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Capacitive Stretch Sensing for Robotic Skins.

Andreas Tairych1, Iain A Anderson1,2,3

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|May 11, 2019
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Summary
This summary is machine-generated.

Dielectric elastomer (DE) capacitive sensors for soft robots can show inaccurate capacitance readings at high frequencies due to dynamic electrode resistance. Adjusting excitation frequency can prevent these nonlinear responses in artificial skin sensors.

Keywords:
capacitance undershootdielectric elastomer sensorlumped parameter approximationresistive stretch sensortransient resistancetransmission line

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Area of Science:

  • Materials Science
  • Robotics
  • Electrical Engineering

Background:

  • Dielectric elastomer (DE) capacitive sensors are crucial for imparting a sense of touch to soft robots due to their inherent compliance.
  • Nonlinear electrode effects, including transient resistance changes and peaks, are known characteristics of DE sensors.

Purpose of the Study:

  • To investigate the impact of dynamic electrode resistance on capacitance measurements in DE sensors at varying excitation frequencies.
  • To understand and mitigate nonlinear responses in DE capacitive sensors for improved robotic tactile sensing.

Main Methods:

  • Characterization of DE sensors under periodic stretching at different excitation frequencies.
  • Modeling DE sensors as R-C transmission lines to simulate capacitance behavior.
  • Correlation analysis between electrode resistance fluctuations and observed capacitance undershoots.

Main Results:

  • At higher frequencies, DE sensors exhibited significant capacitance undershoots.
  • These capacitance undershoots were directly correlated with transient changes and peaks in electrode resistance.
  • Simulations using an R-C transmission line model closely matched experimental data, supporting the role of dynamic resistance.

Conclusions:

  • Dynamic electrode resistance significantly affects capacitance measurements in DE sensors, particularly at high excitation frequencies.
  • The lumped parameter approximation is insufficient for accurately describing DE sensor behavior under these conditions.
  • Optimizing the excitation frequency is key to avoiding nonlinear responses and ensuring reliable tactile sensing in soft robots.