Interdigitated Sensor Based on a Silicone Foam for Subtle Robotic Manipulation.

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dc.contributor.author Hesam Mahmoudinezhad, Masoumeh
dc.contributor.author Anderson, Iain
dc.contributor.author Rosset, Samuel
dc.coverage.spatial Germany
dc.date.accessioned 2021-06-13T22:54:55Z
dc.date.available 2021-06-13T22:54:55Z
dc.date.issued 2021-3
dc.identifier.issn 1022-1336
dc.identifier.uri https://hdl.handle.net/2292/55299
dc.description.abstract In this contribution, a soft sensor configuration based on silicone foam is developed to measure compressive forces in the range of 50 N with the aim of providing proprioceptive capabilities to conventional robotic manipulators based on hard materials. This then makes them capable of interacting with soft and fragile objects without damage. The concept relies on interdigitated electrodes that are patterned on the backside of the sensor to generate a fringing electric field into a soft compressible polymeric foam. The deformation of the foam causes changes to relative permittivity as the air-filled cells compress. The model in this article shows how the different parameters of the foam, such as air volume fraction, permittivity, and Young's modulus, affect the stiffness and electrical sensitivity of the sensor, and how controlling the porosity of the foam is key to optimizing the sensitivity of the sensor. This sensor is easy to fabricate and does not require compliant electrodes, while exhibiting high sensitivity values of 33% capacitance change for as little as 10 N applied force.
dc.format.medium Print-Electronic
dc.language eng
dc.publisher Wiley
dc.relation.ispartofseries Macromolecular rapid communications
dc.rights Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. Previously published items are made available in accordance with the copyright policy of the publisher.
dc.rights.uri https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htm
dc.subject capacitive sensors
dc.subject compression sensors
dc.subject dielectric elastomers
dc.subject interdigitated electrodes
dc.subject soft robotics
dc.subject tactile sensors
dc.subject Science & Technology
dc.subject Physical Sciences
dc.subject Polymer Science
dc.subject capacitive sensors
dc.subject compression sensors
dc.subject dielectric elastomers
dc.subject interdigitated electrodes
dc.subject soft robotics
dc.subject tactile sensors
dc.subject FLEXIBLE PRESSURE SENSORS
dc.subject COLLISION-AVOIDANCE
dc.subject TACTILE SENSOR
dc.subject SOFT ROBOTICS
dc.subject 03 Chemical Sciences
dc.subject 09 Engineering
dc.title Interdigitated Sensor Based on a Silicone Foam for Subtle Robotic Manipulation.
dc.type Journal Article
dc.identifier.doi 10.1002/marc.202000560
pubs.issue 5
pubs.begin-page e2000560
pubs.volume 42
dc.date.updated 2021-05-16T06:14:39Z
dc.rights.holder Copyright: The author en
pubs.author-url https://www.ncbi.nlm.nih.gov/pubmed/33274814
pubs.publication-status Published
dc.rights.accessrights http://purl.org/eprint/accessRights/RetrictedAccess en
pubs.subtype Journal Article
pubs.elements-id 831410
dc.identifier.eissn 1521-3927
pubs.number ARTN 2000560
pubs.online-publication-date 2020-12-4


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