Multi-modal sensing system on hydraulic omnidirectional arm-hand system

Abstract

Soft robots and flexible strain sensors hold significant potential in health monitoring and industrial robotics due to their structural advantages, enabling nondestructive interaction and sensing. This work proposes a hollow eccentric fiber actuator sensor fabricated via thermal drawing technology. This fiber integrates a sensing system with advantages such as low cost, embedded design, and effective sensing performance.

This paper details the fabrication process of the flexible fiber actuator sensor, including material selection and testing for the sensing layer. The structural design was optimized through finite element simulations. Mechanical and sensing tests were conducted to evaluate performance, revealing excellent sensing capabilities with significant resistance changes. Combined with its actuation functions (e.g., grasping, helical coiling), the sensor demonstrates high potential for development.