Multi-Layered Carbon-Black/Elastomer-Composite-Based Shielded Stretchable Capacitive Sensors for the Underactuated Robotic Hand
نویسندگان
چکیده
Soft and flexible strain sensors are becoming popular for many robotic applications. This article presents a stretchable capacitive sensor by combining conductive filler of carbon black with elastomers implementing shielding to reduce parasitic interference, applied an underactuated hand. Sensors different configurations were explored. The results show that shield introduced the does have some mitigation effect on external interference. Two explored: longitudinal interdigitated (LIDC) sensor, where fingers lie along same axis as strain, transverse (TIDC) orthogonal direction. LIDC configuration had better performance than TIDC. fabricated two-layered gage factor 0.15 pF/mm rates creep 0.000667 pF/s 0.001 at loads 120 g 180 g, respectively. attached hand demonstrate sensors’ ability determine bending angles proximal interphalangeal (PIP) metacarpophalangeal (MCP) joints.
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ژورنال
عنوان ژورنال: Robotics
سال: 2022
ISSN: ['2218-6581']
DOI: https://doi.org/10.3390/robotics11030058