SensAct: The Soft and Squishy Tactile Sensor with Integrated Flexible Actuator
Journal article
Authors | Oliver Ozioko, Karipoth, P., Escobedo, P., Ntagios, M., Pullanchiyodan, A. and Ravinder, D. |
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Abstract | Herein, a novel tactile sensing device (SensAct) with a soft touch/pressure sensor seamlessly integrated on a flexible actuator is presented. The squishy touch sensor is developed with custom-made graphite paste on a tiny permanent magnet, encapsulated in Sil-Poxy, and the actuator (15 μ-thick coil) is fabricated on polyimide by Lithographie Galvanoformung Abformung (LIGA) micromolding method. The actuator can operate in two modes (expansion and contraction/squeeze) and two states (vibration and nonvibration). The sensor was tested with up to 12 N applied forces and exhibited ≈70% average relative resistance variation (ΔR/Ro), ≈0.346 kPa−1 sensitivity, and ≈49 ms response time with excellent repeatability (≈12.7% coefficient of variation) at 5 N. During simultaneous sensing and actuation, the modulation of coil current, due to ΔR/Ro (≈14% at 2 N force) in the sensor, allows the close loop control (ΔI/Io ≈385%) of expansion/contraction (≈69.8 μm expansion in nonvibration state and ≈111.5 μm peak-to-peak in the vibration state). Finally, the soft sensor is embedded in the 3D-printed fingertip of a robotic hand to demonstrate its use for pressure mapping along with remote vibrotactile stimulation using SensAct device. The self-controllable actuation of SensAct could provide eSkin the ability to tune stiffness and the vibration states could be utilized for controlled haptic feedback. |
Keywords | intelligence systems; novel tactile sensing device (SensAct); squishy touch sensor |
Year | 2021 |
Journal | Advanced Intelligent Systems |
Journal citation | 3 (3), pp. 1-12 |
Publisher | Wiley |
ISSN | 2640-4567 |
Digital Object Identifier (DOI) | https://doi.org/10.1002/aisy.201900145 |
Web address (URL) | https://onlinelibrary.wiley.com/doi/10.1002/aisy.201900145 |
Publisher's version | License File Access Level Open |
Output status | Published |
Publication dates | 21 Jan 2021 |
Publication process dates | |
Deposited | 20 Jun 2024 |
https://repository.derby.ac.uk/item/q6z00/sensact-the-soft-and-squishy-tactile-sensor-with-integrated-flexible-actuator
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Publisher's version
Advanced Intelligent Systems - 2021 - Ozioko - SensAct The Soft and Squishy Tactile Sensor with Integrated Flexible.pdf | ||
License: CC BY 4.0 | ||
File access level: Open |
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