Arsen Abdulali, David Hardman, Yue Xie, Fumiya Iida
{"title":"介质电流波导增强基于电阻抗的变形传感","authors":"Arsen Abdulali, David Hardman, Yue Xie, Fumiya Iida","doi":"10.1002/aelm.202500365","DOIUrl":null,"url":null,"abstract":"Sensing the deformation of soft robots is vital for effective control and interaction with the environment. Electrical impedance tomography (EIT) enables such sensing by monitoring changes in conductivity, but its sensitivity is often highest near the electrodes, limiting performance for distant deformations. Existing strategies to address this limitation typically rely on introducing conductive material heterogeneities, such as anisotropic or patterned conductors, to redirect current flow. In this work, a fundamentally different approach is presented: utilizing a dielectric guide to manipulate the electric field within the conductive body. This method leverages widely used soft robotic materials, such as silicone, in a new role as a passive electric field guide, allowing reconfiguration of sensitivity distributions without embedding conductive components. Physical experiments with a conductive hydrogel cylinder show that the dielectric guide increases deformation sensing accuracy by 21%, reduces sensitivity to noise, and enables a reduction in the number of required EIT channels. This work establishes dielectric-based field manipulation as a novel design strategy for high-fidelity, low-interference proprioception in soft robotics.","PeriodicalId":110,"journal":{"name":"Advanced Electronic Materials","volume":"41 1","pages":""},"PeriodicalIF":5.3000,"publicationDate":"2025-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Enhancing Electrical Impedance Based Deformation Sensing with Dielectric Current Guide\",\"authors\":\"Arsen Abdulali, David Hardman, Yue Xie, Fumiya Iida\",\"doi\":\"10.1002/aelm.202500365\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Sensing the deformation of soft robots is vital for effective control and interaction with the environment. Electrical impedance tomography (EIT) enables such sensing by monitoring changes in conductivity, but its sensitivity is often highest near the electrodes, limiting performance for distant deformations. Existing strategies to address this limitation typically rely on introducing conductive material heterogeneities, such as anisotropic or patterned conductors, to redirect current flow. In this work, a fundamentally different approach is presented: utilizing a dielectric guide to manipulate the electric field within the conductive body. This method leverages widely used soft robotic materials, such as silicone, in a new role as a passive electric field guide, allowing reconfiguration of sensitivity distributions without embedding conductive components. Physical experiments with a conductive hydrogel cylinder show that the dielectric guide increases deformation sensing accuracy by 21%, reduces sensitivity to noise, and enables a reduction in the number of required EIT channels. This work establishes dielectric-based field manipulation as a novel design strategy for high-fidelity, low-interference proprioception in soft robotics.\",\"PeriodicalId\":110,\"journal\":{\"name\":\"Advanced Electronic Materials\",\"volume\":\"41 1\",\"pages\":\"\"},\"PeriodicalIF\":5.3000,\"publicationDate\":\"2025-09-26\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Advanced Electronic Materials\",\"FirstCategoryId\":\"88\",\"ListUrlMain\":\"https://doi.org/10.1002/aelm.202500365\",\"RegionNum\":2,\"RegionCategory\":\"材料科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"MATERIALS SCIENCE, MULTIDISCIPLINARY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Advanced Electronic Materials","FirstCategoryId":"88","ListUrlMain":"https://doi.org/10.1002/aelm.202500365","RegionNum":2,"RegionCategory":"材料科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"MATERIALS SCIENCE, MULTIDISCIPLINARY","Score":null,"Total":0}
Enhancing Electrical Impedance Based Deformation Sensing with Dielectric Current Guide
Sensing the deformation of soft robots is vital for effective control and interaction with the environment. Electrical impedance tomography (EIT) enables such sensing by monitoring changes in conductivity, but its sensitivity is often highest near the electrodes, limiting performance for distant deformations. Existing strategies to address this limitation typically rely on introducing conductive material heterogeneities, such as anisotropic or patterned conductors, to redirect current flow. In this work, a fundamentally different approach is presented: utilizing a dielectric guide to manipulate the electric field within the conductive body. This method leverages widely used soft robotic materials, such as silicone, in a new role as a passive electric field guide, allowing reconfiguration of sensitivity distributions without embedding conductive components. Physical experiments with a conductive hydrogel cylinder show that the dielectric guide increases deformation sensing accuracy by 21%, reduces sensitivity to noise, and enables a reduction in the number of required EIT channels. This work establishes dielectric-based field manipulation as a novel design strategy for high-fidelity, low-interference proprioception in soft robotics.
期刊介绍:
Advanced Electronic Materials is an interdisciplinary forum for peer-reviewed, high-quality, high-impact research in the fields of materials science, physics, and engineering of electronic and magnetic materials. It includes research on physics and physical properties of electronic and magnetic materials, spintronics, electronics, device physics and engineering, micro- and nano-electromechanical systems, and organic electronics, in addition to fundamental research.