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dc.contributor.authorAccoto, Dinoen_US
dc.contributor.authorDonadio, Alessandroen_US
dc.contributor.authorYang, Siboen_US
dc.contributor.authorMathews, Nripanen_US
dc.identifier.citationAccoto, D., Donadio, A., Yang, S., Ankit & Mathews, N. (2021). A microfabricated dual slip-pressure sensor with compliant polymer-liquid metal nanocomposite for robotic manipulation. Soft Robotics.
dc.description.abstractConventional grippers fall behind their human counterparts as they do not have integrated sensing capabilities. Piezoresistive and capacitive sensors are popular choices because of their design and sensitivity, but they cannot measure pressure and slip simultaneously. It is imperative to measure slip and pressure concurrently. We demonstrate a dual slip-pressure sensor based on a thermal approach. The sensor comprises two concentric microfabricated heaters maintained at constant temperature. An elastic dome, with embedded liquid metal droplets, is placed on top of concentric heaters. Heat transfer between sensor and the object in contact occurs through the elastic dome. This heat transfer causes changes in the power absorbed by the sensor to maintain its temperature and allows for measurement of pressure while identifying slip events. Liquid metal droplets contribute to enhanced thermal conductivity (0.37 W/m-K) and reduced specific heat (0.86 kJ/kg-K) of the polymer without compromising on mechanical properties (Young's modulus-0.5 MPa). For pressure monitoring, sensor measures change in power ratio against increase in applied force, demonstrating a highly linear performance, with a high sensitivity of 0.0356 N-1 (pressure only) and 0.0189 N-1 (slip with simultaneous pressure applied). The sensor discriminates between different contact types with a 96% accuracy. Response time of the sensor (60-75 ms) matches the measured response time in human skin. The sensor does not get affected by mechanical vibrations paving way for easy integration with robotic manipulators and prosthetics.en_US
dc.description.sponsorshipMinistry of Education (MOE)en_US
dc.description.sponsorshipNanyang Technological Universityen_US
dc.relationNTU-SUG grant (9069)en_US
dc.relation.ispartofSoft Roboticsen_US
dc.rights© 2021 Mary Ann Liebert, Inc. All rights reserved.en_US
dc.subjectEngineering::Mechanical engineeringen_US
dc.titleA microfabricated dual slip-pressure sensor with compliant polymer-liquid metal nanocomposite for robotic manipulationen_US
dc.typeJournal Articleen
dc.contributor.schoolSchool of Materials Science and Engineeringen_US
dc.contributor.schoolSchool of Mechanical and Aerospace Engineeringen_US
dc.contributor.researchRobotics Research Centreen_US
dc.contributor.researchEnergy Research Institute @ NTU (ERI@N)en_US
dc.subject.keywordsSlip Sensoren_US
dc.subject.keywordsPressure Sensoren_US
dc.description.acknowledgementThis work was supported by Nanyang Technological University with the NTU-SUG grant (9069) ‘‘Building blocks for next generation soft robots’’ and Ministry of Education (MOE) Tier 1 grant (MOE2018-T1-002-179).en_US
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