Abstract
Proprioceptive sensation via embedded flexible sensors is essential for soft robotic grippers to realize safe and dexterous grasping. We demonstrate a self-powered, flexible multifunctional sensor by combining a polyvinylidene difluoride film with a microstructured jamming layer. The jamming layers and the finger body are fabricated by a multimaterial 3D printing technology. The sensor built into the soft finger can provide passive proprioceptive sensations of curvature and stiffness, with maximum sensitivity of 0.55 mV m and 0.09 Vm/N respectively. It also acted as an active jamming element to tune finger stiffness (15–44 N/m) while not affecting the dynamics of the robotic movement. We demonstrate the multifunctional sensor with a three-fingered robotic gripper to successfully record finger bending and stiffening in the ‘pick and place’ process. This work shows potential of greatly enhancing the way in which a gripper interacts with objects that are manipulated and provide a route to achieve anthropomorphic grippers. • Sensitive enhancing layer was printed with soft finger by multimaterial 3D printing. • The self-powered sensor can measure curvature and stiffness up to 10 m -1 and 44 N/m. • The multifunctional sensor is able to sense finger curvature and stiffness. • This work suggests a new way of designing sensors in robotic applications.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
