A unified mechanics model of direct-ink-writing printed flexible sensor benefits the accurate force control of soft manipulator

IF 8.1 2区材料科学 Q1 ENGINEERING, MANUFACTURING

Composites Part A: Applied Science and Manufacturing Pub Date : 2025-02-05 DOI:10.1016/j.compositesa.2025.108778

Yin Tao , Peishi Yu , Xin Zhang , Linhai Huang , Yuxiang Zhao , Maoyang Li , Junhua Zhao

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引用次数: 0

Abstract

High-precision strain feedback is crucial for both monitoring and control of structure-sensing assembly, but remains a big challenge especially for soft components due to the transferring loss and reinforcement effect. Here we propose a closed-loop solution from unified mechanics model for sensor-assembly design to hybrid additive manufacturing of structure-sensing component. As a result, the strains of soft component from surface to interior are detected with high accuracy, thereby removing the barriers for the strain-based control. Benefit from the proposed mechanics model, the high-precision strains at the fingertips with printed sensors are detected with a reduction for measurement error from 37% to 7%. Consequently, the grip postures can be adjusted according to the feedback strain to accurately control the pinching forces, which successfully pick up fragile objects without damage. This mechanics-model-based strain-feedback control strategy provides insight for achieving intelligent soft equipment with the demand of high-precision control of postures and forces.

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来源期刊

Composites Part A: Applied Science and Manufacturing 工程技术-材料科学：复合

CiteScore

15.20

自引率

5.70%

发文量

492

审稿时长

30 days

期刊介绍： Composites Part A: Applied Science and Manufacturing is a comprehensive journal that publishes original research papers, review articles, case studies, short communications, and letters covering various aspects of composite materials science and technology. This includes fibrous and particulate reinforcements in polymeric, metallic, and ceramic matrices, as well as 'natural' composites like wood and biological materials. The journal addresses topics such as properties, design, and manufacture of reinforcing fibers and particles, novel architectures and concepts, multifunctional composites, advancements in fabrication and processing, manufacturing science, process modeling, experimental mechanics, microstructural characterization, interfaces, prediction and measurement of mechanical, physical, and chemical behavior, and performance in service. Additionally, articles on economic and commercial aspects, design, and case studies are welcomed. All submissions undergo rigorous peer review to ensure they contribute significantly and innovatively, maintaining high standards for content and presentation. The editorial team aims to expedite the review process for prompt publication.