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

Elgeneidy, Khaled; Neumann, Gerhard; Jackson, Michael; Lohse, Niels


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. ... mehr

Verlagsausgabe §
DOI: 10.5445/IR/1000118265
Veröffentlicht am 16.04.2020
DOI: 10.3389/frobt.2018.00002
Zitationen: 63
Zitationen: 59
Cover der Publikation
Zugehörige Institution(en) am KIT Institut für Anthropomatik und Robotik (IAR)
Publikationstyp Zeitschriftenaufsatz
Publikationsjahr 2018
Sprache Englisch
Identifikator ISSN: 2296-9144
KITopen-ID: 1000118265
Erschienen in Frontiers in robotics and AI
Verlag Frontiers Media SA
Band 5
Seiten Art.-Nr.: 2
Externe Relationen Abstract/Volltext
Schlagwörter soft robotics, soft actuators, soft sensors, regression analysis, haptic feedback, grasping
Nachgewiesen in Dimensions
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