2014
DOI: 10.3390/s140712748
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SVAS3: Strain Vector Aided Sensorization of Soft Structures

Abstract: Soft material structures exhibit high deformability and conformability which can be useful for many engineering applications such as robots adapting to unstructured and dynamic environments. However, the fact that they have almost infinite degrees of freedom challenges conventional sensory systems and sensorization approaches due to the difficulties in adapting to soft structure deformations. In this paper, we address this challenge by proposing a novel method which designs flexible sensor morphologies to sens… Show more

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Cited by 57 publications
(49 citation statements)
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“…Other examples that might fall into this category are the nonhomogeneous distribution of photoreceptors in the human eye (optimized for acuity rather than motion detection), the mechanotransduction in the cochlea of the ear [50], and the sensilla morphology in crayfish [75]. Recent examples from robotics include strain-vector-aided sensorization of soft structures [17] and sensing through compliant artificial pneumatic muscles [34,74]. However, the morphology (the physical system) is not deployed here as a computational substrate to calculate an abstract problemthis would involve encoding the abstract entity into the morphology and eventual decoding.…”
Section: Morphology Facilitating Perceptionmentioning
confidence: 99%
“…Other examples that might fall into this category are the nonhomogeneous distribution of photoreceptors in the human eye (optimized for acuity rather than motion detection), the mechanotransduction in the cochlea of the ear [50], and the sensilla morphology in crayfish [75]. Recent examples from robotics include strain-vector-aided sensorization of soft structures [17] and sensing through compliant artificial pneumatic muscles [34,74]. However, the morphology (the physical system) is not deployed here as a computational substrate to calculate an abstract problemthis would involve encoding the abstract entity into the morphology and eventual decoding.…”
Section: Morphology Facilitating Perceptionmentioning
confidence: 99%
“…Among all those developments in soft robotics sensing, most of them are focusing on proprioception only, very few have attempted to achieve both proprioception and tactile sensing at the same time. Furthermore, some researchers have investigated sensor configuration methods22 and shape reconstruction algorithms23 for certain type of soft robots.…”
Section: Progress In Soft Robotics Sensingmentioning
confidence: 99%
“…Owing to its low Young's modulus and flexible shape, CTPE can be integrated into a robot soft body with suitable shape for particular purposes such as maximizing strain sensing sensitivity. More specifically, a soft robot sensorized with CTPE can be made to be sensitive to certain motion patterns based on the sensor morphology, instead of having any additional filtering or amplification algorithms [60,61].…”
Section: (Figure 1c)mentioning
confidence: 99%