A Soft Robot Tactile Finger Using Oxidation-Reduction Graphene-Polyurethane Conductive Sponge

被引：2

作者：

Li, Hangze ^{[1
]}

Ma, Chaolin ^{[1
]}

Chen, Jinmiao ^{[1
]}

Wang, Haojie ^{[1
]}

Chen, Xiao ^{[1
]}

Li, Zhijing ^{[2
]}

Zhang, Youzhi ^{[1
]}

机构：

[1] Wenzhou Univ, Sch Mech & Elect Engn, Wenzhou 325025, Peoples R China

[2] Hunan Univ Sci & Technol, Sch Informat & Elect Engn, Xiangtan 411201, Peoples R China

来源：

MICROMACHINES | 2024年 / 15卷 / 05期

基金：

中国博士后科学基金;

关键词：

soft robot tactile finger; highly sensitivity; adjustable range; robotic grasping; SENSORS; STRAIN;

D O I：

10.3390/mi15050628

中图分类号：

O65 [分析化学];

学科分类号：

070302 ; 081704 ;

摘要：

Currently, intelligent robotics is supplanting traditional industrial applications. It extends to business, service and care industries, and other fields. Stable robot grasping is a necessary prerequisite for all kinds of complex application scenarios. Herein, we propose a method for preparing an elastic porous material with adjustable conductivity, hardness, and elastic modulus. Based on this, we design a soft robot tactile fingertip that is gentle, highly sensitive, and has an adjustable range. It has excellent sensitivity (similar to 1.089 kpa(-1)), fast response time (similar to 35 ms), and measures minimum pressures up to 0.02 N and stability over 500 cycles. The baseline capacitance of a sensor of the same size can be increased by a factor of 5-6, and graphene adheres better to polyurethane sponge and has good shock absorption. In addition, we demonstrated the application of the tactile fingertip to a two-finger manipulator to achieve stable grasping. In this paper, we demonstrate the great potential of the soft robot tactile finger in the field of adaptive grasping for intelligent robots.

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