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Highly Stretchable Additively Manufactured Capacitive Proximity and Tactile Sensors for Soft Robotic Systems

Alshawabkeh, Mohammad; Alagi, Hosam ORCID iD icon 1; Navarro, Stefan Escaida; Duriez, Christian; Hein, Bjorn; Zangl, Hubert; Faller, Lisa-Marie
1 Institut für Anthropomatik und Robotik (IAR), Karlsruher Institut für Technologie (KIT)

Abstract (englisch):

Soft robotics are considered one of the most promising approaches towards fully collaborative robotic devices. Soft robotic systems are intrinsically safe due to their compliant nature. Using additive fabrication for the development of soft capacitive sensors, enables high flexibility and individualization capabilities in terms of design and material properties. In this work, we outline the sensorization of stretchable capacitive sensors for proximity and tactile detection. This sensor will represent an essential component of a soft robotic finger in future work. While the functional principle has already been shown previously, here we explore the design space further and perform more in depth test of the influences of the strain on the tactile measurements. The capacitive pad’s sensitivity is evaluated by applying normal force on each sensor, where the applied force is ranged between 1N and 16N, with resultant capacitive change of the four tactile sensors between 1 pF and 60 pF. The capacitive pad’s proximity sensor is tested using five different materials, with proximity range of 20mm, with change in capacitance between 0.1 pF and 2.4 pF. ... mehr


Originalveröffentlichung
DOI: 10.1109/TIM.2023.3250232
Scopus
Zitationen: 5
Web of Science
Zitationen: 5
Dimensions
Zitationen: 6
Zugehörige Institution(en) am KIT Institut für Anthropomatik und Robotik (IAR)
Publikationstyp Zeitschriftenaufsatz
Publikationsjahr 2023
Sprache Englisch
Identifikator ISSN: 0018-9456, 1557-9662
KITopen-ID: 1000156455
Erschienen in IEEE Transactions on Instrumentation and Measurement
Verlag Institute of Electrical and Electronics Engineers (IEEE)
Seiten 1
Nachgewiesen in Web of Science
Dimensions
Scopus
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