Abstract
Sensor design for soft robots is a challenging problem because of the wide range of design parameters (e.g., geometry, material, actuation type, etc.) critical to their function. While conventional rigid sensors work effectively for soft robotics in specific situations, sensors that are directly integrated into the bodies of soft robots could help improve both their exteroceptive and interoceptive capabilities. To address this challenge, we designed sensors that can be co-fabricated with soft robot bodies using commercial 3D printers, without additional modification. We describe an approach to the design and fabrication of compliant, resistive soft sensors using a Connex3 Objet350 multimaterial printer and investigated an analytical comparison to sensors of similar geometries. The sensors consist of layers of commercial photopolymers with varying conductivities. We characterized the conductivity of TangoPlus, TangoBlackPlus, VeroClear, and Support705 materials under various conditions and demonstrate applications in which we can take advantage of these embedded sensors.
Highlights
In the long term, one goal of 3D printing is the ability to print an entire robot in one go and have it walk itself out of the machine upon completion (Lipson, 2015)
To better visualize the trends, we introduced a single constant scale factor of Sstrain = 14.25 for both strain sensors (Equation 6) and another of Spressure = 3, 850 for the pressure sensor (Equation 7), resulting in the theoretical plots in Figures 10, 11
This paper presents the concept of 3D printing resistive sensors using a commercially available printer and material
Summary
One goal of 3D printing is the ability to print an entire robot in one go and have it walk itself out of the machine upon completion (Lipson, 2015). Felton et al describe a method for building self-folding machines using laminate structures that fold themselves up in multiple stages and can walk away after receiving electronics and a battery (Felton et al, 2014). MacCurdy et al used a multimaterial 3D printer to print fluid-filled bellows directly integrated into the transmission of their locomotive robot, which can walk immediately after attaching a motor and battery without additional mechanical modifications (MacCurdy et al, 2016). Neither of these robots possess sensing capabilities for feedback control and learning.
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