Silicone based capacitive E-Skin sensor for soft surgical robots
Silicone based capacitive E-Skin sensor for soft surgical robots
In this extended abstract, we present a soft stretchable multi-modal capacitive skin sensor that can be used for exteroception and proprioception in soft surgical manipulators. A soft skin prototype was made using Ecoflex, embedding three conductive carbon grease terminal layers. This soft skin is capable of measuring stretch and touch simultaneously. The soft skin measures uniaxial stretches from 1 to 1.2475 within an error range of 2.6% and can also quantify as well as localize local indentation. An algorithm is developed that decouples local change, i.e., due to indentation, from global strain, due to stretch. An experimental study was conducted; results are presented.
62-65
Dawood, Abu Bakar
00a66f65-5d71-4c6f-ba80-f077da7115dc
Godaba, Hareesh
787c1482-6a29-43ad-b49e-a6a2b7175f0c
Althoefer, Kaspar
031c800b-bf48-4996-8c17-29f7408898c6
3 December 2020
Dawood, Abu Bakar
00a66f65-5d71-4c6f-ba80-f077da7115dc
Godaba, Hareesh
787c1482-6a29-43ad-b49e-a6a2b7175f0c
Althoefer, Kaspar
031c800b-bf48-4996-8c17-29f7408898c6
Dawood, Abu Bakar, Godaba, Hareesh and Althoefer, Kaspar
(2020)
Silicone based capacitive E-Skin sensor for soft surgical robots.
Mohammad, A., Dong, X. and Russo, M.
(eds.)
In Towards Autonomous Robotic Systems: 21st Annual Conference, TAROS 2020, Nottingham, UK, September 16, 2020, Proceedings 21: 21st Annual Conference, TAROS 2020, Nottingham, UK, September 16, 2020, Proceedings.
vol. 12228,
Springer Cham.
.
(doi:10.1007/978-3-030-63486-5).
Record type:
Conference or Workshop Item
(Paper)
Abstract
In this extended abstract, we present a soft stretchable multi-modal capacitive skin sensor that can be used for exteroception and proprioception in soft surgical manipulators. A soft skin prototype was made using Ecoflex, embedding three conductive carbon grease terminal layers. This soft skin is capable of measuring stretch and touch simultaneously. The soft skin measures uniaxial stretches from 1 to 1.2475 within an error range of 2.6% and can also quantify as well as localize local indentation. An algorithm is developed that decouples local change, i.e., due to indentation, from global strain, due to stretch. An experimental study was conducted; results are presented.
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More information
Published date: 3 December 2020
Identifiers
Local EPrints ID: 499170
URI: http://eprints.soton.ac.uk/id/eprint/499170
ISSN: 0302-9743
PURE UUID: 700ff9db-2838-4ccc-a7a5-87f27c2ea06f
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Date deposited: 11 Mar 2025 17:35
Last modified: 12 Mar 2025 03:15
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Contributors
Author:
Abu Bakar Dawood
Author:
Hareesh Godaba
Author:
Kaspar Althoefer
Editor:
A. Mohammad
Editor:
X. Dong
Editor:
M. Russo
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