Tooth-Inspired Tactile Sensor for Detection of Multidirectional Force

Review of Recent Bio-Inspired Design and Manufacturing of Whisker Tactile Sensors

Whisker sensors are a class of tactile sensors that have recently attracted attention. Inspired by mammals' whiskers known as mystacial vibrissae, they have displayed tremendous potential in a variety of applications e.g., robotics, underwater vehicles, minimally invasive surgeries, and leak detection. This paper provides a supplement to the recent tactile sensing techniques' designs of whiskers that only sense at their base, as well as the materials employed, and manufacturing techniques. The article delves into the technical specifications of these sensors, such as the resolution, measurement range, sensitivity, durability, and recovery time, which determine their performance. The sensors' sensitivity varies depending on the measured physical quantity; for example, the pressure sensors had an intermediate sensitivity of 58%/Pa and a response time of around 90 ms, whereas the force sensors that function based on piezoelectric effects exhibited good linearity in the measurements with a resolution of 3 µN and sensitivity of 0.1682 mV/µN. Some sensors were used to perform spatial mapping and the identification of the geometry and roughness of objects with a reported resolution of 25 nm. The durability and recovery time showed a wide range of values, with the maximum durability being 10,000 cycles and the shortest recovery time being 5 ms. Furthermore, the paper examines the fabrication of whiskers at the micro- and nanoscales, as well as their contributions to mechanical and thermal behavior. The commonly used manufacturing techniques of 3D printing, PDMS casting, and screen printing were used in addition to several micro and nanofabrication techniques such as photolithography, etching, and chemical vapor deposition. Lastly, the paper discusses the main potential applications of these sensors and potential research gaps in this field. In particular, the operation of whisker sensors under high temperatures or high pressure requires further investigation, as does the design of sensors to explore larger topologies.

Direct 3D Printing of Highly Anisotropic, Flexible, Constriction-Resistive Sensors for Multidirectional Proprioception in Soft Robots

A key missing technology for the emerging field of soft robotics is the provision of highly selective multidirectional tactile sensing that can be easily integrated into a robot using simple fabrication techniques. Conventional strain sensors, such as strain gauges, are typically designed to respond to strain in a single direction and are mounted on the external surface of a structure. Herein, we present a technique for three-dimensional (3D) printing of multidirectional, anisotropic, and constriction-resistive strain sensors, which can be directly integrated into the interior of soft robots. Using a carbon-nanotube-reinforced polylactic acid (PLA-CNT), both the sensing element and the conductive interconnect of the sensor system are 3D-printed. The sensor's sensitivity and anisotropy can be adjusted by controlling the air gap between printed adjacent tracks, infill density, and build orientation relative to the main loading direction. In particular, sensors printed with a near-zero air gap, i.e., adjacent tracks forming a kissing bond, can achieve a gauge factor of ∼1342 perpendicular to the raster orientation and a gauge factor of ∼1 parallel to the raster orientation. The maximum directional selectivity of this ultrasensitive sensor is 31.4, which is approximately 9 times greater than the highest value reported for multidirectional sensors so far. The high sensitivity stems from the progressive opening and closing of the kissing bond between adjacent tracks. The potential of this type of sensors and the simple manufacturing process are demonstrated by integrating the sensor with a soft robotic actuator. The sensors are able to identify and quantify the bending deformation and angle in different directions. The ability to fabricate sensors with tailored footprints and directional selectivity during 3D printing of soft robotic systems paves the way toward highly customizable, highly integrated multifunctional soft robots that are better able to sense both themselves and their environments.