Inherently integrated microfiber-based flexible proprioceptive sensor for feedback-controlled soft actuators  

作　　者：Hwajoong Kim Hyunbin Na Seungbeom Noh Shinwon Chang Jinho Kim Taejune Kong Gyowook Shin Chankyu Lee Seonggyu Lee Yong-Lae Park Sehoon Oh Jaehong Lee 

机构地区：[1]Department of Robotics and Mechatronics Engineering,Daegu Gyeongbuk Institute of Science and Technology(DGIST),333 Techno jungang-daero,Hyeonpung-eup,Dalseong-gun,Daegu,Republic of Korea [2]Department of Mechanical Engineering,Seoul National University,1 Gwanak-ro,Gwanak-gu,Seoul,Republic of Korea [3]University of California,Berkeley,CA,USA

出　　处：《npj Flexible Electronics》2024年第1期803-816,共14页npj-柔性电子(英文)

基　　金：supported by the National Research Foundation of Korea(NRF)grant funded by the Korea government(MSIT)(No.NRF-2021R1C1C1009271 and NRF-2022R1A4A3033320);supported by the Development of technologies for electroceuticals of the National Research Foundation(NRF)funded by the Korean government(MSIT)(No.NRF-2022M3E5E9017837);supported by the Industrial Fundamental Technology Development Program(20018274,Development of gripper system for various production processes and multi-modal flexible tactile sensor system)funded by the Ministry of Trade,Industry&Energy(MOTIE)of Korea。

摘　　要：For the accurate and continuous control of soft actuators in dynamic environments,the movements of the soft actuators must be monitored in real-time.To this end,various soft actuators capable of selfmonitoring have been developed by separately integrating sensing devices into actuators.However,integrating such heterogeneous sensing components into soft actuators results in structural complexity,high manufacturing costs,and poor interfacial stability.Here,we report on intelligent pneumatic fiber-reinforced soft actuators with an inherent flexible proprioceptive sensor that uses only the essential components of typical fiber-reinforced soft actuators.The inherent flexible proprioceptive sensor is achieved by leveraging two parallel conductive microfibers around an elastomeric chamber of the soft actuator,which simultaneously acts as both a capacitive bending sensor and radial expansion limiting fibers of typical fiber-reinforced soft actuators.The proprioceptive soft actuator exhibits excellent mechanical actuation up to 240°bending motion and proprioceptive sensing performance with high sensitivity of 1.2 pF rad^(−1).Mathematical analysis and simulations of the soft actuator can effectively predict the bending actuation and capacitive responses against input pressures.Wedemonstrate that proprioceptive soft actuators can be used to construct a soft gripping system and prosthetic hand which express various hand gestures and perform dexterous manipulation with real-time proprioceptive sensing capability.

关 键 词：PROP integrating SENSOR 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]