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Shape Estimation of Soft Manipulator Using Stretchable Sensor.

Jinho So1, Uikyum Kim2, Yong Bum Kim3

  • 1Mechatronics R&D Center, Samsung Electronics, Republic of Korea.

Cyborg and Bionic Systems (Washington, D.C.)
|October 26, 2022
PubMed
Summary
This summary is machine-generated.

This study introduces a novel skin-type stretchable sensor for soft robot manipulators, enabling accurate shape estimation crucial for surgical applications. The multiwalled carbon nanotube and silicone sensor achieved a minimum tip position error of 8.9 mm with nine sensors.

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Area of Science:

  • Robotics
  • Materials Science
  • Biomedical Engineering

Background:

  • Soft robot manipulators offer advantages in surgery due to their safety and flexibility.
  • Accurate control of soft robots is hindered by challenges in shape sensing.
  • Developing effective shape sensing is critical for advancing soft robotics in medical applications.

Purpose of the Study:

  • To present a novel method for estimating the shape of soft robot manipulators using a stretchable sensor.
  • To fabricate and validate a skin-type sensor for real-time shape monitoring.
  • To improve the control and applicability of soft robot manipulators in surgical fields.

Main Methods:

  • Fabrication of a sandwich-structured stretchable sensor using multiwalled carbon nanotube (MWCNT) and silicone.
  • Calibration of the sensor to establish the relationship between resistance and strain.
  • Attachment of three sensors at 120° intervals on the manipulator for curvature calculation and shape reconstruction.
  • Validation of the shape estimation accuracy by comparing with camera data and analyzing errors with varying sensor numbers.

Main Results:

  • The developed skin-type stretchable sensor, composed of MWCNT and silicone, demonstrated effective shape estimation capabilities.
  • A sandwich structure was employed to minimize sensor hysteresis.
  • Shape estimation accuracy improved with an increased number of sensors, achieving a minimum tip position error of 8.9 mm (4.45% of total length) with nine sensors.

Conclusions:

  • The proposed stretchable sensor system provides a viable solution for accurate shape sensing in soft robot manipulators.
  • This advancement facilitates improved control and broader application of soft robots in surgical environments.
  • The sensor's ease of fabrication and application offers practical benefits for soft robotic systems.