Sensors (May 2024)

A Flexible Double-Sided Curvature Sensor Array for Use in Soft Robotics

  • Racha Benarrait,
  • Muneeb Ullah-Khan,
  • Jérémy Terrien,
  • Hani Al Hajjar,
  • Frédéric Lamarque,
  • Andreas Dietzel

DOI
https://doi.org/10.3390/s24113475
Journal volume & issue
Vol. 24, no. 11
p. 3475

Abstract

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This paper describes the design, fabrication, integration, characterization, and demonstration of a novel flexible double-sided curvature sensor array for use in soft robotics. The paper explores the performance and potential applications of a piezoresistive sensor array consisting of four gold strain gauges on a flexible polyimide (PI) substrate arranged in a Wheatstone bridge configuration. Multiple sensor strips were arranged like the fingers of a hand. Integrating Shape Memory Alloy (SMA) foils alongside the fingers was explored to mimic a human hand-gripping motion controlled with temperature, while curvature sensor array strips measure the resulting finger shapes. Moreover, object sensing in a flexible granular material gripper was demonstrated. The sensors were embedded within Polydimethylsiloxane (PDMS) to enhance their tactile feel and adhesive properties. The findings of this study are promising for future applications, particularly in robotics and prosthetics, as the ability to accurately mimic human hand movements and reconstruct sensor surfaces paves the way for robotic hand functionality.

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