Electrochemical Dual Transducer for Fluidic Self-Sensing Actuation

An electrochemical dual transducer (ECDT) based on a chemical reaction is a new fluidic machine for self-sensing actuation. Recently, incorporating sensors has enhanced the multifunctionality of soft robots with fluidic machines such as pumps or compressors. However, conventional fluidic systems have limitations such as heavy weight, noise, bloat, and complexity. In our previous research, we adopted small-sized, lightweight, and quiet electrohydrodynamic pumps for soft robots. In this paper, we propose a new ECDT by exploring the possibility of an electrohydrodynamic (EHD) pump to sense the flow of the working fluid. The current in the ECDT is proportional to 1/3 of the inflowing velocity. We also clarify its mechanism, mathematical model, range of detectable flow rate, sensitivity factor, relaxation time, response speed, and pumping characteristics. The advantages of the ECDT are their small size, light weight, simple fabrication process, extensibility of the sensing range, and sensitivity. We also demonstrate a suction cup driven by the ECDT, which can detect, hold, and release objects. We expect a bidirectional ECDT will realize a small, multifunctional, and straightforward fluidic system.

Automated summary

An electrochemical dual transducer (ECDT) based on a chemical reaction is proposed as a new fluidic machine for self-sensing actuation. The ECDT offers advantages such as small size, light weight, simple fabrication process, extendable sensing range, and high sensitivity. The mechanism, mathematical model, detectable flow rate range, sensitivity factor, relaxation time, response speed, and pumping characteristics of the ECDT are clarified. Furthermore, a suction cup driven by the ECDT is demonstrated for object detection, grasping, and releasing.