Relationship between Photoelasticity of Polyurethane and Dielectric Anisotropy of Diisocyanate, and Application of High-Photoelasticity Polyurethane to Tactile Sensor for Robot Hands

Mitsuzuka, Masahiko; Kinbara, Yuho; Fukuhara, Mizuki; Nakahara, Maki; Nakano, Takashi; Takarada, Jun; Wang, Zhongkui; Mori, Yoshiki; Kageoka, Masakazu; Tawa, Tsutomu; Kawamura, Sadao

doi:10.3390/polym13010143

Cited by 15 publications

(29 citation statements)

References 52 publications

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“…Magnetic field sensors mounted to glasses pick up small movements for individuals with spinal cord injuries (adapted from Ref. [70] with permission, copyright John Wiley & Sons, 2020) polymer or fiber optic cable, resulting in a relationship between strain and light intensity [53,[82][83][84]. These flexible sensors offer low susceptability to electromagnetic interference and a fast response [18].…”

Section: Optical Sensing Skinsmentioning

confidence: 99%

Soft Tactile Sensing Skins for Robotics

2021

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Purpose of Review Soft electronic skins (E-skins) capable of tactile pressure sensing have the potential to endow robotic systems with many of the same somatosensory properties of natural human skin. In this progress report, we review recent progress in creating soft tactile pressure sensing skins to give robots a sense of touch that resembles human skin sensing.Recent Findings For soft tactile pressure sensing skins, researchers have focused on five main sensing principles: (1) resistive; (2) capacitive; (3) magnetic; (4) barometric; and (5) optical. The combination of these traditional sensing techniques, along with the use of soft materials such as liquid metal and magnetic elastomers, has improved the perception capabilities and mechanical characteristics of artificial skin. In addition, the implementation of artificial intelligence and machine learning algorithms for data processing give robotic systems with these soft sensing skins an enhanced sense of touch.Summary E-skins for tactile sensing have a central role in a range of robotic applications, from haptics and teleoperation to bio-inspired soft robots. For many of these applications, E-skins must be soft, thin, flexible, stretchable, and lightweight so that they can be mounted on a robot, incorporated into clothing, or placed on human skin without interfering with mobility or contact mechanics. Significant research has been conducted on sensing techniques that can allow a robot to achieve a sense of human touch, with important progress being made in force feedback sensing, texture recognition, and spatial acuity. We begin by covering principles of tactile sensing in humans, robotics, and human-machine interaction. This is followed by an overview of soft material transducers capable of pressure and force sensing. This includes resistive, capacitive, magnetic, barometric, and optical sensing techniques. We close with a summary of emerging trends in sensor design and implementations for applications in robotics.

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Section: Optical Sensing Skinsmentioning

confidence: 99%

Soft Tactile Sensing Skins for Robotics

2021

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“…Therefore, there is no need for a circuit system or a personal computer (PC) that requires complex calculations for processing because sensing is the only required procedure. Taking these features together, piezoelectric PLLA braided cords can be used as sensors that can detect expansion, contraction, shear, and bending, depending on how they are tied or embroidered with the type of stich pattern [ 3 , 4 , 5 , 20 , 21 , 22 ].…”

Section: Fabrication Of Piezoelectric Plla Embroidery Bladementioning

confidence: 99%

Section: Fabrication Of Piezoelectric Plla Embroidery Bladementioning

confidence: 99%

“…The piezoelectric PLLA braided cord exhibits a large piezoelectric response to bending displacement [ 3 , 4 , 5 , 20 , 21 , 22 ]. Therefore, depending on the spacing and placement of bending points on the braided cord and the symmetry of the placement, the piezoelectric response is only detectable in a specific direction of the applied stress [ 3 , 4 , 5 , 20 , 21 , 22 ]. For the piezoelectric PLLA embroidery designed on this basis, we previously reported that the chain stitch structure efficiently produces piezoelectric responses to various stimuli such as tension, bending, and compression [ 3 , 4 , 5 , 20 , 21 , 22 ].…”

Section: Fabrication Of Piezoelectric Plla Embroidery Bladementioning

confidence: 99%

“…Therefore, depending on the spacing and placement of bending points on the braided cord and the symmetry of the placement, the piezoelectric response is only detectable in a specific direction of the applied stress [ 3 , 4 , 5 , 20 , 21 , 22 ]. For the piezoelectric PLLA embroidery designed on this basis, we previously reported that the chain stitch structure efficiently produces piezoelectric responses to various stimuli such as tension, bending, and compression [ 3 , 4 , 5 , 20 , 21 , 22 ]. In an embroidery pattern, in general, a piezoelectric PLLA braided cord has a part with multiple points that bend or curve steeply and a connection part between two bending points, and the cord is arranged so as to fill spaces between adjacent segments.…”

Section: Fabrication Of Piezoelectric Plla Embroidery Bladementioning

confidence: 99%

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A Prototype Sensor System Using Fabricated Piezoelectric Braided Cord for Work-Environment Measurement during Work from Home

et al. 2021

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We proposed a new prototype sensor system to understand the workload of employees during telework. The goal of sensing using such a system is to index the degree of stress experienced by employees during work and recognize how to improve their work environment. Currently, to realize this, image processing technology with a Web camera is generally used for vital sign sensing. However, it creates a sense of discomfort at work because of a strong sense of surveillance. To truly evaluate a working environment, it is necessary that an employee be unaware of the sensor system and for the system to be as unobtrusive as possible. To overcome these practical barriers, we have developed a new removable piezoelectric sensor incorporated in a piezoelectric poly-L-lactic acid (PLLA) braided cord. This cord is soft and flexible, and it does not cause any discomfort when attached to the cushion cover sheet. Thus, it was possible to measure the workload of an employee working from home without the employee being aware of the presence of a sensor. Additionally, we developed a system for storing data in a cloud system. We succeeded in acquiring continuous long-term data on the vital signs of employees during telework using this system. The analysis of the data revealed a strong correlation between behavior and stress.

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Bio‐inspired acid‐sensitive polyurethane woven artificial muscle nanofibers with tunable mechanical properties via electrostatic spinning

He,

Duan,

Ling

et al. 2024

J of Applied Polymer Sci

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Polyurethane (PU) is a traditional chemical known for its chemical stability and mechanical performance. Inspired by the similarity between the formation and breakage of chemical coordination bonds and the energy storage and release of muscle fibers, muscle‐like electrostatically spun fibers with acid‐responsive energy storage and release were prepared by introducing bio‐inspired elastic energy storage groups and bio‐active degradation groups (PU‐BPY‐Fe) in the main chain of PU, taking advantage of the good mechanical properties of PU. The fabricated electrospinning film PU‐BPY‐Fe can respond to external stimulation, which generated high strain (32 MPa), stretch of 206%, outperforming the nanofiber membrane before stimulation, similar and even higher than the biological muscles. The variable mechanical properties and elastic energy storage capacity of PU‐BPY‐Fe were attributed to the reversible hydrogen bonding and the destabilization of metal coordination bonds (Fe3+ to Fe2+) within the material under acidic stimulation. Cytotoxicity testing of the synthesized fibers indicated a degree of biocompatibility, suggesting potential for in vivo applications. This method of storing and releasing elastic energy was demonstrated and has endowed the PU‐BPY‐Fe with stimuli‐responsibility and muscle‐like mechanical properties, which may inspire the design of soft muscles materials for robots and tissue engineering applications.

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Relationship between Photoelasticity of Polyurethane and Dielectric Anisotropy of Diisocyanate, and Application of High-Photoelasticity Polyurethane to Tactile Sensor for Robot Hands

Cited by 15 publications

References 52 publications

Soft Tactile Sensing Skins for Robotics

Soft Tactile Sensing Skins for Robotics

A Prototype Sensor System Using Fabricated Piezoelectric Braided Cord for Work-Environment Measurement during Work from Home

Bio‐inspired acid‐sensitive polyurethane woven artificial muscle nanofibers with tunable mechanical properties via electrostatic spinning

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