, respectively. As such, this work presents a new approach to realizing the vibration proprioception of soft robots, thereby broadening the applications of dynamic proprioception in soft robotics.","PeriodicalId":447,"journal":{"name":"IEEE Sensors Journal","volume":null,"pages":null},"PeriodicalIF":4.3000,"publicationDate":"2024-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Stretchable Liquid Metal E-Skin for Soft Robot Proprioceptive Vibration Sensing\",\"authors\":\"Zihan Wang;Kai-Chong Lei;Huaze Tang;Yang Luo;Hongfa Zhao;Peisheng He;Wenbo Ding;Liwei Lin\",\"doi\":\"10.1109/JSEN.2024.3392837\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Vibration perception can help robots recognize their dynamic states to explore the surrounding environment. However, the intrinsic stretchability of soft robots poses challenges to integrating vibration sensors. This study introduces an innovative stretchable electronic skin (e-skin) that facilitates vibration proprioception in soft robots. Constructed with a thickness of approximately 0.1 mm, this ultrathin e-skin is produced using a screen-printing technique with liquid metal particles (LMPs), incorporating a kirigami design for seamless integration. The e-skin works by the triboelectric nanogenerator-based sensing mechanism, which transduces mechanical vibration into an electrical signal without an external power source. By analyzing the vibration signals generated by the dynamic motions of soft robots, the e-skin shows a wide range of applications. From the vibration signal of the soft robotic finger’s sliding motion, 17 different textures can be distinguished with 99% accuracy. Furthermore, analysis of the vibration signal from a soft robotic gripper’s swinging motion enables the estimation of both the type and weight of grains inside the container it grips, achieving accuracies of 97.7% and 95.3%, respectively. As such, this work presents a new approach to realizing the vibration proprioception of soft robots, thereby broadening the applications of dynamic proprioception in soft robotics.\",\"PeriodicalId\":447,\"journal\":{\"name\":\"IEEE Sensors Journal\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":4.3000,\"publicationDate\":\"2024-04-29\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE Sensors Journal\",\"FirstCategoryId\":\"103\",\"ListUrlMain\":\"https://ieeexplore.ieee.org/document/10510211/\",\"RegionNum\":2,\"RegionCategory\":\"综合性期刊\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"ENGINEERING, ELECTRICAL & ELECTRONIC\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Sensors Journal","FirstCategoryId":"103","ListUrlMain":"https://ieeexplore.ieee.org/document/10510211/","RegionNum":2,"RegionCategory":"综合性期刊","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, ELECTRICAL & ELECTRONIC","Score":null,"Total":0}
Stretchable Liquid Metal E-Skin for Soft Robot Proprioceptive Vibration Sensing
Vibration perception can help robots recognize their dynamic states to explore the surrounding environment. However, the intrinsic stretchability of soft robots poses challenges to integrating vibration sensors. This study introduces an innovative stretchable electronic skin (e-skin) that facilitates vibration proprioception in soft robots. Constructed with a thickness of approximately 0.1 mm, this ultrathin e-skin is produced using a screen-printing technique with liquid metal particles (LMPs), incorporating a kirigami design for seamless integration. The e-skin works by the triboelectric nanogenerator-based sensing mechanism, which transduces mechanical vibration into an electrical signal without an external power source. By analyzing the vibration signals generated by the dynamic motions of soft robots, the e-skin shows a wide range of applications. From the vibration signal of the soft robotic finger’s sliding motion, 17 different textures can be distinguished with 99% accuracy. Furthermore, analysis of the vibration signal from a soft robotic gripper’s swinging motion enables the estimation of both the type and weight of grains inside the container it grips, achieving accuracies of 97.7% and 95.3%, respectively. As such, this work presents a new approach to realizing the vibration proprioception of soft robots, thereby broadening the applications of dynamic proprioception in soft robotics.
期刊介绍:
The fields of interest of the IEEE Sensors Journal are the theory, design , fabrication, manufacturing and applications of devices for sensing and transducing physical, chemical and biological phenomena, with emphasis on the electronics and physics aspect of sensors and integrated sensors-actuators. IEEE Sensors Journal deals with the following:
-Sensor Phenomenology, Modelling, and Evaluation
-Sensor Materials, Processing, and Fabrication
-Chemical and Gas Sensors
-Microfluidics and Biosensors
-Optical Sensors
-Physical Sensors: Temperature, Mechanical, Magnetic, and others
-Acoustic and Ultrasonic Sensors
-Sensor Packaging
-Sensor Networks
-Sensor Applications
-Sensor Systems: Signals, Processing, and Interfaces
-Actuators and Sensor Power Systems
-Sensor Signal Processing for high precision and stability (amplification, filtering, linearization, modulation/demodulation) and under harsh conditions (EMC, radiation, humidity, temperature); energy consumption/harvesting
-Sensor Data Processing (soft computing with sensor data, e.g., pattern recognition, machine learning, evolutionary computation; sensor data fusion, processing of wave e.g., electromagnetic and acoustic; and non-wave, e.g., chemical, gravity, particle, thermal, radiative and non-radiative sensor data, detection, estimation and classification based on sensor data)
-Sensors in Industrial Practice