Soft Somatosensitive Actuators via Embedded 3D Printing

Advanced Materials
Ryan L TrubyJennifer A Lewis

Abstract

Humans possess manual dexterity, motor skills, and other physical abilities that rely on feedback provided by the somatosensory system. Herein, a method is reported for creating soft somatosensitive actuators (SSAs) via embedded 3D printing, which are innervated with multiple conductive features that simultaneously enable haptic, proprioceptive, and thermoceptive sensing. This novel manufacturing approach enables the seamless integration of multiple ionically conductive and fluidic features within elastomeric matrices to produce SSAs with the desired bioinspired sensing and actuation capabilities. Each printed sensor is composed of an ionically conductive gel that exhibits both long-term stability and hysteresis-free performance. As an exemplar, multiple SSAs are combined into a soft robotic gripper that provides proprioceptive and haptic feedback via embedded curvature, inflation, and contact sensors, including deep and fine touch contact sensors. The multimaterial manufacturing platform enables complex sensing motifs to be easily integrated into soft actuating systems, which is a necessary step toward closed-loop feedback control of soft robots, machines, and haptic devices.

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Citations

Aug 29, 2018·Advanced Materials·Sung Hyun ParkMichael C McAlpine
May 16, 2019·Chemistry : a European Journal·Longyu LiChenfeng Ke
Oct 4, 2019·Proceedings of the National Academy of Sciences of the United States of America·J William BoleyL Mahadevan
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Jul 11, 2021·Advanced Materials·David J LevineJames H Pikul

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