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Mechanochromic suction cups for local stress detection in soft robotics
Citation Link: https://doi.org/10.15480/882.13771
Publikationstyp
Journal Article
Date Issued
2024
Sprache
English
Author(s)
Giordano, Goffredo
Scharff, Rob Bernardus Nicolaas
Carlotti, Marco
Gagliardi, Mariacristina
Filippeschi, Carlo
Mondini, Alessio
Papangelo, Antonio
Mazzolai, Barbara
TORE-DOI
Journal
Citation
Advanced Intelligent Systems (in Press): (2024)
Publisher DOI
Scopus ID
Publisher
Wiley
Advancements in smart soft materials are enhancing the capabilities of robotic manipulators in object interactions and complex tasks. Mechanochromic materials, acting as lightweight sensors, offer easily interpretable visual feedback for localized stress detection, structural health monitoring, and energy-efficient robotic skins. Herein, an innovative mechanochromic soft end-effector capable of discerning local contact stresses during mechanical interactions with objects is presented and their relative position is ascertained. This system utilizes a reversible force-induced color switch in a thin layer of spiropyran-functionalized polydimethylsiloxane, which coats a silicone-made suction cup. The mechanochromic suction cup is integrated with a 3D-printed compact load-transferring system and electronic color-changing detection elements. The assembly may serve as a synthetic receptor for robotic actuators, discerning localized interaction forces down to 3 N. The system's resilience to varying environmental factors, including illumination, tilting, and interaction with objects of various shapes is verified. The results indicate potential for exteroceptive solutions in reconfigurable manipulation tasks without compromising the overall softness of the manipulator.
Subjects
contact mechanics | manipulation | mechanochromism | object interactions | piezochromic sensor | soft gripper | stress detection
DDC Class
620.1: Engineering Mechanics and Materials Science
629.8: Control and Feedback Control Systems
006: Special computer methods
Publication version
publishedVersion
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Name
Advanced Intelligent Systems - 2024 - Giordano - Mechanochromic Suction Cups for Local Stress Detection in Soft Robotics.pdf
Type
Main Article
Size
7.8 MB
Format
Adobe PDF