Abstract
AbstractOwing to the remarkable properties of the somatosensory system, human skin compactly perceives myriad forms of physical stimuli with high precision. Machines, conversely, are often equipped with sensory suites constituted of dozens of unique sensors, each made for detecting limited stimuli. Emerging high degree-of-freedom human-robot interfaces and soft robot applications are delimited by the lack of simple, cohesive, and information-dense sensing technologies. Stepping toward biological levels of proprioception, we present a sensing technology capable of decoding omnidirectional bending, compression, stretch, binary changes in temperature, and combinations thereof. This multi-modal deformation and temperature sensor harnesses chromaticity and intensity of light as it travels through patterned elastomer doped with functional dyes. Deformations and temperature shifts augment the light chromaticity and intensity, resulting in a one-to-one mapping between stimulus modes that are sequentially combined and the sensor output. We study the working principle of the sensor via a comprehensive opto-thermo-mechanical assay, and find that the information density provided by a single sensing element permits deciphering rich and diverse human-robot and robot-environmental interactions.
Funder
National Centre of Competence in Research Robotics
United States Department of Defense | United States Navy | Office of Naval Research
Publisher
Springer Science and Business Media LLC
Subject
General Physics and Astronomy,General Biochemistry, Genetics and Molecular Biology,General Chemistry,Multidisciplinary