Stretchable, flexible, scalable smart skin sensors for robotic position and force estimation

John O’Neill, Jason Lu, Rodney Dockter, Timothy M Kowalewski

Research output: Contribution to journalArticle

6 Citations (Scopus)

Abstract

The design and validation of a continuously stretchable and flexible skin sensor for collaborative robotic applications is outlined. The skin consists of a PDMS skin doped with Carbon Nanotubes and the addition of conductive fabric, connected by only five wires to a simple microcontroller. The accuracy is characterized in position as well as force, and the skin is also tested under uniaxial stretch. There are also two examples of practical implementations in collaborative robotic applications. The stationary position estimate has an RMSE of 7.02 mm, and the sensor error stays within 2.5±1.5 mm even under stretch. The skin consistently provides an emergency stop command at only 0.5 N of force and is shown to maintain a collaboration force of 10 N in a collaborative control experiment.

Original languageEnglish (US)
Article number953
JournalSensors (Switzerland)
Volume18
Issue number4
DOIs
StatePublished - Apr 1 2018

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Robotics
robotics
Skin
sensors
Sensors
emergencies
commands
guy wires
carbon nanotubes
Carbon Nanotubes
wire
Microcontrollers
estimates
Carbon nanotubes
Emergencies
Wire
Experiments

Keywords

  • Collaborative control
  • Robotics
  • Skin
  • Stretchable

PubMed: MeSH publication types

  • Journal Article

Cite this

Stretchable, flexible, scalable smart skin sensors for robotic position and force estimation. / O’Neill, John; Lu, Jason; Dockter, Rodney; Kowalewski, Timothy M.

In: Sensors (Switzerland), Vol. 18, No. 4, 953, 01.04.2018.

Research output: Contribution to journalArticle

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