Periodic Reporting for period 1 - 3D-SITS (3D Stretchable Inductive Tactile Sensors for Soft Artificial Touch)
Reporting period: 2018-09-06 to 2020-09-05
Resistance, capacitance and inductance are the three basic measurand for sensing systems. Compared to resistive and capacitive sensors, inductive sensors are quite overlooked due to the complex readout electronics and coil structure. In this project the fellow intend to investigate the fundamental physics and design principles of the overlooked inductive transducer mechanisms, and the utilization of them in different forms for developing various soft sensors and applications systems. The overall goal of this MSCA-IF project is to develop a robust, high-performance, truly soft, multimodal sensing technology: Stretchable Inductive Tactile Sensors (SITS), enabling them to be directly integrated into soft robots and wearable systems.
This project investigates: a) the working principle and underlying physics, basic characteristics of inductive sensing mechanisms (self-/mutual inductance, eddy-current effect, magnetic reluctance, etc.); b) The design and fabrication techniques of various flexible and stretchable coils; c) Modeling of the inductive coils and sensing devices (numerical analysis and Finite element analysis); d) Development of inductive sensor prototypes and sensing systems; e) Applications of inductive sensing in soft robotics and wearable systems.
Major Work performed in this 24-month project are:
1. Investigation of Materials and Fabrication Approaches for making Stretchable Coils
2. Developed a Toolbox for Inductive Coil Design and Modeling
3. Invented a novel Folding Angle and Bending Curvature Sensing mechanism by Self-inductance of Planar Coils
4. Developed at least two Inductive Sensing Approaches for Proprioception of Soft Actuators
List of published research results:
1) H. Wang*, S. Veerapandian, M. Totaro, M. Ilyas, M. Kong, U. Jeong, L. Beccai*, “Folding and Bending Planar Coils for Highly Precise Soft Angle Sensing”, Advanced Materials Technologies, vol. 5, 2000659, 2020.
2) H. Wang*, M. Totaro, L. Beccai*, “Toward Perceptive Soft Robots: Progress and Challenges”, Advanced Science, vol. 5, (no. 9), 1800541, 2018
3) H. Wang*, I. Bernardeschi, L. Beccai, “Developing Reliable Foam Sensors with Novel Electrodes”, IEEE Sensors 2019, pp. 246-249, Montreal, QC, Canada, 2019.
4) H. Wang*, M. Totaro, L. Beccai, “Development of Fully Shielded Soft Inductive Tactile Sensors”, The 26th IEEE International Conference on Electronics Circuits and Systems, pp. 246-249, Genoa, Italy, 2019.
5) S. Veerapandian+, W., Jang+, J. B. Seol, H. Wang, K. Thiyagarajan, J. Kwak, G. Park, G. Lee, W. Suh, I. You, M. E. Kılıç, A. Giri, L. Beccai, A Soon*, U. Jeong*, “Hydrogen-Doped Viscoplastic Liquid Metal Microparticles for Stretchable Printed Metal Lines”, Nature Materials, (in press).
6) H. Wang, M. Totaro, A. Astreinidi Blandin, L. Beccai, “A Wireless Inductive Sensing Technology for Soft Pneumatic Actuators Using Magnetorheological Elastomers”, IEEE RoboSoft 2019, pp. 242-248, Seoul, South Korea, 2019.
7) S. Joe, H. Wang, M. Totaro, L. Beccai, “Development of Ultralight Hybrid Pneumatic Artificial Muscle for Large Contraction and High Payload”, IEEE RoboSoft 2020, Yale, New Haven, pp. 27-3, 2020.
8) M. Totaro, I. Bernardeschi, H. Wang, L. Beccai, “Analysis and optimization of fully foam-based capacitive sensors”, IEEE RoboSoft 2020, Yale, New Haven, pp. 470-475, 2020.
Manuscript under-review or being prepared:
• H.Wang* S. Joe, M. Totaro, M. Ilyas, L. Beccai*, “Highly Sensitive Bi-directional Bending Curvature Sensors using Flexible Coils and Ferrite Sheet”, Smart Materials and Structures (to submit).
• S. Joe, H. Wang, M. Totaro, L. Beccai, “Deformation Sensing of vacuum-powered pneumatic artificial muscle via embedded helical coils” (to submit).
• S. Joe, M. Totaro, H. Wang, L. Beccai, “Development of the Ultralight Hybrid Pneumatic Artificial Muscle: modelling and optimization”, Plus One (minor revision)