Active control of stiffness in soft robotics with piezoresistive strain sensor

Justin Rejimone; Hyunjae Lee; Keekyoung Kim; Simon Park

doi:10.1117/12.3010526

10 May 2024 Active control of stiffness in soft robotics with piezoresistive strain sensor

Justin Rejimone, Hyunjae Lee, Keekyoung Kim, Simon Park

Proceedings Volume PC12948, Soft Mechatronics and Wearable Systems; PC129480G (2024) https://doi.org/10.1117/12.3010526
Event: SPIE Smart Structures + Nondestructive Evaluation, 2024, Long Beach, California, United States

Abstract

This research delves into an innovative approach to layer jamming, where the jamming structure serves a dual purpose: jamming and pressure sensing. The tunable stiffness technique empowers soft grippers to manage both their grip strength and rigidity. To bolster stiffness control, a piezoresistive sensor is integrated, monitoring changes in resistance during gripping operations. This is achieved by stacking multiple thin layers of MWCNT-polyurethane acrylate material within an elastomer envelope, forming the gripper's jamming structure and pressure sensor. The sensor fabrication combines Direct Ink Writing and Digital Light Projection printing methods, while the gripper itself is crafted from Polydimethylsiloxane and Ecoflex. Utilizing resistance value shifts from the sensor, we optimize gripping performance. Experimental validations confirm the efficacy of the sensing and layer jamming approaches. Precise gripper stiffness control is achieved through data gleaned from the sensor's force measurements. Furthermore, this study illuminates potential applications in healthcare and the wearable technology industry.

Conference Presentation

Citation Download Citation

Justin Rejimone, Hyunjae Lee, Keekyoung Kim, and Simon Park "Active control of stiffness in soft robotics with piezoresistive strain sensor", Proc. SPIE PC12948, Soft Mechatronics and Wearable Systems, PC129480G (10 May 2024); https://doi.org/10.1117/12.3010526

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