Directly Printable Flexible Strain Sensors for Bending and Contact Feedback of Soft Actuators

This paper presents a fully printable sensorized bending actuator that can be calibrated to provide reliable bending feedback and simple contact detection. A soft bending actuator following a pleated morphology, as well as a flexible resistive strain sensor, were directly 3D printed using easily acc...
Ausführliche Beschreibung

Gespeichert in:

Autor*in:	Khaled Elgeneidy [verfasserIn] Gerhard Neumann [verfasserIn] Michael Jackson [verfasserIn] Niels Lohse [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2018

Schlagwörter:	soft robotics soft actuators soft sensors regression analysis haptic feedback grasping

Übergeordnetes Werk:	In: Frontiers in Robotics and AI - Frontiers Media S.A., 2015, 5(2018)
Übergeordnetes Werk:	volume:5 ; year:2018

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc

DOI / URN:	10.3389/frobt.2018.00002

Katalog-ID:	DOAJ022770992

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520			\|a This paper presents a fully printable sensorized bending actuator that can be calibrated to provide reliable bending feedback and simple contact detection. A soft bending actuator following a pleated morphology, as well as a flexible resistive strain sensor, were directly 3D printed using easily accessible FDM printer hardware with a dual-extrusion tool head. The flexible sensor was directly welded to the bending actuator’s body and systematically tested to characterize and evaluate its response under variable input pressure. A signal conditioning circuit was developed to enhance the quality of the sensory feedback, and flexible conductive threads were used for wiring. The sensorized actuator’s response was then calibrated using a vision system to convert the sensory readings to real bending angle values. The empirical relationship was derived using linear regression and validated at untrained input conditions to evaluate its accuracy. Furthermore, the sensorized actuator was tested in a constrained setup that prevents bending, to evaluate the potential of using the same sensor for simple contact detection by comparing the constrained and free-bending responses at the same input pressures. The results of this work demonstrated how a dual-extrusion FDM printing process can be tuned to directly print highly customizable flexible strain sensors that were able to provide reliable bending feedback and basic contact detection. The addition of such sensing capability to bending actuators enhances their functionality and reliability for applications such as controlled soft grasping, flexible wearables, and haptic devices.
650		4	\|a soft robotics
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allfields	10.3389/frobt.2018.00002 doi (DE-627)DOAJ022770992 (DE-599)DOAJa2afa37378b84d889a88d84994ebcff2 DE-627 ger DE-627 rakwb eng TJ1-1570 QA75.5-76.95 Khaled Elgeneidy verfasserin aut Directly Printable Flexible Strain Sensors for Bending and Contact Feedback of Soft Actuators 2018 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper presents a fully printable sensorized bending actuator that can be calibrated to provide reliable bending feedback and simple contact detection. A soft bending actuator following a pleated morphology, as well as a flexible resistive strain sensor, were directly 3D printed using easily accessible FDM printer hardware with a dual-extrusion tool head. The flexible sensor was directly welded to the bending actuator’s body and systematically tested to characterize and evaluate its response under variable input pressure. A signal conditioning circuit was developed to enhance the quality of the sensory feedback, and flexible conductive threads were used for wiring. The sensorized actuator’s response was then calibrated using a vision system to convert the sensory readings to real bending angle values. The empirical relationship was derived using linear regression and validated at untrained input conditions to evaluate its accuracy. Furthermore, the sensorized actuator was tested in a constrained setup that prevents bending, to evaluate the potential of using the same sensor for simple contact detection by comparing the constrained and free-bending responses at the same input pressures. The results of this work demonstrated how a dual-extrusion FDM printing process can be tuned to directly print highly customizable flexible strain sensors that were able to provide reliable bending feedback and basic contact detection. The addition of such sensing capability to bending actuators enhances their functionality and reliability for applications such as controlled soft grasping, flexible wearables, and haptic devices. soft robotics soft actuators soft sensors regression analysis haptic feedback grasping Mechanical engineering and machinery Electronic computers. Computer science Khaled Elgeneidy verfasserin aut Gerhard Neumann verfasserin aut Michael Jackson verfasserin aut Niels Lohse verfasserin aut In Frontiers in Robotics and AI Frontiers Media S.A., 2015 5(2018) (DE-627)792633741 (DE-600)2781824-X 22969144 nnns volume:5 year:2018 https://doi.org/10.3389/frobt.2018.00002 kostenfrei https://doaj.org/article/a2afa37378b84d889a88d84994ebcff2 kostenfrei http://journal.frontiersin.org/article/10.3389/frobt.2018.00002/full kostenfrei https://doaj.org/toc/2296-9144 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2003 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 5 2018
spelling	10.3389/frobt.2018.00002 doi (DE-627)DOAJ022770992 (DE-599)DOAJa2afa37378b84d889a88d84994ebcff2 DE-627 ger DE-627 rakwb eng TJ1-1570 QA75.5-76.95 Khaled Elgeneidy verfasserin aut Directly Printable Flexible Strain Sensors for Bending and Contact Feedback of Soft Actuators 2018 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper presents a fully printable sensorized bending actuator that can be calibrated to provide reliable bending feedback and simple contact detection. A soft bending actuator following a pleated morphology, as well as a flexible resistive strain sensor, were directly 3D printed using easily accessible FDM printer hardware with a dual-extrusion tool head. The flexible sensor was directly welded to the bending actuator’s body and systematically tested to characterize and evaluate its response under variable input pressure. A signal conditioning circuit was developed to enhance the quality of the sensory feedback, and flexible conductive threads were used for wiring. The sensorized actuator’s response was then calibrated using a vision system to convert the sensory readings to real bending angle values. The empirical relationship was derived using linear regression and validated at untrained input conditions to evaluate its accuracy. Furthermore, the sensorized actuator was tested in a constrained setup that prevents bending, to evaluate the potential of using the same sensor for simple contact detection by comparing the constrained and free-bending responses at the same input pressures. The results of this work demonstrated how a dual-extrusion FDM printing process can be tuned to directly print highly customizable flexible strain sensors that were able to provide reliable bending feedback and basic contact detection. The addition of such sensing capability to bending actuators enhances their functionality and reliability for applications such as controlled soft grasping, flexible wearables, and haptic devices. soft robotics soft actuators soft sensors regression analysis haptic feedback grasping Mechanical engineering and machinery Electronic computers. Computer science Khaled Elgeneidy verfasserin aut Gerhard Neumann verfasserin aut Michael Jackson verfasserin aut Niels Lohse verfasserin aut In Frontiers in Robotics and AI Frontiers Media S.A., 2015 5(2018) (DE-627)792633741 (DE-600)2781824-X 22969144 nnns volume:5 year:2018 https://doi.org/10.3389/frobt.2018.00002 kostenfrei https://doaj.org/article/a2afa37378b84d889a88d84994ebcff2 kostenfrei http://journal.frontiersin.org/article/10.3389/frobt.2018.00002/full kostenfrei https://doaj.org/toc/2296-9144 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2003 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 5 2018
allfields_unstemmed	10.3389/frobt.2018.00002 doi (DE-627)DOAJ022770992 (DE-599)DOAJa2afa37378b84d889a88d84994ebcff2 DE-627 ger DE-627 rakwb eng TJ1-1570 QA75.5-76.95 Khaled Elgeneidy verfasserin aut Directly Printable Flexible Strain Sensors for Bending and Contact Feedback of Soft Actuators 2018 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper presents a fully printable sensorized bending actuator that can be calibrated to provide reliable bending feedback and simple contact detection. A soft bending actuator following a pleated morphology, as well as a flexible resistive strain sensor, were directly 3D printed using easily accessible FDM printer hardware with a dual-extrusion tool head. The flexible sensor was directly welded to the bending actuator’s body and systematically tested to characterize and evaluate its response under variable input pressure. A signal conditioning circuit was developed to enhance the quality of the sensory feedback, and flexible conductive threads were used for wiring. The sensorized actuator’s response was then calibrated using a vision system to convert the sensory readings to real bending angle values. The empirical relationship was derived using linear regression and validated at untrained input conditions to evaluate its accuracy. Furthermore, the sensorized actuator was tested in a constrained setup that prevents bending, to evaluate the potential of using the same sensor for simple contact detection by comparing the constrained and free-bending responses at the same input pressures. The results of this work demonstrated how a dual-extrusion FDM printing process can be tuned to directly print highly customizable flexible strain sensors that were able to provide reliable bending feedback and basic contact detection. The addition of such sensing capability to bending actuators enhances their functionality and reliability for applications such as controlled soft grasping, flexible wearables, and haptic devices. soft robotics soft actuators soft sensors regression analysis haptic feedback grasping Mechanical engineering and machinery Electronic computers. Computer science Khaled Elgeneidy verfasserin aut Gerhard Neumann verfasserin aut Michael Jackson verfasserin aut Niels Lohse verfasserin aut In Frontiers in Robotics and AI Frontiers Media S.A., 2015 5(2018) (DE-627)792633741 (DE-600)2781824-X 22969144 nnns volume:5 year:2018 https://doi.org/10.3389/frobt.2018.00002 kostenfrei https://doaj.org/article/a2afa37378b84d889a88d84994ebcff2 kostenfrei http://journal.frontiersin.org/article/10.3389/frobt.2018.00002/full kostenfrei https://doaj.org/toc/2296-9144 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2003 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 5 2018
allfieldsGer	10.3389/frobt.2018.00002 doi (DE-627)DOAJ022770992 (DE-599)DOAJa2afa37378b84d889a88d84994ebcff2 DE-627 ger DE-627 rakwb eng TJ1-1570 QA75.5-76.95 Khaled Elgeneidy verfasserin aut Directly Printable Flexible Strain Sensors for Bending and Contact Feedback of Soft Actuators 2018 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper presents a fully printable sensorized bending actuator that can be calibrated to provide reliable bending feedback and simple contact detection. A soft bending actuator following a pleated morphology, as well as a flexible resistive strain sensor, were directly 3D printed using easily accessible FDM printer hardware with a dual-extrusion tool head. The flexible sensor was directly welded to the bending actuator’s body and systematically tested to characterize and evaluate its response under variable input pressure. A signal conditioning circuit was developed to enhance the quality of the sensory feedback, and flexible conductive threads were used for wiring. The sensorized actuator’s response was then calibrated using a vision system to convert the sensory readings to real bending angle values. The empirical relationship was derived using linear regression and validated at untrained input conditions to evaluate its accuracy. Furthermore, the sensorized actuator was tested in a constrained setup that prevents bending, to evaluate the potential of using the same sensor for simple contact detection by comparing the constrained and free-bending responses at the same input pressures. The results of this work demonstrated how a dual-extrusion FDM printing process can be tuned to directly print highly customizable flexible strain sensors that were able to provide reliable bending feedback and basic contact detection. The addition of such sensing capability to bending actuators enhances their functionality and reliability for applications such as controlled soft grasping, flexible wearables, and haptic devices. soft robotics soft actuators soft sensors regression analysis haptic feedback grasping Mechanical engineering and machinery Electronic computers. Computer science Khaled Elgeneidy verfasserin aut Gerhard Neumann verfasserin aut Michael Jackson verfasserin aut Niels Lohse verfasserin aut In Frontiers in Robotics and AI Frontiers Media S.A., 2015 5(2018) (DE-627)792633741 (DE-600)2781824-X 22969144 nnns volume:5 year:2018 https://doi.org/10.3389/frobt.2018.00002 kostenfrei https://doaj.org/article/a2afa37378b84d889a88d84994ebcff2 kostenfrei http://journal.frontiersin.org/article/10.3389/frobt.2018.00002/full kostenfrei https://doaj.org/toc/2296-9144 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2003 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 5 2018
allfieldsSound	10.3389/frobt.2018.00002 doi (DE-627)DOAJ022770992 (DE-599)DOAJa2afa37378b84d889a88d84994ebcff2 DE-627 ger DE-627 rakwb eng TJ1-1570 QA75.5-76.95 Khaled Elgeneidy verfasserin aut Directly Printable Flexible Strain Sensors for Bending and Contact Feedback of Soft Actuators 2018 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper presents a fully printable sensorized bending actuator that can be calibrated to provide reliable bending feedback and simple contact detection. A soft bending actuator following a pleated morphology, as well as a flexible resistive strain sensor, were directly 3D printed using easily accessible FDM printer hardware with a dual-extrusion tool head. The flexible sensor was directly welded to the bending actuator’s body and systematically tested to characterize and evaluate its response under variable input pressure. A signal conditioning circuit was developed to enhance the quality of the sensory feedback, and flexible conductive threads were used for wiring. The sensorized actuator’s response was then calibrated using a vision system to convert the sensory readings to real bending angle values. The empirical relationship was derived using linear regression and validated at untrained input conditions to evaluate its accuracy. Furthermore, the sensorized actuator was tested in a constrained setup that prevents bending, to evaluate the potential of using the same sensor for simple contact detection by comparing the constrained and free-bending responses at the same input pressures. The results of this work demonstrated how a dual-extrusion FDM printing process can be tuned to directly print highly customizable flexible strain sensors that were able to provide reliable bending feedback and basic contact detection. The addition of such sensing capability to bending actuators enhances their functionality and reliability for applications such as controlled soft grasping, flexible wearables, and haptic devices. soft robotics soft actuators soft sensors regression analysis haptic feedback grasping Mechanical engineering and machinery Electronic computers. Computer science Khaled Elgeneidy verfasserin aut Gerhard Neumann verfasserin aut Michael Jackson verfasserin aut Niels Lohse verfasserin aut In Frontiers in Robotics and AI Frontiers Media S.A., 2015 5(2018) (DE-627)792633741 (DE-600)2781824-X 22969144 nnns volume:5 year:2018 https://doi.org/10.3389/frobt.2018.00002 kostenfrei https://doaj.org/article/a2afa37378b84d889a88d84994ebcff2 kostenfrei http://journal.frontiersin.org/article/10.3389/frobt.2018.00002/full kostenfrei https://doaj.org/toc/2296-9144 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2003 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 5 2018
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authorswithroles_txt_mv	Khaled Elgeneidy @@aut@@ Gerhard Neumann @@aut@@ Michael Jackson @@aut@@ Niels Lohse @@aut@@
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callnumber-first	T - Technology
author	Khaled Elgeneidy
spellingShingle	Khaled Elgeneidy misc TJ1-1570 misc QA75.5-76.95 misc soft robotics misc soft actuators misc soft sensors misc regression analysis misc haptic feedback misc grasping misc Mechanical engineering and machinery misc Electronic computers. Computer science Directly Printable Flexible Strain Sensors for Bending and Contact Feedback of Soft Actuators
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topic_title	TJ1-1570 QA75.5-76.95 Directly Printable Flexible Strain Sensors for Bending and Contact Feedback of Soft Actuators soft robotics soft actuators soft sensors regression analysis haptic feedback grasping
topic	misc TJ1-1570 misc QA75.5-76.95 misc soft robotics misc soft actuators misc soft sensors misc regression analysis misc haptic feedback misc grasping misc Mechanical engineering and machinery misc Electronic computers. Computer science
topic_unstemmed	misc TJ1-1570 misc QA75.5-76.95 misc soft robotics misc soft actuators misc soft sensors misc regression analysis misc haptic feedback misc grasping misc Mechanical engineering and machinery misc Electronic computers. Computer science
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title	Directly Printable Flexible Strain Sensors for Bending and Contact Feedback of Soft Actuators
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title_full	Directly Printable Flexible Strain Sensors for Bending and Contact Feedback of Soft Actuators
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title_sort	directly printable flexible strain sensors for bending and contact feedback of soft actuators
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title_auth	Directly Printable Flexible Strain Sensors for Bending and Contact Feedback of Soft Actuators
abstract	This paper presents a fully printable sensorized bending actuator that can be calibrated to provide reliable bending feedback and simple contact detection. A soft bending actuator following a pleated morphology, as well as a flexible resistive strain sensor, were directly 3D printed using easily accessible FDM printer hardware with a dual-extrusion tool head. The flexible sensor was directly welded to the bending actuator’s body and systematically tested to characterize and evaluate its response under variable input pressure. A signal conditioning circuit was developed to enhance the quality of the sensory feedback, and flexible conductive threads were used for wiring. The sensorized actuator’s response was then calibrated using a vision system to convert the sensory readings to real bending angle values. The empirical relationship was derived using linear regression and validated at untrained input conditions to evaluate its accuracy. Furthermore, the sensorized actuator was tested in a constrained setup that prevents bending, to evaluate the potential of using the same sensor for simple contact detection by comparing the constrained and free-bending responses at the same input pressures. The results of this work demonstrated how a dual-extrusion FDM printing process can be tuned to directly print highly customizable flexible strain sensors that were able to provide reliable bending feedback and basic contact detection. The addition of such sensing capability to bending actuators enhances their functionality and reliability for applications such as controlled soft grasping, flexible wearables, and haptic devices.
abstractGer	This paper presents a fully printable sensorized bending actuator that can be calibrated to provide reliable bending feedback and simple contact detection. A soft bending actuator following a pleated morphology, as well as a flexible resistive strain sensor, were directly 3D printed using easily accessible FDM printer hardware with a dual-extrusion tool head. The flexible sensor was directly welded to the bending actuator’s body and systematically tested to characterize and evaluate its response under variable input pressure. A signal conditioning circuit was developed to enhance the quality of the sensory feedback, and flexible conductive threads were used for wiring. The sensorized actuator’s response was then calibrated using a vision system to convert the sensory readings to real bending angle values. The empirical relationship was derived using linear regression and validated at untrained input conditions to evaluate its accuracy. Furthermore, the sensorized actuator was tested in a constrained setup that prevents bending, to evaluate the potential of using the same sensor for simple contact detection by comparing the constrained and free-bending responses at the same input pressures. The results of this work demonstrated how a dual-extrusion FDM printing process can be tuned to directly print highly customizable flexible strain sensors that were able to provide reliable bending feedback and basic contact detection. The addition of such sensing capability to bending actuators enhances their functionality and reliability for applications such as controlled soft grasping, flexible wearables, and haptic devices.
abstract_unstemmed	This paper presents a fully printable sensorized bending actuator that can be calibrated to provide reliable bending feedback and simple contact detection. A soft bending actuator following a pleated morphology, as well as a flexible resistive strain sensor, were directly 3D printed using easily accessible FDM printer hardware with a dual-extrusion tool head. The flexible sensor was directly welded to the bending actuator’s body and systematically tested to characterize and evaluate its response under variable input pressure. A signal conditioning circuit was developed to enhance the quality of the sensory feedback, and flexible conductive threads were used for wiring. The sensorized actuator’s response was then calibrated using a vision system to convert the sensory readings to real bending angle values. The empirical relationship was derived using linear regression and validated at untrained input conditions to evaluate its accuracy. Furthermore, the sensorized actuator was tested in a constrained setup that prevents bending, to evaluate the potential of using the same sensor for simple contact detection by comparing the constrained and free-bending responses at the same input pressures. The results of this work demonstrated how a dual-extrusion FDM printing process can be tuned to directly print highly customizable flexible strain sensors that were able to provide reliable bending feedback and basic contact detection. The addition of such sensing capability to bending actuators enhances their functionality and reliability for applications such as controlled soft grasping, flexible wearables, and haptic devices.
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title_short	Directly Printable Flexible Strain Sensors for Bending and Contact Feedback of Soft Actuators
url	https://doi.org/10.3389/frobt.2018.00002 https://doaj.org/article/a2afa37378b84d889a88d84994ebcff2 http://journal.frontiersin.org/article/10.3389/frobt.2018.00002/full https://doaj.org/toc/2296-9144
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up_date	2024-07-03T13:55:50.114Z
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