A Novel All-in-One Manufacturing Process for a Soft Sensor System and its Application to a Soft Sensing Glove

Kim, Suin; Jeong, Dahee; Oh, Jinhyeok; Park, Wookeun; Bae, Joonbum

doi:10.1109/iros.2018.8594389

Cited by 11 publications

(8 citation statements)

References 34 publications

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“…As shown in Figure a, the suggested method allowed the reproducible writing of eGaIn on different metal electrodes in spite of poor wettability of eGaIn on the surfaces. Based on the proposed technique, all components in a soft sensor system can be written in a single process, for example, a sensing glove with 10 sensing units (serpentine patterns) shown in Figure b . Both terminals of each serpentine pattern are extended to the adjacent area of the electrode through the wire parts (Figure c) and connected to the metal electrode (Figure d).…”

Section: Results and Discussionmentioning

confidence: 99%

“…Based on the proposed technique, all components in a soft sensor system can be written in a single process, for example, a sensing glove with 10 sensing units (serpentine patterns) shown in Figure 2b. 22 Both terminals of each serpentine pattern are extended to the adjacent area of the electrode through the wire parts (Figure 2c) and connected to the metal electrode (Figure 2d). The electrode terminals in the opposite side can be accessed by electronic components (e.g., connectors, wires, and chips).…”

Section: ■ Introductionmentioning

confidence: 99%

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Direct Wiring of Eutectic Gallium–Indium to a Metal Electrode for Soft Sensor Systems

Kim

Jeong

et al. 2019

ACS Appl. Mater. Interfaces

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For wider applications of liquid metal-based stretchable electronics, electrical interface has remained a crucial issue due to its fragile electromechanical stability and complex fabrication steps. In this study, a direct writing-based technique is introduced to form the writing paths of conductive liquid metal (eutectic gallium−indium, eGaIn) and electrical connections to off-the-shelf metal electrodes in a single process. Specifically, by extending eGaIn wires written on a silicone substrate, the eGaIn wires were physically connected to five different metal electrodes, of which stability as an electrical connection was investigated. Among the five different surface materials, the metal electrode finished by electroless nickel immersion gold (ENIG) was reproducible and had low contact resistance without time-dependent variation. In our experiments, it was verified that the electrode part made by an ENIG-finished flexible flat cable (FFC) was mechanically (strain, ≤100%; pressure, ≤600 kPa) and thermally (temperature, ≤180 °C) durable. By modifying the trajectories of eGaIn wires, soft sensor systems composed of 10 sensing units were fabricated and tested to measure finger joint angles and ground reaction forces, respectively. The proposed method enables eGaIn-based soft sensors or circuits to be connected to typical electronic components through FFCs or weldable surfaces, using only off-the-shelf materials without additional mechanical or chemical treatments.

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Section: Results and Discussionmentioning

confidence: 99%

Section: ■ Introductionmentioning

confidence: 99%

Direct Wiring of Eutectic Gallium–Indium to a Metal Electrode for Soft Sensor Systems

Kim

Jeong

et al. 2019

ACS Appl. Mater. Interfaces

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“…Innovative fabrication processes of soft sensors, embedded or applied on haptic glove, have been investigated and proposed. A direct ink writing (DIW) of a conductive liquid (eutectic gallium-indium), for soft bending sensors fabrication process is suggested by Kim et al in [76]. The main advantage, in addition to reliability, flexibility, programmability, and efficiency of the process, is the automation of the realization of all parts of the sensor, including sensing units, wiring, and the electrode part (Figure 26A).…”

Section: Haptic Soft Glovesmentioning

confidence: 99%

Soft Gloves: A Review on Recent Developments in Actuation, Sensing, Control and Applications

Tiboni

Amici

2022

Actuators

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Interest in soft gloves, both robotic and haptic, has enormously grown over the past decade, due to their inherent compliance, which makes them particularly suitable for direct interaction with the human hand. Robotic soft gloves have been developed for hand rehabilitation, for ADLs assistance, or sometimes for both. Haptic soft gloves may be applied in virtual reality (VR) applications or to give sensory feedback in combination with prostheses or to control robots. This paper presents an updated review of the state of the art of soft gloves, with a particular focus on actuation, sensing, and control, combined with a detailed analysis of the devices according to their application field. The review is organized on two levels: a prospective review allows the highlighting of the main trends in soft gloves development and applications, and an analytical review performs an in-depth analysis of the technical solutions developed and implemented in the revised scientific research. Additional minor evaluations integrate the analysis, such as a synthetic investigation of the main results in the clinical studies and trials referred in literature which involve soft gloves.

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“…For instance, a novel 2D printing technique based on direct ink writing with eutectic gallium-indium (EGaIn) was used to fabricate a sensing glove that replicates finger motion. 6 Similarly, soft resistive sensors, used to detect positions and reconstruct objects forms, have been developed using 2D printing to produce conductive circuits made of a mix of inexpensive carbon black with an uncured silicone elastomer, which enables conductivity at high stretch. 7 Despite these important advances in techniques, applications often require an understanding of deformation within an entire three-dimensional structure, and not only near to the structure's surface.…”

Section: Introductionmentioning

confidence: 99%

Designing a Contact Fingertip Sensor Made Using a Soft 3D Printing Technique

2022

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The development of highly compliant materials and actuators has enabled the design of soft robots that can be applied in rescue operations, in secure human-robot interactions, to manipulate fragile devices or objects, and for robot locomotion within complex environments. In order to develop reliable solutions for soft robotics applications, devices with the ability to deform and change shape are required, which must be equipped with appropriate sensors capable of withstanding large deformations at suitable speeds and respond repeatedly. This work presents a methodology to build strain sensors made of sensitive, thin and conductive channels printed inside a soft matrix, using 3D printing. As proof of concept, rectangular beams and semi-spherical caps embedded with sensitive circuits are developed, that are designed to deform under applied forces and detect the gradual contact with objects. The rectangular beam with conductive lines separated from the neutral plane exhibits a quasi-linear electrical response as a function of the applied shear strain. Mechanical diodes, which trigger an activated response once a given deformation onset is exceeded, are implemented using circumferential conductive-channels that are centered with the spherical body sensor. Sinusoidally shaped conductive channels located at a given distance from the spherical surface produce a monotonic electrical response, which detects deformations over a broad range. Linear sensors, with enhanced sensitivity to compression, are created if the sensitive conductive channels are oriented along the compression direction. Numerical calculations, used to guide the design of the sensor, show the capability of these sensors to measure simultaneous normal and tangential forces, making them suitable for applications involving fragile object manipulation and robot locomotion. An example of application of these sensors in the control of the forces applied by soft gripper lifting an objet is given.

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A Novel All-in-One Manufacturing Process for a Soft Sensor System and its Application to a Soft Sensing Glove

Cited by 11 publications

References 34 publications

Direct Wiring of Eutectic Gallium–Indium to a Metal Electrode for Soft Sensor Systems

Direct Wiring of Eutectic Gallium–Indium to a Metal Electrode for Soft Sensor Systems

Soft Gloves: A Review on Recent Developments in Actuation, Sensing, Control and Applications

Designing a Contact Fingertip Sensor Made Using a Soft 3D Printing Technique

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