期刊
ADVANCED MATERIALS
卷 30, 期 15, 页码 -出版社
WILEY-V C H VERLAG GMBH
DOI: 10.1002/adma.201706383
关键词
3D printing; haptics; ionogels; soft robotics; soft sensors
类别
资金
- National Science Foundation through the Harvard MRSEC [DMR-1420570]
- Wyss Institute for Biologically Inspired Engineering
- National Science Foundation Graduate Research Fellowship
- Vannevar Bush Faculty Fellowship Program - Basic Research Office of the Assistant Secretary of Defense for Research and Engineering
- Office of Naval Research Grant [N00014-16-1-2823]
- GETTYLAB
Humans possess manual dexterity, motor skills, and other physical abilities that rely on feedback provided by the somatosensory system. Herein, a method is reported for creating soft somatosensitive actuators (SSAs) via embedded 3D printing, which are innervated with multiple conductive features that simultaneously enable haptic, proprioceptive, and thermoceptive sensing. This novel manufacturing approach enables the seamless integration of multiple ionically conductive and fluidic features within elastomeric matrices to produce SSAs with the desired bioinspired sensing and actuation capabilities. Each printed sensor is composed of an ionically conductive gel that exhibits both long-term stability and hysteresis-free performance. As an exemplar, multiple SSAs are combined into a soft robotic gripper that provides proprioceptive and haptic feedback via embedded curvature, inflation, and contact sensors, including deep and fine touch contact sensors. The multimaterial manufacturing platform enables complex sensing motifs to be easily integrated into soft actuating systems, which is a necessary step toward closed-loop feedback control of soft robots, machines, and haptic devices.
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