Hollow fiber-based strain sensors with desirable modulus and sensitivity at effective deformation for dexterous electroelastomer cylindrical actuator  

作　　者：Yang Zhang Keqi Deng Tingting Shen Yong Huang Zhenjin Xu Jinhui Zhang Hang Jin Xin Liu Lida Xu Lianjie Lu Shiying Li Daoheng Sun Dezhi Wu 

机构地区：[1]Pen-Tung Sah Institute of Micro-Nano Science and Technology,Xiamen University,361005 Xiamen,China [2]Department of Mechanical&Electrical Engineering,Xiamen University,361005 Xiamen,China [3]Department of Ophthalmology,The First Affiliated Hospital of Xiamen University,School of Medicine,361005 Xiamen,Fujian Province,China

出　　处：《Microsystems & Nanoengineering》2025年第1期375-388,共14页微系统与纳米工程(英文)

基　　金：funded by the National Key Research and Development Program(2022YFB3203903);the National Natural Science Foundation of China(52075464,U2005214);Science&Technology Plan of Xiamen City(3502Z20224030).

摘　　要：The electroelastomer cylindrical actuators,a typical representation of soft actuators,have recently aroused increasing interest owing to their advantages in flexibility,deformability,and spatial utilization rate.Proprioception is crucial for controlling and monitoring the shape and position of these actuators.However,most existing flexible sensors have a modulus mismatch with the actuation unit,hindering the free movement of these actuators.Herein,a low-modulus strain sensor based on laser-induced cellular graphitic flakes(CGF)onto the surface of hollow TPU fibers(HTF)is present.Through the electrostatic self-assembly technology,the flexible sensor features a unique hybrid sensing unit including soft HTF as substrate and rigid CGF as conductive path.As a result,the sensor simultaneously possesses desirable modulus(~0.155 MPa),a gauge factor of 220.3(25%<ε<50%),fast response/recovery behaviors(31/62 ms),and a low detection limit(0.1%strain).Integrating the sensor onto the electroelastomer cylindrical actuators enables precise measurement of deformation modes,directions,and quantity.As proof-of-concept demonstrations,a prototype soft robot with high-precision perception is successfully designed,achieving real-time detection of its deformations during the crawling process.Thus,the proposed scheme sheds new light on the development of intelligent soft robots.

关 键 词：dexterous actuator PROPRIOCEPTION electroelastomer cylindrical actuatorsa electroelastomer soft actuatorshave controlling monitoring shape position hollow fiber modulus mismatch 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]