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

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Adjustable Compliance Soft Sensor via an Elastically Inflatable Fluidic Dome.

Xingtian Zhang¹, Jun Kow¹, Dominic Jones¹

¹School of Mechanical Engineering, University of Leeds, Leeds LS2 9JT, UK.

Sensors (Basel, Switzerland)

|April 3, 2021

Summary

This study presents a novel soft sensor with adjustable mechanical compliance for robotic systems. Its unique design allows for dynamic tuning, enhancing safety and adaptability in human-robot interaction.

Keywords:

adjustable compliance soft robotics soft sensor tactile sensing variable stiffness

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Area of Science:

Robotics
Materials Science
Sensor Technology

Background:

Soft sensors are crucial for safe human-robot interaction.
Existing soft tactile sensors have limitations in geometry and measurement range.
A need exists for adaptable soft sensing solutions.

Purpose of the Study:

To introduce a novel soft load-sensing unit with adjustable mechanical compliance.
To demonstrate dynamic tuning of sensor compliance using an elastically inflatable fluidic dome.
To explore the potential of this adaptable sensor for diverse soft robotic applications.

Main Methods:

Designed and fabricated a soft sensor using a 3D Hall-effect sensor, magnet, and elastomeric dome.
Utilized three silicone rubbers with varying durometer hardness (00-10 and 20A scales).
Employed finite element simulations to analyze reaction forces and internal stresses.

Main Results:

Demonstrated dynamic compliance tuning by adjusting the internal pressure of the fluidic dome.
Successfully fabricated sensor configurations with different silicone rubbers.
Finite element simulations provided insights into internal structural behavior not experimentally feasible.

Conclusions:

The proposed soft load-sensing unit offers adjustable compliance for enhanced robotic interaction.
The sensor's adaptable nature makes it suitable for various soft robotic applications with different requirements.
This technology advances the development of versatile and safe soft robotic systems.