Multi-functional stretchable and flexible sensor array to determine the location, shape, and pressure: Application in a smart robot

The rapid increase in the aging population prompts the development of wearable devices and sophisticated robots. With their ability to collect complex information about their surroundings via e-skins, robots could perform more dynamic and variable tasks such as rescue missions or caring for the elderly. In this paper, we present a new concept of utilizing a very simple, highly flexible and stretchable capacitor sensor array, that can be attached on the surface of a retractable robot hand to realize three functions: determining the location, shape, and pressure of an object. This adaptive sensing system is accomplished using capacitors connected by aligned carbon nanotube (CNT) films constructed on an elastomer dielectric material, which can reduce the requirement on the accuracy of the machine vision system. This study has a very broad application in the manufacture of intelligent software robots.