Version 1
: Received: 3 July 2023 / Approved: 4 July 2023 / Online: 4 July 2023 (10:03:59 CEST)
How to cite:
Chiba, S.; Waki, M. Dielectric Elastomer Multi-Sensors and Tactile Actuators for Robot Fingers in Human-Robot Interaction. Preprints2023, 2023070181. https://doi.org/10.20944/preprints202307.0181.v1
Chiba, S.; Waki, M. Dielectric Elastomer Multi-Sensors and Tactile Actuators for Robot Fingers in Human-Robot Interaction. Preprints 2023, 2023070181. https://doi.org/10.20944/preprints202307.0181.v1
Chiba, S.; Waki, M. Dielectric Elastomer Multi-Sensors and Tactile Actuators for Robot Fingers in Human-Robot Interaction. Preprints2023, 2023070181. https://doi.org/10.20944/preprints202307.0181.v1
APA Style
Chiba, S., & Waki, M. (2023). Dielectric Elastomer Multi-Sensors and Tactile Actuators for Robot Fingers in Human-Robot Interaction. Preprints. https://doi.org/10.20944/preprints202307.0181.v1
Chicago/Turabian Style
Chiba, S. and Mikio Waki. 2023 "Dielectric Elastomer Multi-Sensors and Tactile Actuators for Robot Fingers in Human-Robot Interaction" Preprints. https://doi.org/10.20944/preprints202307.0181.v1
Abstract
Conventional sensors used to measure properties such as deformation or pressure, etc. often make use of metals, ceramics, piezos, and other materials. Many of those materials are very hard, so if they are used as sensors, when the object is deformed, or when the pressure on the object changes from time to time, it is necessary to prepare a variety of sensors with different properties. In this experiment, a dielectric elastomer (DE) pressure sensor was fabricated using a hydrogenated nitrile rubber (HNBR) film with improved hardness and elongation. With this, even very thin film (0.2mm) can be measured at any pressure between 1gf and 20kgf. Previously developed film was harder and less stretchy than the current one, with a pressure detection width from 4 kgf to 120 kgf. This time, however, the pressure sensitivity of the finger has been made more sensitive, making it possible to measure even smaller values. A DE stretch sensor was also developed using single-walled carbon nanotube (SWCNT) electrodes with larger stretchability and flexibility, utilizing this HNBR. This greatly improved the mechanical flexibility and stretchability of the DES. Using this stretch sensor, it became possible to sense the motion of the robot's fingers, and to sense the force (pressure) when the fingertip touched the target object with the DE pressure sensor. In addition, it was confirmed that the sensation of the robot's finger touching an object can be fed back to a human finger by using a small diaphragm type vibrator DE actuator.
Keywords
dielectric elastomer; sensor; actuator; vibrator; stretch; pressure; large deformation; CNT spray; load cells; SS curve
Subject
Engineering, Mechanical Engineering
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
