Integrated Simultaneous Detection of Tactile and Bending Cues for Soft Robotics.
Integrated Simultaneous Detection of Tactile and Bending Cues for Soft Robotics.
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DOI：
10.1089/soro.2016.0049
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发表时间：
2017-12
期刊：
影响因子：
7.9
通讯作者：
TotaroMassimo;MondiniAlessio;BellaciccaAndrea;MilaniPaolo;BeccaiLucia
中科院分区：
文献类型：
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作者：
TotaroMassimo;MondiniAlessio;BellaciccaAndrea;MilaniPaolo;BeccaiLucia
摘要软机器人应该在非结构化的环境中移动并探索它，要做到这一点，它们应该能够测量和区分本体感受和外部感受刺激。这可以通过在机器人的身体中嵌入机械传感系统来完成。在这里，我们提出了一个聚二甲基硅氧烷块传感与电光系统和电阻应变片与超声束注入（SCBI）技术。我们展示了如何在整个制造过程中的软体集成这些传感元件，我们证明了它们的存在不会改变散装材料的机械性能。利用两个传感系统的位置和适当的输出信号的组合，我们提出了一种策略，同时测量外部压力和身体的正/负弯曲。特别是，光学系统可以揭示任何机械刺激（外部软块或由于其自身的变形），而电阻应变g…
Abstract Soft robots should move in an unstructured environment and explore it and, to do so, they should be able to measure and distinguish proprioceptive and exteroceptive stimuli. This can be done by embedding mechanosensing systems in the body of the robot. Here, we present a polydimethylsiloxane block sensorized with an electro-optical system and a resistive strain gauge made with the supersonic cluster beam implantation (SCBI) technique. We show how to integrate these sensing elements during the whole fabrication process of the soft body and we demonstrate that their presence does not change the mechanical properties of the bulk material. Exploiting the position of both sensing systems and a proper combination of the output signals, we present a strategy to measure simultaneously external pressure and positive/negative bending of the body. In particular, the optical system can reveal any mechanical stimulation (external from the soft block or due to its own deformation), while the resistive strain g...