SensAct: The Soft and Squishy Tactile Sensor with Integrated Flexible Actuator. (21st January 2021)
- Record Type:
- Journal Article
- Title:
- SensAct: The Soft and Squishy Tactile Sensor with Integrated Flexible Actuator. (21st January 2021)
- Main Title:
- SensAct: The Soft and Squishy Tactile Sensor with Integrated Flexible Actuator
- Authors:
- Ozioko, Oliver
Karipoth, Prakash
Escobedo, Pablo
Ntagios, Markellos
Pullanchiyodan, Abhilash
Dahiya, Ravinder - Other Names:
- Kim Woo Soo guestEditor.
Paik Jamie guestEditor. - Abstract:
- Abstract : Herein, a novel tactile sensing device (SensAct) with a soft touch/pressure sensor seamlessly integrated on a flexible actuator is presented. The squishy touch sensor is developed with custom‐made graphite paste on a tiny permanent magnet, encapsulated in Sil‐Poxy, and the actuator (15 μ‐thick coil) is fabricated on polyimide by Lithographie Galvanoformung Abformung (LIGA) micromolding method. The actuator can operate in two modes (expansion and contraction/squeeze) and two states (vibration and nonvibration). The sensor was tested with up to 12 N applied forces and exhibited ≈70% average relative resistance variation (Δ R / R o ), ≈0.346 kPa −1 sensitivity, and ≈49 ms response time with excellent repeatability (≈12.7% coefficient of variation) at 5 N. During simultaneous sensing and actuation, the modulation of coil current, due to Δ R / R o (≈14% at 2 N force) in the sensor, allows the close loop control (Δ I / I o ≈385%) of expansion/contraction (≈69.8 μm expansion in nonvibration state and ≈111.5 μm peak‐to‐peak in the vibration state). Finally, the soft sensor is embedded in the 3D‐printed fingertip of a robotic hand to demonstrate its use for pressure mapping along with remote vibrotactile stimulation using SensAct device. The self‐controllable actuation of SensAct could provide eSkin the ability to tune stiffness and the vibration states could be utilized for controlled haptic feedback. Abstract : Herein, a novel tactile sensing device (SensAct) with softAbstract : Herein, a novel tactile sensing device (SensAct) with a soft touch/pressure sensor seamlessly integrated on a flexible actuator is presented. The squishy touch sensor is developed with custom‐made graphite paste on a tiny permanent magnet, encapsulated in Sil‐Poxy, and the actuator (15 μ‐thick coil) is fabricated on polyimide by Lithographie Galvanoformung Abformung (LIGA) micromolding method. The actuator can operate in two modes (expansion and contraction/squeeze) and two states (vibration and nonvibration). The sensor was tested with up to 12 N applied forces and exhibited ≈70% average relative resistance variation (Δ R / R o ), ≈0.346 kPa −1 sensitivity, and ≈49 ms response time with excellent repeatability (≈12.7% coefficient of variation) at 5 N. During simultaneous sensing and actuation, the modulation of coil current, due to Δ R / R o (≈14% at 2 N force) in the sensor, allows the close loop control (Δ I / I o ≈385%) of expansion/contraction (≈69.8 μm expansion in nonvibration state and ≈111.5 μm peak‐to‐peak in the vibration state). Finally, the soft sensor is embedded in the 3D‐printed fingertip of a robotic hand to demonstrate its use for pressure mapping along with remote vibrotactile stimulation using SensAct device. The self‐controllable actuation of SensAct could provide eSkin the ability to tune stiffness and the vibration states could be utilized for controlled haptic feedback. Abstract : Herein, a novel tactile sensing device (SensAct) with soft piezoresistive pressure sensor seamlessly integrated on a flexible electromagnetic actuator to allow simultaneous tactile sensing and actuation for haptic interaction is presented. The integrated actuator can operate in two modes (expansion and contraction) and two states (vibration and nonvibration). SensAct is applicable in eSkin with tunable properties and localizes vibrotactile feedback. … (more)
- Is Part Of:
- Advanced intelligent systems. Volume 3:Number 3(2021)
- Journal:
- Advanced intelligent systems
- Issue:
- Volume 3:Number 3(2021)
- Issue Display:
- Volume 3, Issue 3 (2021)
- Year:
- 2021
- Volume:
- 3
- Issue:
- 3
- Issue Sort Value:
- 2021-0003-0003-0000
- Page Start:
- n/a
- Page End:
- n/a
- Publication Date:
- 2021-01-21
- Subjects:
- flexible actuators -- haptics -- SensAct -- soft touch sensors -- tactile sensing
Artificial intelligence -- Periodicals
Robotics -- Periodicals
Control theory -- Periodicals
006.3 - Journal URLs:
- http://onlinelibrary.wiley.com/ ↗
https://onlinelibrary.wiley.com/journal/26404567 ↗ - DOI:
- 10.1002/aisy.201900145 ↗
- Languages:
- English
- ISSNs:
- 2640-4567
- Deposit Type:
- Legaldeposit
- View Content:
- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library DSC - BLDSS-3PM
British Library HMNTS - ELD Digital store - Ingest File:
- 16033.xml