Sensing Pneu-net Devices Using Adaptive Materials

06/07/2017

The continuous deformation properties of soft actuators have created a need for the application of equally compliant sensors. In this work, the use of an IPMC material as a sensor is studied for curvature feedback in a soft pneu-net actuator. For improving the sensor response, electrolytes with propylene carbonate and Li+ counter-ions in different concentrations were tested in IPMC samples. It was found that a solute concentration of 15 g/l allowed for the highest amplitude in the response signal from all the tested concentrations. A sample with this electrolyte was used for estimating a linear dynamic model, describing its electrical response to imposed curvature. A sensor encapsulation method using silicone was developed, allowing for its direct integration in the pneu-net actuator structure. The final instrumented actuator was tested and its sensor feedback validated, demonstrating the feasibility of the developed approach. It was found that certain characteristics of the sensor hampered its application in conditions where either long duration static bending or very slow movements were to be measured. Nevertheless, for use cases where cyclic or transient bending is to be detected, this type of sensor presented a viable option for applications in soft robots.

Authors in the community:

• 

  V

  Vasco López Macedo de Soveral Rodrigues

  ist172914

Supervisors of this institution:

• 

  J

  João Carlos Prata dos Reis

  ist14040

• 

  P

  Paulo José da Costa Branco

  ist13330

mechanical-engineering - Mechanical engineering

por - Portuguese

Instituto Superior Técnico