Skin-like Sensors Research Articles

Compliant underwater manipulator with integrated tactile sensor for nonlinear force feedback control of an SMA actuation system

Design, sensing, and control of underwater gripping systems remain challenges for soft robotic manipulators. Our study investigates these critical issues by designing a shape memory alloy (SMA) actuation system for a soft robotic finger with a directly 3D-printed stretchable skin-like tactile sensor. SMA actuators were thermomechanically trained to assume a curved finger-like shape when Joule heated, and the flexible multi-layered tactile sensor was directly 3D-printed onto the surface of the fingertip. A nonlinear controller was developed to enable precise fingertip force control using feedback from the compliant tactile sensor. Underwater experiments were conducted using closed-loop force feedback from the directly 3D-printed tactile sensor with the SMA actuators, showing satisfactory force tracking ability. Furthermore, a 3D finite element model was developed to more deeply understand the shape memory thermal-fluidic-structural multi-physics simulation of the manipulator underwater. An application for human control via electromyogram (EMG) signals also demonstrated an intuitive way for a person to operate the submerged robotic finger. Together, these results suggested that the soft robotic finger could be used to carefully manipulate fragile objects underwater.

Skin-Like Strain Sensors Enabled by Elastomer Composites for Human–Machine Interfaces

Flexible electronics exhibit tremendous potential applications in biosensing and human–machine interfaces for their outstanding mechanical performance and excellent electrical characteristics. In this work, we introduce a soft, skin-integrated strain sensor enabled by a ternary elastomer composite of graphene/carbon nanotube (CNT)/Ecoflex, providing a low-cost skin-like platform for conversion of mechanical motion to electricity and sensing of human activities. The device exhibits high sensitivity (the absolute value of the resistance change rate under a testing strain level, 26) and good mechanical stability (surviving ~hundreds of cycles of repeated stretching). Due to the advanced mechanical design of the metallic electrode, the strain sensor shows excellent mechanical tolerance to pressing, bending, twisting, and stretching. The flexible sensor can be directly mounted onto human skin for detecting mechanical motion, exhibiting its great potential in wearable electronics and human–machine interfaces.

Environment-Resilient Graphene Vibrotactile Sensitive Sensors for Machine Intelligence

Skin-like sensors that transduce tactile pressures and vibrations with minimal environment variation on performance are crucial in robotic sensing and prosthetic skins. However, sensor performance ...

Sandwich-like Polypyrrole/Reduced Graphene Oxide Nanosheets Integrated Gelatin Hydrogel as Mechanically and Thermally Sensitive Skinlike Bioelectronics

Currently, conductive composite hydrogels are promising alternatives for skinlike sensors. Generally, graphene as well as its derivatives and conducting polymers (CPs), such as polypyrrole (PPy), a...

A versatile 4D capacitive imaging array: a touchless skin and an obstacle-avoidance sensor for robotic applications

There are growing interests in the use of robots in collaborative environments with humans or other intelligent machines. Sensing the environment for which the robot is operating can be done in many ways, generally guided by skin-like sensors. Some of the skins are inspired by natural sensing in humans or other species. As humans, we use many of our senses, such as version, hearing, smell, and touch, to move around by avoiding colliding with other humans or objects. Different from humans, many other mammals also use whiskers as an additional sensor to help navigate around. In this paper, we demonstrate a touchless capacitive imaging-based sensor in the situation where the obstacles are in close vicinity to the robot. The proposed imaging system can sense the changes in areas near to the skin-like sensors by measuring the capacitances between the array of electrodes. A 4D sensing approach has been developed with the spatiotemporal Total Variation algorithm. The 4D operational mode gives sensors the time awareness that allows for dynamical responses and hence the better control of the robots. Several experiments are conducted to show the skin-like behaviour of this sensor by simulating various scenarios. The sensor shows the excellent ability to detect an object in its vicinity, where the depth is close to half of the planar sensor array size.

Gesture recognition using a bioinspired learning architecture that integrates visual data with somatosensory data from stretchable sensors

Gesture recognition using machine-learning methods is valuable in the development of advanced cybernetics, robotics and healthcare systems, and typically relies on images or videos. To improve recognition accuracy, such visual data can be combined with data from other sensors, but this approach, which is termed data fusion, is limited by the quality of the sensor data and the incompatibility of the datasets. Here, we report a bioinspired data fusion architecture that can perform human gesture recognition by integrating visual data with somatosensory data from skin-like stretchable strain sensors made from single-walled carbon nanotubes. The learning architecture uses a convolutional neural network for visual processing and then implements a sparse neural network for sensor data fusion and recognition at the feature level. Our approach can achieve a recognition accuracy of 100% and maintain recognition accuracy in non-ideal conditions where images are noisy and under- or over-exposed. We also show that our architecture can be used for robot navigation via hand gestures, with an error of 1.7% under normal illumination and 3.3% in the dark. A bioinspired machine-learning architecture can combine visual data with data from stretchable strain sensors to achieve human gesture recognition with high accuracy in complex environments.

Skin-like Ultrasensitive Strain Sensor for Full-Range Detection of Human Health Monitoring.

The development of strain sensors with high sensitivity and stretchability, which can accurately detect different human activities such as subtle physiological signals and large-scale joint motions is essential for disease diagnosis and human health monitoring. However, achieving both high sensitivity and stretchability is still an enormous challenge at the moment, particularly for intrinsically stretchable strain sensors. Herein, utilizing large differences in the conductivity and stretchability of micropatterned Au and SWCNTs, we present an ultrasensitive intrinsically stretchable strain sensor by a one-step photolithography process. Its high sensitivity is inspired from spiders' slit organ and the high stretchability is enlightened from spiders' neural pathway. The skin-like sensor exhibits many superior merits, including ultrahigh sensitivity (gauge factors of 7.1 × 104 to 3.4 × 106), wide detection range (up to 100% strain), excellent durability (1000 cycles), ultralow limit of detection (0.1% strain), fast response (1.3 ms), and minimal feature size (≤100 μm). These fascinating merits allow the strain sensor to precisely detect diverse human activities. This work opens up a feasible path to fabricate highly sensitive and stretchable strain sensors, presenting their promising potential in future personalized healthcare, as electronic skins, and being a portable friendly human-machine interaction system.

Alginate fiber toughened gels similar to skin intelligence as ionic sensors

The stretchable hydrogels provide potential alternatives to bionic skins. However, skin simulation remains seriously challenging due to its complex nature, including mechanical property, protective effect, and sensory capability. Herein, conductive gels toughened by sodium alginate fibers in oil-water system were developed for preparation of skin-like ionic sensors. The dynamic network was constructed by polyvinyl alcohol and sodium alginate fibers, providing a wide scope of mechanical properties, such as high toughness, anti-fatigue fracture and remodelability. Moreover, salts imparted good conductivity to gels. As a result, gels exhibited sensory capability toward stress and strain, so they were considered sensors to monitor various movements of human body. In particular, gels demonstrated temperture tolerance ranging from −20 °C to 40 °C and non-drying for 6 days at 25 °C. In this study, gels showed complex intelligence similar to natural skin, and might find applications in artificial intelligence, human-mechanial interactions, and smart wearable devices.

Skin-Inspired Multifunctional Luminescent Hydrogel Containing Layered Rare-Earth Hydroxide with 3D Printability for Human Motion Sensing.

The development of multifunctional hydrogels is gaining a lot of attention owing to its application in electronic skins, wearable electronics, and soft robotics. In this study, an effective and facile one-step preparation strategy is developed to fabricate a multifunctional nanocomposite hydrogel consisting of sodium alginate/sodium polyacrylate/layered rare-earth hydroxide (LRH), where LRH plays multiple roles as a co-cross-linker and ionic carrier and is also the origin of fluorescence. The obtained LRH-based composite hydrogel exhibits excellent three-dimensional printing performance at room temperature. When exposed to different humidity conditions, the hydrogel exhibits humidity-dependent electromechanical properties. The multiple functions of the resultant hydrogel are easily realized by just relying on the addition of cationic LRH nanoplates. A skinlike motion sensor with transparency is fabricated based on the printed hydrogel and is used to monitor human motion. Owing to the fluorescence characteristics of lanthanide ions (Eu3+ and Tb3+) from LRH, the hydrogel shows highly tunable multicolored photoluminescence by adjusting the LRH constituent. This study reveals that the multifunctional hydrogels have potential for applications in sensing.

Carbon Nanotubes/Hydrophobically Associated Hydrogels as Ultrastretchable, Highly Sensitive, Stable Strain, and Pressure Sensors

Conductive hydrogels have become one of the most promising materials for skin-like sensors because of their excellent biocompatibility and mechanical flexibility. However, the limited stretchability, low toughness, and fatigue resistance lead to a narrow sensing region and insufficient durability of the hydrogel-based sensors. In this work, an extremely stretchable, highly tough, and anti-fatigue conductive nanocomposite hydrogel is prepared by integrating hydrophobic carbon nanotubes (CNTs) into hydrophobically associated polyacrylamide (HAPAAm) hydrogel. In this conductive hydrogel, amphiphilic sodium dodecyl sulfate was used to ensure uniform dispersion of CNTs in the hydrogel network, and hydrophobic interactions between the hydrogel matrix and the CNT surface formed, greatly improving the mechanical properties of the hydrogel. The obtained CNTs/HAPAAm hydrogel showed excellent stretchability (ca. 3000%), toughness (3.42 MJ m-3), and great anti-fatigue property. Moreover, it exhibits both high tensile strain sensitivity in the wide strain ranges (gauge factor = 4.32, up to 1000%) and high linear sensitivity (0.127 kPa-1) in a large-pressure region within 0-50 kPa. The CNTs/HAPAAm hydrogel-based sensors can sensitively and stably detect full-range human activities (e.g., elbow rotation, finger bending, swallowing motion, and pronouncing) and handwriting, demonstrating the CNTs/HAPAAm hydrogel's potential as the wearable strain and pressure sensors for flexible devices.

Ultrasensitive skin-like wearable optical sensors based on glass micro/nanofibers

Electronic skin, a class of wearable electronic sensors that mimic the functionalities of human skin, has made remarkable success in applications including health monitoring, human-machine interaction and electronic-biological interfaces. While electronic skin continues to achieve higher sensitivity and faster response, its ultimate performance is fundamentally limited by the nature of low-frequency AC currents. Herein, highly sensitive skin-like wearable optical sensors are demonstrated by embedding glass micro/nanofibers (MNFs) in thin layers of polydimethylsiloxane (PDMS). Enabled by the transition from guided modes into radiation modes of the waveguiding MNFs upon external stimuli, the skin-like optical sensors show ultrahigh sensitivity (1870 kPa-1), low detection limit (7 mPa) and fast response (10 μs) for pressure sensing, significantly exceeding the performance metrics of state-of-the-art electronic skins. Electromagnetic interference (EMI)-free detection of high-frequency vibrations, wrist pulse and human voice are realized. Moreover, a five-sensor optical data glove and a 2×2-MNF tactile sensor are demonstrated. These initial results pave the way toward a new category of optical devices ranging from ultrasensitive wearable sensors to optical skins.

A multifunctional skin-like wearable optical sensor based on an optical micro-/nanofibre.

Multifunctional skin-like sensors play an important role in next-generation healthcare, robotics, and bioelectronics. Here, we report a skin-like wearable optical sensor (SLWOS) enabled by a stretchable, flexible, and attachable patch embedded with an optical micro-/nanofibre (MNF), which is highly compatible with human skin, a curved surface, or cloth. Based on the transition from radiation modes into guided modes around the bending area of the MNF, the SLWOS embedded with a wavy MNF is highly sensitive to weak strain, achieving a gauge factor as large as 675 (strain <1%). The flexible SLWOS is also capable of monitoring the bending angle in a broad dynamic range with tunable sensitivity. In addition, temperature measurements in the range of -20 to 130 °C are realized by taking advantage of PDMS's large negative thermo-optic coefficient. The superior sensing performance together with mechanical flexibility enables the real-time monitoring of respiration, arm motion, and body temperature. This SLWOS will have great potential in wearable optical devices ranging from ultrasensitive sensors to photonic healthcare devices.

Plasmene nanosheets as optical skin strain sensors.

Skin-like optoelectronic sensors can have a wide range of technical applications ranging from wearable/implantable biodiagnostics, human-machine interfaces, and soft robotics to artificial intelligence. The previous focus has been on electrical signal transduction, whether resistive, capacitive, or piezoelectric. Here, we report on "optical skin" strain sensors based on elastomer-supported, highly ordered, and closely packed plasmonic nanocrystal arrays (plasmene). Using gold nanocubes (AuNCs) as a model system, we find that the types of polymeric ligands, interparticle spacing, and AuNC sizes play vital roles in strain-induced plasmonic responses. In particular, brush-forming polystyrene (PS) is a "good" ligand for forming elastic plasmenes which display strain-induced blue shift of high-energy plasmonic peaks with high reversibility upon strain release. Further experimental and simulation studies reveal the transition from isotropic uniform plasmon coupling at a non-strained state to anisotropic plasmon coupling at strained states, due to the AuNC alignment perpendicular to the straining direction. The two-term plasmonic ruler model may predict the primary high-energy peak location. Using the relative shift of the averaged high-energy peak to the coupling peak before straining, a plasmene nanosheet may be used as a strain sensor with the sensitivity depending on its internal structures, such as the constituent AuNC size or inter-particle spacing.

A skin-like sensor for intelligent Braille recognition

A flexible skin-like tactile sensor as one of the key components in the next generation for robots should have the ability to perform real-time feedback, continuous measurement, and quantization of weak target signals in the real applications (e.g. intelligent Braille recognition). Herein, inspired by human skin, a novel flexible piezoresistive tactile sensor with high sensitivity and linearity is designed and fabricated. It is composed of three main parts including the random Gaussian distribution (RGD) spinosum on polydimethylsiloxane as the top substrate, the multilayer Ti2C-MXene film as the intermediate conductive filler, and the commercial polyimide-based interdigital electrodes as the bottom substrate. The working mechanism of RGD spinosum and Ti2C-MXene films in the flexible tactile sensor are clarified by COMSOL Multiphysics simulations and density functional theory calculations, respectively. The assembled sensor demonstrates ultrahigh sensitivity, large linearity, excellent cycling stability, and fast response speed in the milliseconds. Moreover, the development of advanced neural network technology makes it possible to realize intelligent skin-like sensor. In this study, it is the first time to realize real-time Braille effective intelligent recognition by such a flexible skin-like tactile sensor with the random decision forests algorithm. This study is of great significance to solve the social and public issues of information exchange for the vision-impaired or even the blind that has been highly concerned in recent years.

Highly Stretchable, Adhesive, and Mechanical Zwitterionic Nanocomposite Hydrogel Biomimetic Skin.

The artificial skin-like stretchable ionic sensor device usually requires a synergistic effect of reliable adhesion between human machine interface, reasonable mechanical strength, and visually displayable transparency. A plant-inspired zwitterionic hydrogel was prepared through rapid UV initiation in the existence of cellulose nanocrystals as physically crosslinker and reinforcing agent. The resulting transparent zwitterionic nanocomposite hydrogel successfully brings the synergistic advantages of robust adhesive strength between diversified substrates such as skins, plastics, glass, and steels with remarkable mechanical properties of a superior stretchability over 1000% strain, a mechanical tensile strength up to 0.61 MPa, and compressive strength up to 7.5 MPa, manifesting in superior ionic transport performance, simultaneously. Furthermore, the zwitterionic nanocomposite hydrogel was fabricated as a wearable compliant stretchable pressure-strain sensor in the modality of the skin-adhesive patch to be sensitive to human motion such as finger touch and speech recognition for personal healthcare of patient sensory rebuilding and physiological data acquisition. It maintains compressive cycling sensibility at diverse pressure during 0.5, 1.0, and 1.5 Hz, respectively. The multifunctional zwitterionic nanocomposite hydrogel could also be assembled into flexible electrical devices such as luminescent display and information transfer between human and robot communication for mechanosensory electronics and artificial intelligence.

Stretchable pumps for soft machines.

Machines made of soft materials bridge life sciences and engineering1. Advances in soft materials have led to skin-like sensors and muscle-like actuators for soft robots and wearable devices1-3. Flexible or stretchable counterparts of most key mechatronic components have been developed4,5, principally using fluidically driven systems6-8; other reported mechanisms include electrostatic9-12, stimuli-responsive gels13,14 and thermally responsive materials such as liquid metals15-17 and shape-memory polymers18. Despite the widespread use of fluidic actuation, there have been few soft counterparts of pumps or compressors, limiting the portability and autonomy of soft machines4,8. Here we describe a class of soft-matter bidirectional pumps based on charge-injection electrohydrodynamics19. These solid-state pumps are flexible, stretchable, modular, scalable, quiet and rapid. By integrating the pump into a glove, we demonstrate wearable active thermal management. Embedding the pump in an inflatable structure produces a self-contained fluidic 'muscle'. The stretchable pumps have potential uses in wearable laboratory-on-a-chip and microfluidic sensors, thermally active clothing and autonomous soft robots.

Highly Stable and Stretchable Conductive Films through Thermal‐Radiation‐Assisted Metal Encapsulation

Stretchable conductors are the basic units of advanced flexible electronic devices, such as skin-like sensors, stretchable batteries and soft actuators. Current fabrication strategies are mainly focused on the stretchability of the conductor with less emphasis on the huge mismatch of the conductive material and polymeric substrate, which results in stability issues during long-term use. Thermal-radiation-assisted metal encapsulation is reported to construct an interlocking layer between polydimethylsiloxane (PDMS) and gold by employing a semipolymerized PDMS substrate to encapsulate the gold clusters/atoms during thermal deposition. The stability of the stretchable conductor is significantly enhanced based on the interlocking effect of metal and polymer, with high interfacial adhesion (>2 MPa) and cyclic stability (>10 000 cycles). Also, the conductor exhibits superior properties such as high stretchability (>130%) and large active surface area (>5:1 effective surface area/geometrical area). It is noted that this method can be easily used to fabricate such a stretchable conductor in a wafer-scale format through a one-step process. As a proof of concept, both long-term implantation in an animal model to monitor intramuscular electric signals and on human skin for detection of biosignals are demonstrated. This design approach brings about a new perspective on the exploration of stretchable conductors for biomedical applications.

Stretchable and self-healable hydrogel-based capacitance pressure and strain sensor for electronic skin systems

Developing stretchable and self-healable skin-like materials have received increasing research for their broad application in wearable sensors, artificial intelligence, and soft robotics. However, development of skin-like sensor that can combine superior stretchable and self-healing ability is still a challenge. In this work, we designed a tough and self-healing hydrogel by formation of the hydrogen bonds and dual metal-carboxylate coordination bonds among pectin, poly(acrylic acid) and metal ions. The reversible nature of dynamic coordination interactions endowing the hydrogel high stretchability (1214%), excellent recovery property as well as superior self-healing ability (94% healing efficiency in 2 h) without any assistance of external stimuli. The stretchable and self-healable capacitance sensors are based on the hydrogel can detect a large scale of pressures, monitor the multifarious human motions, mimic the function of self-healing and sensation properties of natural skins. This work provides excellent performance of pressure and strain sensors based on the stretchable and self-healable hydrogel, it shows great potential in the field of electronic skin systems.

Highly transparent, stretchable, and rapid self-healing polyvinyl alcohol/cellulose nanofibril hydrogel sensors for sensitive pressure sensing and human motion detection

Wearable sensors have emerged as favored novel devices for human healthcare. Current sensors, however, suffer from low sensitivity, non-transparency, and lack of self-healing ability. In this study, we synthesized a polyvinyl alcohol/cellulose nanofibril (PVA/CNF) hydrogel with dual-crosslinked networks for highly transparent, stretchable, and self-healing pressure and strain sensors. The hydrogel contains dynamic borate bonds, metal–carboxylate coordination bonds, and hydrogen bonds, all of which contribute to the hydrogel’s superior dimensional stability, mechanical strength and flexibility, and spontaneous self-healing ability as compared to traditional PVA hydrogels. The developed hydrogel has a moderate modulus of 11.2 kPa, and a high elongation rate of 1900%. It spontaneously self-heals within 15 s upon contact without any external stimuli, has a high transmittance of over 90%, and has excellent compatibility with human fibroblasts. The capacitive sensor developed based on the PVA/CNF hydrogel has high sensitivity to very subtle pressure changes, such as small water droplets. When used as a strain sensor, it was capable of detecting and monitoring various human motions such as finger, knee, elbow, and head movements, breathing, and gentle tapping. The developed hydrogel and sensors not only show great potential in electronic skin, personal healthcare, and wearable devices, but may also inspire the development of transparent, intelligent skin-like sensors.

Highly Stretchable and Self-Healing "Solid-Liquid" Elastomer with Strain-Rate Sensing Capability.

To mimic the velocity-sensitive ability of the human skin, we fabricate a class of "solid-liquid" elastomers (SLEs) by interpenetrating polyborosiloxane (PBS) with polydimethylsiloxane (PDMS). PBS forms a dynamic network through boron/oxygen dative bonds, while PDMS is covalently cross-linked to form a permanent network. The permanent network affords a scaffold for the dynamic network, endowing SLEs with high elasticity and structural stability, thereby overcoming the inherent drawbacks such as fluidity and irreversible deformation of conventional solid-liquid materials. Meanwhile, the dissociation and association of the dynamic network is time-dependent. Thus, the modulus of SLEs varies with strain rates, and if the SLEs contain carbon nanotubes, their electric conductivity is also responsive to strain rates. This property can be utilized to fabricate skin-like sensors with the ability to distinguish different contact velocities. Moreover, the dynamic network can dissipate energy and be repaired, leading to the high stretchability and self-healing performance of SLEs.