A biomimetic fish finlet with a liquid metal soft sensor for proprioception and underwater sensing

Hydrodynamic pressure sensing for a biomimetic robotic fish caudal fin integrated with a resistive pressure sensor

Micro-sensors, such as pressure and flow sensors, are usually adopted to attain actual fluid information around swimming biomimetic robotic fish for hydrodynamic analysis and control. However, most of the reported micro-sensors are mounted discretely on body surfaces of robotic fish and it is impossible to analyzed the hydrodynamics between the caudal fin and the fluid. In this work, a biomimetic caudal fin integrated with a resistive pressure sensor is designed and fabricated by laser machined conductive carbon fibre composites. To analyze the pressure exerted on the caudal fin during underwater oscillation, the pressure on the caudal fin is measured under different oscillating frequencies and angles. Then a model developed from Bernoulli equation indicates that the maximum pressure difference is linear to the quadratic power of the oscillating frequency and the maximum oscillating angle. The fluid disturbance generated by caudal fin oscillating increases with an increase of oscillating frequency, resulting in the decrease of the efficiency of converting the kinetic energy of the caudal fin oscillation into the pressure difference on both sides of the caudal fin. However, perhaps due to the longer stability time of the disturbed fluid, this conversion efficiency increases with the increase of the maximum oscillating angle. Additionally, the pressure variation of the caudal fin oscillating with continuous different oscillating angles is also demonstrated to be detected effectively. It is suggested that the caudal fin integrated with the pressure sensor could be used for sensing thein situflow field in real time and analyzing the hydrodynamics of biomimetic robotic fish.

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 (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.