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A Miniature Soft Sensor with Origami-Inspired Self-Folding Parallel Mechanism
| Content Provider | MDPI |
|---|---|
| Author | Shi, Yongqi Wang, Gang Sun, Wenguang Ya, Yunfeng Liu, Shuhan Fang, Jiongjie Yuan, Feiyang Duo, Youning Wen, Li |
| Copyright Year | 2022 |
| Description | Miniature soft sensors are crucial for the perception of soft robots. Although centimeter-scale sensors have been well developed, very few works addressed millimeter-scale, three-dimensional-shaped soft sensors capable of measuring multi-axis forces. In this work, we developed a millimeter-scale (overall size of 6 mm × 11 mm × 11 mm) soft sensor based on liquid metal printing technology and self-folding origami parallel mechanism. The origami design of the sensor enables the soft sensor to be manufactured within the plane and then fold into a three-dimensional shape. Furthermore, the parallel mechanism allows the sensor to rotate along two orthogonal axes. We showed that the soft sensor can be self-folded (took 17 s) using a shape-memory polymer and magnets. The results also showed that the sensor prototype can reach a deformation of up to 20 mm at the tip. The sensor can realize a measurement of external loads in six directions. We also showed that the soft sensor enables underwater sensing with a minimum sensitivity of 20 mm/s water flow. This work may provide a new manufacturing method and insight into future millimeter-scale soft sensors for bio-inspired robots. |
| Starting Page | 1188 |
| e-ISSN | 2072666X |
| DOI | 10.3390/mi13081188 |
| Journal | Micromachines |
| Issue Number | 8 |
| Volume Number | 13 |
| Language | English |
| Publisher | MDPI |
| Publisher Date | 2022-07-28 |
| Access Restriction | Open |
| Subject Keyword | Micromachines Robotics Millimeter Scale Soft Sensor Origami Self-folding |
| Content Type | Text |
| Resource Type | Article |
