Skinflow: A soft robotic skin based on fluidic transmission

Soter, Gabor; Garrad, Martin; Conn, Andrew T.; Hauser, Helmut; Rossiter, Jonathan

doi:10.1109/robosoft.2019.8722744

Cited by 25 publications

(27 citation statements)

References 20 publications

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“…Works close to our approach in terms of multi-modal sensing are due to Truby et al [9], Soter et al [10] and Yang et al [11]. Truby et al show a complex sensorization of a soft finger, featuring a bending sensor, an inflation sensor and a contact sensor on the finger-tip.…”

Section: Related Workmentioning

confidence: 68%

“…However, their work only shows results for regressions and does not deal with multiple interactions along different directions. Soter et al propose a design in which cavities inside a soft pad are filled with a colored liquid [10]. A display showing the level of the liquid in the cavity is used to monitor touch and bending interactions on two different devices.…”

Section: Related Workmentioning

confidence: 99%

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A Model-Based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics

Navarro

Nagels

Alagi

et al. 2020

IEEE Robot. Autom. Lett.

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In this paper, we address the challenge of sensor fusion in Soft Robotics for estimating forces and deformations. In the context of intrinsic sensing, we propose the use of a soft capacitive sensor to find a contact's location, and the use of pneumatic sensing to estimate the force intensity and the deformation. Using a FEM-based numerical approach, we integrate both sensing streams and model two Soft Robotics devices we have conceived. These devices are a Soft Pad and a Soft Finger. We show in an evaluation that external forces on the Soft Pad can be estimated and that the shape of the Soft Finger can be reconstructed.

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Section: Related Workmentioning

confidence: 68%

Section: Related Workmentioning

confidence: 99%

A Model-Based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics

Navarro

Nagels

Alagi

et al. 2020

IEEE Robot. Autom. Lett.

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show abstract

“…Recent contributions in this field are due to Soter et al, Yang et al, Gong et al and Choi et al [10], [11], [12], [13]. Soter et al propose a design in which cavities inside a soft pad are are filled with a colored liquid [10]. The cavities are connected to an (analog) thermometer-like display for each cavity.…”

Section: State Of the Artmentioning

confidence: 99%

Modeling Novel Soft Mechanosensors Based on Air-Flow Measurements

Navarro

Goury

Zheng

et al. 2019

IEEE Robot. Autom. Lett.

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In this paper, we introduce a new pneumatic mechanosensor dedicated to Soft Robotics and propose a generic method to reconstruct the magnitude of a contact-force acting on it. Changes in cavity volumes inside a soft silicon pad are measured by air-flow sensors. The resulting mechanosensor is characterized by its high sensitivity, repeatability, dynamic range and accurate localization capability in 2D. Using a regression found by machine learning techniques we can predict the contact location and force magnitude accurately when the force magnitudes are within the range of the training data. To be able to provide a more general model, a novel approach based on a Finite Element Method (FEM) is introduced. We formulate an optimization problem, which yields the contact load that best explains the observed changes in cavity volumes. This method makes no assumptions on the force range, the shape of the soft pad or the shape of its cavities. The prediction of the force also results in a model for the deformation of the soft pad. We characterize our sensor and evaluate two designs, a soft pad and a kidney-shaped sensor, in different scenarios.

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“…The ability of fluidic devices to both sense and display has been gaining interest in the fields of soft robotics, programmable materials and HCI [1,4,5,7]. Researchers present various approaches in terms of the driving force of the fluid and sensing method such as digitally controlled pumps [2] and image analysis [5]. However, rigid parts and tethered devices in micro-fluidics has been one of it's limitation.…”

Section: Introductionmentioning

confidence: 99%

“…no battery) passive smart sensors: responsive fluidic mechanisms that change color according to deformation and allows users to directly interact with the displayed information. Inspired from recent work in programmable shape change and meta-materials in HCI [3,5,6,9] in soft robotics, and microfluidics [4,8], this approach allows the coupling of shape and color change, and by that, the opportunity to create new fluidic based tangible interactions.…”

Section: Introductionmentioning

confidence: 99%

Prototyping Interactive Fluidic Mechanisms

Mor

Nakagaki

et al. 2020

Proceedings of the Fourteenth International Conference on Tangible, Embedded, and Embodied Interaction

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Figure 1: Design tool and UI for prototyping of interactive fluidic mechanisms. (a: example of a working prototype with folding input. b: The User Interface and design tool for modeling the fluidic mechanisms, implemented in grasshopper environment. c: The simulation of fluid flow and color according to input parameters in b.) In this hands-on studio we introduce a method of designing and prototyping fluidic mechanisms that utilize the flow as both deformation sensors and displays. A fabrication process and the featured materials will be provided to allow participants to design and prototype self-contained fluidic channels. These channels are designed to respond to mechanical inputs such as deformation and pressure with flow and color change. We will introduce a specialized software plugin for design and flow simulation that enables simple and rapid modelling with optimization of the fluidic mechanism. The goal of Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for third-party components of this work must be honored. For all other uses, contact the owner/author(s).

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Skinflow: A soft robotic skin based on fluidic transmission

Cited by 25 publications

References 20 publications

A Model-Based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics

A Model-Based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics

Modeling Novel Soft Mechanosensors Based on Air-Flow Measurements

Prototyping Interactive Fluidic Mechanisms

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