3D-Printed Perceptive Robotic End-Effectors with Embedded Multimodal Sensors
Journal article
Authors | Chirila, R., Dahiya, A.S., Ozioko, O., Schyns, P.G. and Dahiya, R. |
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Abstract | Robust perception is crucial for autonomous and intelligent robots, and this can be achieved through a network of multimodal sensors embedded in the robotic body, like biological organs. Herein, we report a perceptive robotic end-effector, developed using multi-material additive manufacturing, for manipulation of delicate objects. The 3D-printed phalanges of the end-effector incorporate distributed resistive sensors to provide the multimodal touch and bend sensing capabilities. Each resistive sensor unit comprises a carbon black-Thermoplastic Polyurethane (TPU)-based conductive composite, along with a specially designed sensor frame for embedding purposes to ensure robustness. These embedded sensors show sensitivity of ∼0.16% N -1 to compressive pressure and 0.06% per degree of bending angle for applied strain. Furthermore, they exhibit temperature sensitivity, registering approximately 1.6% change in response to a temperature shift from room temperature (25°C) to 45°C (hot perception), and approximately 1.3% for a change from 25°C to 5°C (cold perception). Finally, the 3D printed end-effector is used to grasp daily objects such as a soft ball and a paper cup to demonstrate its practical applicability towards the development of artificial limbs and human-friendly soft robots. |
Keywords | 3D printing; additive manufacturing; end-effectors; embedded sensing; soft robotics |
Year | 2024 |
Journal | IEEE Sensors Letters |
Journal citation | 2 (3), pp. 1-4 |
Publisher | IEEE |
ISSN | 2475-1472 |
Digital Object Identifier (DOI) | https://doi.org/10.1109/LSENS.2024.3401871 |
Web address (URL) | https://ieeexplore.ieee.org/document/10531631 |
Accepted author manuscript | License All rights reserved File Access Level Open |
Output status | Published |
Publication dates | |
Online | 16 May 2024 |
Publication process dates | |
Deposited | 14 Jun 2024 |
https://repository.derby.ac.uk/item/q66z9/3d-printed-perceptive-robotic-end-effectors-with-embedded-multimodal-sensors
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Accepted author manuscript
3D-Printed Perceptive Robotic End-Effectors Accepted.pdf | ||
License: All rights reserved | ||
File access level: Open |
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