Design and characterization of a strain sensor array based on nanocomposite for a soft bodied gripper

Mingzhu Zhu, Mengying Xie, Sadao Kawamura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents the design, fabrication and calibration of a stretchable strain sensor array based on carbon nanocomposite. The sensor array is used to be integrated into a soft bodied gripper for deformation control. The gripper can move the fragile object in planer motion and rotation by pressuring its inflation chambers. The sensor has a sandwiched structure: both the protection layer and substrate are made of Ecoflex, and the strain sensitive layer is made of carbon nanotubes filled Ecoflex composite. There are four sensor pads in the array for strain sensing of four inflation chambers. Each of the sensor pads is used to sense the deformation of one chamber through sensor's resistance changes. A OptiTrack system with Flex3 small volume motion capture cameras is used to record the inflation chambers' surface deformation. The measurements of the soft strain sensor array agree with those of the motion capture system, indicating the developed sensor can deliver repeatable and reliable results. Further experiments will be carried out after the developed sensor array integrated into the soft bodied gripper for objects manipulation.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
PublisherIEEE
Pages259-264
Number of pages6
ISBN (Print)9781509059980
DOIs
Publication statusPublished - 21 Aug 2017
Event2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany
Duration: 3 Jul 20177 Jul 2017

Conference

Conference2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
CountryGermany
CityMunich
Period3/07/177/07/17

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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  • Cite this

    Zhu, M., Xie, M., & Kawamura, S. (2017). Design and characterization of a strain sensor array based on nanocomposite for a soft bodied gripper. In 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 (pp. 259-264). [8014027] IEEE. https://doi.org/10.1109/AIM.2017.8014027