A Miniature Soft Sensor with Origami-Inspired Self-Folding Parallel Mechanism
Miniature soft sensors are crucial for the perception of soft robots. Although centimeter-scale sensors have been well developed, very few works addressed millimeter-scale, three-dimensional-shaped soft sensors capable of measuring multi-axis forces. In this work, we developed a millimeter-scale (ov...
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| Format: | Article |
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MDPI AG
2022-07-01
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| Series: | Micromachines |
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| Online Access: | https://www.mdpi.com/2072-666X/13/8/1188 |
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| author | Yongqi Shi Gang Wang Wenguang Sun Yunfeng Ya Shuhan Liu Jiongjie Fang Feiyang Yuan Youning Duo Li Wen |
| author_facet | Yongqi Shi Gang Wang Wenguang Sun Yunfeng Ya Shuhan Liu Jiongjie Fang Feiyang Yuan Youning Duo Li Wen |
| author_sort | Yongqi Shi |
| collection | DOAJ |
| description | Miniature soft sensors are crucial for the perception of soft robots. Although centimeter-scale sensors have been well developed, very few works addressed millimeter-scale, three-dimensional-shaped soft sensors capable of measuring multi-axis forces. In this work, we developed a millimeter-scale (overall size of 6 mm × 11 mm × 11 mm) soft sensor based on liquid metal printing technology and self-folding origami parallel mechanism. The origami design of the sensor enables the soft sensor to be manufactured within the plane and then fold into a three-dimensional shape. Furthermore, the parallel mechanism allows the sensor to rotate along two orthogonal axes. We showed that the soft sensor can be self-folded (took 17 s) using a shape-memory polymer and magnets. The results also showed that the sensor prototype can reach a deformation of up to 20 mm at the tip. The sensor can realize a measurement of external loads in six directions. We also showed that the soft sensor enables underwater sensing with a minimum sensitivity of 20 mm/s water flow. This work may provide a new manufacturing method and insight into future millimeter-scale soft sensors for bio-inspired robots. |
| first_indexed | 2024-03-09T09:51:41Z |
| format | Article |
| id | doaj.art-2840e1a77b414e20af12c883cc5fc57e |
| institution | Directory Open Access Journal |
| issn | 2072-666X |
| language | English |
| last_indexed | 2024-03-09T09:51:41Z |
| publishDate | 2022-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Micromachines |
| spelling | doaj.art-2840e1a77b414e20af12c883cc5fc57e2023-12-02T00:01:02ZengMDPI AGMicromachines2072-666X2022-07-01138118810.3390/mi13081188A Miniature Soft Sensor with Origami-Inspired Self-Folding Parallel MechanismYongqi Shi0Gang Wang1Wenguang Sun2Yunfeng Ya3Shuhan Liu4Jiongjie Fang5Feiyang Yuan6Youning Duo7Li Wen8School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, ChinaSchool of Mechanical Engineering and Automation, Beihang University, Beijing 100191, ChinaSchool of Mechanical Engineering and Automation, Beihang University, Beijing 100191, ChinaSchool of Mechanical Engineering and Automation, Beihang University, Beijing 100191, ChinaSchool of Mechanical Engineering and Automation, Beihang University, Beijing 100191, ChinaSchool of Mechanical Engineering and Automation, Beihang University, Beijing 100191, ChinaSchool of Mechanical Engineering and Automation, Beihang University, Beijing 100191, ChinaSchool of Mechanical Engineering and Automation, Beihang University, Beijing 100191, ChinaSchool of Mechanical Engineering and Automation, Beihang University, Beijing 100191, ChinaMiniature soft sensors are crucial for the perception of soft robots. Although centimeter-scale sensors have been well developed, very few works addressed millimeter-scale, three-dimensional-shaped soft sensors capable of measuring multi-axis forces. In this work, we developed a millimeter-scale (overall size of 6 mm × 11 mm × 11 mm) soft sensor based on liquid metal printing technology and self-folding origami parallel mechanism. The origami design of the sensor enables the soft sensor to be manufactured within the plane and then fold into a three-dimensional shape. Furthermore, the parallel mechanism allows the sensor to rotate along two orthogonal axes. We showed that the soft sensor can be self-folded (took 17 s) using a shape-memory polymer and magnets. The results also showed that the sensor prototype can reach a deformation of up to 20 mm at the tip. The sensor can realize a measurement of external loads in six directions. We also showed that the soft sensor enables underwater sensing with a minimum sensitivity of 20 mm/s water flow. This work may provide a new manufacturing method and insight into future millimeter-scale soft sensors for bio-inspired robots.https://www.mdpi.com/2072-666X/13/8/1188millimeter scalesoft sensororigamiself-folding |
| spellingShingle | Yongqi Shi Gang Wang Wenguang Sun Yunfeng Ya Shuhan Liu Jiongjie Fang Feiyang Yuan Youning Duo Li Wen A Miniature Soft Sensor with Origami-Inspired Self-Folding Parallel Mechanism Micromachines millimeter scale soft sensor origami self-folding |
| title | A Miniature Soft Sensor with Origami-Inspired Self-Folding Parallel Mechanism |
| title_full | A Miniature Soft Sensor with Origami-Inspired Self-Folding Parallel Mechanism |
| title_fullStr | A Miniature Soft Sensor with Origami-Inspired Self-Folding Parallel Mechanism |
| title_full_unstemmed | A Miniature Soft Sensor with Origami-Inspired Self-Folding Parallel Mechanism |
| title_short | A Miniature Soft Sensor with Origami-Inspired Self-Folding Parallel Mechanism |
| title_sort | miniature soft sensor with origami inspired self folding parallel mechanism |
| topic | millimeter scale soft sensor origami self-folding |
| url | https://www.mdpi.com/2072-666X/13/8/1188 |
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