Sensitive and robust electroactive polymer tactile pressure sensors and shape-morphing actuation for robotic grippers

Briggs, Calum R.; Kaiser, Greg H.; Sporidis, Yanni; Vicars, Peter N.; Rasmussen, Lenore; Bowers, Matthew P.; Dogrucu, Ada; Popović, Marko B.; Zhong, Alexander

doi:10.1117/12.2607779

Cited by 5 publications

(6 citation statements)

References 7 publications

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“…Owing to the limitation of the gripper structure, it is imperative to strengthen the perception accuracy. Sensitive and robust electroactive polymer tactile pressure sensors were developed for tactile fingertips, [ 179 ] which can provide for 1 mm resolution and to detect very light pressures down to 0.05 N and even 0.005 N in its maximum sensitivity mode.…”

Section: Tactile Sensing Modalities and Methodologiesmentioning

confidence: 99%

Recent Progress in Advanced Tactile Sensing Technologies for Soft Grippers

Qu,

Mao,

et al. 2023

Adv Funct Materials

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Tactile sensing technology is crucial for soft grippers. Soft grippers equipped with intelligent tactile sensing systems based on various sensors can interact safely with the unstructured environments and obtain precise properties of objects (e.g., size and shape). It is essential to develop state‐of‐the‐art sensing technologies for soft grippers to handle different grasping tasks. In this review, the development of tactile sensing techniques for robotic hands is first introduced. Then, the principles and structures of different types of sensors normally adopted in soft grippers, including capacitive tactile sensors, piezoresistive tactile sensors, piezoelectric tactile sensors, fiber Bragg grating (FBG) sensors, vision‐based tactile sensors, triboelectric tactile sensors, and other advanced sensors developed recently are briefly presented. Furthermore, sensing modalities and methodologies for soft grippers are also described in aspects of force measurement, perception of object properties, slip detection, and fusion of perception. The application scenarios of soft grippers are also summarized based on these advanced sensing technologies. Finally, the challenges of tactile sensing technologies for soft grippers that need to be tackled are discussed and perspectives in addressing these challenges are pointed out.

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Section: Tactile Sensing Modalities and Methodologiesmentioning

confidence: 99%

Recent Progress in Advanced Tactile Sensing Technologies for Soft Grippers

Qu,

Mao,

et al. 2023

Adv Funct Materials

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“…Currently, that development is spreading to DE actuators (DEA) and DE power generators (DEGs) that generate electricity by reversing the drive [28]. The concept of the DE sensor was introduced in the latter half of the 1990s, and research and development are currently underway in this field as well [8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23][24][25].…”

Section: Background Of Dielectric Elastomers (Des)mentioning

confidence: 99%

“…So far, a wide range of research and development have been carried out for various applications. This research also includes the examination of material types and DE sensor shapes [10][11][12][13][14][15][16][17][18][19][20][21][22][23][24]. First, as given an example of the material, H. Sun et al claimed that SiR-Fe containing 8% FeCl 3 could be effectively used as a medical DE sensor [10].…”

Section: Background Of Dielectric Elastomers (Des)mentioning

confidence: 99%

“…J. Bae et al tried to control the robot by feeding back the information [14]. C. Briggs et al tried to develop a tactile sensor for a robot's hand by attaching a dome-shaped DE sensor or DE sensor mounted on a cylindrical pad to a robot gripper [15]. L. Agostini et al also conducted preliminary experimental studies seeking the most influential elements in order to optimize the performance of hemispherical anti-collision sensors [16].…”

Section: Background Of Dielectric Elastomers (Des)mentioning

confidence: 99%

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Perspective Chapter: Dielectric Elastomer Sensor Capable of Measuring Large Deformation and Pressure

Chiba¹,

Waki²

2023

Human-Robot Interaction - Perspectives and Applications

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Most of the conventional sensors used for measuring deformation, pressure, etc., use metal, ceramics, piezo, or the like. Many of them are very rigid, and when the object is deformed or when the pressure on the object changes currently, it is necessary to arrange a large number of sensors with different conditions side by side. However, it is still difficult to measure all changes over time. With the newly developed dielectric elastomer sensor, even a very thin (0.1–0.2 mm) elastomer thickness could be deformed in difficult environments (e.g., places with large temperature changes or large vibrations), and it would be possible to measure any pressure changes due to its deformation. By applying this sensor, it can be used as a position sensor (including a three-dimensional sensor) or an acceleration sensor, so that it could be applied to the control of the arms and legs of a robot, smart shoes, and the like.

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“…It can be seen that polymers such as elastomer or silicone rubber (Cao et al, 2022;Chen et al, 2021;Guanjun et al, 2017;Navas et al, 2021), dielectric elastomer (Hiruta et al, 2021), electroactive polymer (Briggs et al, 2021;Briggs et al, 2022) and thermoplastic elastomer (TPE) (Cao et al, 2022) have been the material most used with eight articles using them in their works.…”

Section: Publication Distribution By Materialsmentioning

confidence: 99%

A Systematic Review of Soft Actuators in Agriculture

Mhd Yusoff,

Mohd Faudzi

2023

Adv Agric Food Res J

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Industrial machines and robots use actuators to facilitate repetitive tasks. Conventionally, stiff actuators are used to enable precise position control in a high-pace system. They are usually placed in human-free environments because of safety concerns as they do not comply in a collision. On the other hand, there has been a growing interest in human-robot interactions that require robots to be placed alongside humans. These applications need a soft actuator. An example of a soft actuator is a pneumatic muscle actuator (PMA) which produces a one-way motion and force as a result of the muscle’s contraction under air pressure. In this paper, the aim is to present a systematic review covering the main published solutions of soft actuators including PMA in agricultural applications. This paper provides a useful foundation on the soft actuators, their main applications in agriculture, their challenges and opportunities, as well as supporting new research works in the soft actuators' field.

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Sensitive and robust electroactive polymer tactile pressure sensors and shape-morphing actuation for robotic grippers

Cited by 5 publications

References 7 publications

Recent Progress in Advanced Tactile Sensing Technologies for Soft Grippers

Recent Progress in Advanced Tactile Sensing Technologies for Soft Grippers

Perspective Chapter: Dielectric Elastomer Sensor Capable of Measuring Large Deformation and Pressure

A Systematic Review of Soft Actuators in Agriculture

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