UCLA researchers in the Department of Mechanical and Aerospace Engineering have developed a bioinspired, thin and flexible liquid metal filled resistive PDMS microchannel shear force sensing skin.
Tactile sensing is important for haptic exploration and object manipulation; however, it is not yet widely implemented in robot hands or prostheses. Spatially and temporally resolved normal and shear stresses are critical mechanical measurements that need to be resolved on artificial fingertips.
The inventors have developed a shear sensing artificial skin using bioinspired, thin and flexible liquid metal filled resistive microchannels. The PDMS based sensor skin is wrapped around a finger-shaped effector and fixed at the location of the nail bed. When the skin is subjected to shear force it results in one side of the skin in tension and the other side in compression that buckles and bulges similar to a human fingertip. The tension and compression are measured by embedded liquid metal strain gauges adjacent to the nail bed, away from the point of finger-object contact. The sensing philosophy can be expanded to provide spatially resolved tactile information and correlations can be acquired via machine learning processes.
|United States Of America
resistive sensor, conductive fluid, flexible, shear force, artificial skin, soft lithography