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- Publisher Website: 10.1109/LRA.2017.2779542
- Scopus: eid_2-s2.0-85045364324
- WOS: WOS:000418575700006
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Article: Innovative Design of Embedded Pressure and Position Sensors for Soft Actuators
Title | Innovative Design of Embedded Pressure and Position Sensors for Soft Actuators |
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Authors | |
Keywords | 3D printing conductive elastomer position sensor pressure sensor soft material robotics |
Issue Date | 2018 |
Publisher | Institute of Electrical and Electronics Engineers. The Journal's web site is located at https://www.ieee.org/membership-catalog/productdetail/showProductDetailPage.html?product=PER481-ELE |
Citation | IEEE Robotics and Automation Letters, 2018, v. 3 n. 2, p. 656-663 How to Cite? |
Abstract | In this letter, we present an innovative design of bioinspired soft pneumatic actuators with built-in pressure and position sensors. The soft actuator is designed with segmented bending to mimic human finger motion. Bending angles between segments are measured by the built-in position sensors. On each segment, a pressure sensor is also built in. The pressure and position sensors are made of conductive elastomers and coprinted into the soft actuator in a single process without assembly. These sensors are capable of providing feedback because of their innovative design and the piezoresistive effect of conductive elastomers. Analysis and characterization are conducted for the pressure and position sensors. Finally, a prototype gripper is designed and fabricated using the two proposed soft actuators for grasping demonstration. The proposed soft actuator has potential for applications that require closed-loop control. © 2017 IEEE. |
Persistent Identifier | http://hdl.handle.net/10722/273911 |
ISSN | 2023 Impact Factor: 4.6 2023 SCImago Journal Rankings: 2.119 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Yang, Y | - |
dc.contributor.author | Chen, YH | - |
dc.date.accessioned | 2019-08-18T14:51:10Z | - |
dc.date.available | 2019-08-18T14:51:10Z | - |
dc.date.issued | 2018 | - |
dc.identifier.citation | IEEE Robotics and Automation Letters, 2018, v. 3 n. 2, p. 656-663 | - |
dc.identifier.issn | 2377-3766 | - |
dc.identifier.uri | http://hdl.handle.net/10722/273911 | - |
dc.description.abstract | In this letter, we present an innovative design of bioinspired soft pneumatic actuators with built-in pressure and position sensors. The soft actuator is designed with segmented bending to mimic human finger motion. Bending angles between segments are measured by the built-in position sensors. On each segment, a pressure sensor is also built in. The pressure and position sensors are made of conductive elastomers and coprinted into the soft actuator in a single process without assembly. These sensors are capable of providing feedback because of their innovative design and the piezoresistive effect of conductive elastomers. Analysis and characterization are conducted for the pressure and position sensors. Finally, a prototype gripper is designed and fabricated using the two proposed soft actuators for grasping demonstration. The proposed soft actuator has potential for applications that require closed-loop control. © 2017 IEEE. | - |
dc.language | eng | - |
dc.publisher | Institute of Electrical and Electronics Engineers. The Journal's web site is located at https://www.ieee.org/membership-catalog/productdetail/showProductDetailPage.html?product=PER481-ELE | - |
dc.relation.ispartof | IEEE Robotics and Automation Letters | - |
dc.rights | IEEE Robotics and Automation Letters. Copyright © Institute of Electrical and Electronics Engineers. | - |
dc.rights | ©20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | - |
dc.subject | 3D printing | - |
dc.subject | conductive elastomer | - |
dc.subject | position sensor | - |
dc.subject | pressure sensor | - |
dc.subject | soft material robotics | - |
dc.title | Innovative Design of Embedded Pressure and Position Sensors for Soft Actuators | - |
dc.type | Article | - |
dc.identifier.email | Chen, YH: yhchen@hkucc.hku.hk | - |
dc.identifier.authority | Chen, YH=rp00099 | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/LRA.2017.2779542 | - |
dc.identifier.scopus | eid_2-s2.0-85045364324 | - |
dc.identifier.hkuros | 301946 | - |
dc.identifier.volume | 3 | - |
dc.identifier.issue | 2 | - |
dc.identifier.spage | 656 | - |
dc.identifier.epage | 663 | - |
dc.identifier.isi | WOS:000418575700006 | - |
dc.publisher.place | United States | - |
dc.identifier.issnl | 2377-3766 | - |