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Design Considerations for 3D Printed, Soft, Multimaterial Resistive Sensors for Soft Robotics
Benjamin Shih1, Caleb Christianson2, Kyle Gillespie1
1Department of Mechanical and Aerospace Engineering, University of California, San Diego, San Diego, CA, United States.
Frontiers in Robotics and AI
|January 27, 2021
Summary
Researchers developed novel, integrated soft sensors for robots using 3D printing. These compliant, resistive sensors enhance robot sensing capabilities without extra modifications, improving both external and internal awareness.
Area of Science:
- Robotics
- Materials Science
- Sensor Technology
Background:
- Designing effective sensors for soft robots is complex due to numerous critical design parameters.
- Integrated sensors offer enhanced exteroceptive and interoceptive capabilities for soft robots compared to conventional rigid sensors.
Purpose of the Study:
- To design and fabricate compliant, resistive soft sensors co-fabricated with soft robot bodies.
- To investigate an analytical comparison of these sensors with similar geometries.
- To demonstrate applications utilizing these embedded sensors.
Main Methods:
- Utilized a Connex3 Objet350 multimaterial 3D printer for sensor fabrication.
- Employed layers of commercial photopolymers with varying conductivities (TangoPlus, TangoBlackPlus, VeroClear, Support705).
- Characterized material conductivity under various conditions.
Main Results:
- Successfully co-fabricated compliant, resistive soft sensors with soft robot bodies.
- Demonstrated the feasibility of using layered photopolymers with different conductivities for sensing.
- Characterized the conductivity of specific photopolymer materials.
Conclusions:
- The developed 3D printing approach enables seamless integration of soft sensors into robot bodies.
- These embedded sensors can significantly improve the sensing capabilities of soft robots.
- The method offers a versatile platform for designing functional soft robotic systems.
