3D-Printed Perceptive Robotic End-Effectors with Embedded Multimodal Sensors

Journal article


Chirila, R., Dahiya, A.S., Ozioko, O., Schyns, P.G. and Dahiya, R. 2024. 3D-Printed Perceptive Robotic End-Effectors with Embedded Multimodal Sensors. IEEE Sensors Letters. 2 (3), pp. 1-4. https://doi.org/10.1109/LSENS.2024.3401871
AuthorsChirila, R., Dahiya, A.S., Ozioko, O., Schyns, P.G. and Dahiya, R.
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.

Keywords3D printing; additive manufacturing; end-effectors; embedded sensing; soft robotics
Year2024
JournalIEEE Sensors Letters
Journal citation2 (3), pp. 1-4
PublisherIEEE
ISSN2475-1472
Digital Object Identifier (DOI)https://doi.org/10.1109/LSENS.2024.3401871
Web address (URL)https://ieeexplore.ieee.org/document/10531631
Accepted author manuscript
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All rights reserved
File Access Level
Open
Output statusPublished
Publication dates
Online16 May 2024
Publication process dates
Deposited14 Jun 2024
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https://repository.derby.ac.uk/item/q66z9/3d-printed-perceptive-robotic-end-effectors-with-embedded-multimodal-sensors

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