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AnisotropicnShear-Sensitive Tactile Sensors with ProgrammablenElastomers for Robotic Manipulations 用于机器人操作的各向异性剪切敏感触觉传感器与可编程材料

Figshare Pub Date : 2021-10-19 DOI: 10.1021/acsami.1c12985.s004

Zhiping Chai (11580814), Xingxing Ke (11580817), Han Chen (228557), Jiaqi Zhu (1579531), Haochen Yong (11580820), Jiajun Jiang (6310907), Shuo Zhang (30844), Chuan Fei Guo (1440310), Zhigang Wu (385181)

{"title":"AnisotropicnShear-Sensitive Tactile Sensors with ProgrammablenElastomers for Robotic Manipulations","authors":"Zhiping Chai (11580814), Xingxing Ke (11580817), Han Chen (228557), Jiaqi Zhu (1579531), Haochen Yong (11580820), Jiajun Jiang (6310907), Shuo Zhang (30844), Chuan Fei Guo (1440310), Zhigang Wu (385181)","doi":"10.1021/acsami.1c12985.s004","DOIUrl":"https://doi.org/10.1021/acsami.1c12985.s004","url":null,"abstract":"High-performancentactile sensors are urgently demanded in variousnintensive interactive scenarios, e.g., texture detection, roboticninteraction with fragile objects, and motion direction recognition,nwhere dynamic conditions are involved with complex tangential forcesnor vibrations. Although many microstructured/porous sensors can perceiventangential forces, their isotropic structures that lack programmabilitynlead them to be incapable of sensing the direction of forces and restrainntheir tunability for complex situations, e.g., a wide sensing rangenfor large forces and high sensitivity for gentle forces. Here, byntuning the programmable microstructures (microcolumns and microfilms)nof an elastomeric active layer, we propose a simple principle to flexiblyntune the shear sensitivity of an anisotropic porous sensor and bringna 10-fold distinction of anisotropy with a wide range of shear sensitivityn(from 0.07 to 0.7 N<sup>–1</sup>). The fabricated tactile sensorsncan be used in various robotic manipulations resiliently, for instance,nmorphology and topology identification of curved surfaces, delicateninteractive manipulations, and recognizing the relative motion ofntwo contacting objects. Our work introduces a simple and effectivenstrategy for tailoring flexible shear-sensitive sensors for diversendexterous robotic manipulations during complex interactions.","PeriodicalId":522261,"journal":{"name":"Figshare","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2021-10-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147894285","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

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