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Interdigitated Sensor Based on a Silicone Foam for Subtle Robotic Manipulation.

Masoumeh Hesam Mahmoudinezhad¹, Iain Anderson¹, Samuel Rosset¹

¹Biomimetics Laboratory, Auckland Bioengineering Institute, Auckland, 1010, New Zealand.

Macromolecular Rapid Communications

|December 4, 2020

Summary

This summary is machine-generated.

Researchers developed a soft sensor using silicone foam to measure compressive forces, enabling robots to handle delicate objects safely. Controlling foam porosity optimizes sensor sensitivity for improved robotic interaction.

Keywords:

capacitive sensors compression sensors dielectric elastomers interdigitated electrodes soft robotics tactile sensors

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Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

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Published on: November 14, 2015

Area of Science:

Materials Science
Robotics
Sensor Technology

Background:

Conventional robotic manipulators often lack the delicate touch required for interacting with soft or fragile objects.
Proprioceptive capabilities, or the sense of force and position, are crucial for safe and effective robotic manipulation.

Purpose of the Study:

To develop a soft sensor for measuring compressive forces up to 50 N.
To enhance robotic manipulators with proprioceptive capabilities for safe interaction with delicate materials.

Main Methods:

A soft sensor configuration utilizing silicone foam with interdigitated electrodes was developed.
The sensor operates by measuring changes in relative permittivity due to foam compression within an electric field.
A model was used to analyze the impact of foam parameters (porosity, permittivity, Young's modulus) on sensor performance.

Main Results:

The silicone foam soft sensor demonstrated high sensitivity, achieving a 33% capacitance change for a 10 N applied force.
Controlling foam porosity was identified as key to optimizing sensor sensitivity.
The sensor is easily fabricated and does not require compliant electrodes.

Conclusions:

The developed soft sensor provides a viable method for imparting proprioception to hard-bodied robots.
This technology facilitates safer interaction between robotic systems and soft, fragile objects.
The sensor's design offers a balance of sensitivity, ease of fabrication, and cost-effectiveness.