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Soft Robotics and Sensors

A special issue of Sensors (ISSN 1424-8220). This special issue belongs to the section "Sensors and Robotics".

Deadline for manuscript submissions: closed (30 November 2022) | Viewed by 7757
Please contact the Guest Editor or the Section Managing Editor at ([email protected]) for any queries.

Special Issue Editor


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Guest Editor
Istituto Italiano di Tecnologia, Genoa, Italy
Interests: stretchable electronics; wearable devices; healthcare appliances; particle physics; noise reduction; high-speed response; event-driven sensing

Special Issue Information

Dear Colleagues,

It may seem that there is a proliferation of topics in our ever-growing world, and one of the most exciting fields to work in is soft robotics. We, the dreamers, are preparing for a future in which robots are like living organisms, with a wide range of capabilities and shapes, which have become possible thanks to flexible and stretchable devices/sensors. Moreover, soft robots can be natively compliant and helpful in lot of situations, from emergency scenarios and exploration of the solar system to companion robotics.

For this Special Issue, we encourage submissions from researchers in the most different fields. I approached robotics after many years as a particle physics researcher, so I am really interested in outside-the-box thinking and really curious to read the most exciting research from everyone out there. I will not give a list of topics, since it could be exclusive; I will just let your imagination fill in the blanks: if you think your research may be of interest, just submit and share it, and let’s see what happens!

Dr. Simeone Dussoni
Guest Editor

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Sensors is an international peer-reviewed open access semimonthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2600 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • prosthetics
  • healthcare application
  • flexible sensors
  • stretchable devices
  • stretchable sensors
  • stretchable electronics
  • wearable devices
  • wearable sensors
  • bio-inspired Robotics
  • human-robot collaboration
  • robustness
  • capacitive sensors
  • tactile sensors array

Published Papers (2 papers)

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Research

17 pages, 5349 KiB  
Article
Large-Area and Low-Cost Force/Tactile Capacitive Sensor for Soft Robotic Applications
by Amir Pagoli, Frédéric Chapelle, Juan-Antonio Corrales-Ramon, Youcef Mezouar and Yuri Lapusta
Sensors 2022, 22(11), 4083; https://0-doi-org.brum.beds.ac.uk/10.3390/s22114083 - 27 May 2022
Cited by 15 | Viewed by 4293
Abstract
This paper presents a novel design and development of a low-cost and multi-touch sensor based on capacitive variations. This new sensor is very flexible and easy to fabricate, making it an appropriate choice for soft robot applications. Materials (conductive ink, silicone, and control [...] Read more.
This paper presents a novel design and development of a low-cost and multi-touch sensor based on capacitive variations. This new sensor is very flexible and easy to fabricate, making it an appropriate choice for soft robot applications. Materials (conductive ink, silicone, and control boards) used in this sensor are inexpensive and easily found in the market. The proposed sensor is made of a wafer of different layers, silicone layers with electrically conductive ink, and a pressure-sensitive conductive paper sheet. Previous approaches like e-skin can measure the contact point or pressure of conductive objects like the human body or finger, while the proposed design enables the sensor to detect the object’s contact point and the applied force without considering the material conductivity of the object. The sensor can detect five multi-touch points at the same time. A neural network architecture is used to calibrate the applied force with acceptable accuracy in the presence of noise, variation in gains, and non-linearity. The force measured in real time by a commercial precise force sensor (ATI) is mapped with the produced voltage obtained by changing the layers’ capacitance between two electrode layers. Finally, the soft robot gripper embedding the suggested tactile sensor is utilized to grasp an object with position and force feedback signals. Full article
(This article belongs to the Special Issue Soft Robotics and Sensors)
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13 pages, 12613 KiB  
Communication
Adaptive Grasping of Moving Objects through Tactile Sensing
by Patrick Lynch, Michael F. Cullinan and Conor McGinn
Sensors 2021, 21(24), 8339; https://0-doi-org.brum.beds.ac.uk/10.3390/s21248339 - 14 Dec 2021
Cited by 7 | Viewed by 2651
Abstract
A robot’s ability to grasp moving objects depends on the availability of real-time sensor data in both the far-field and near-field of the gripper. This research investigates the potential contribution of tactile sensing to a task of grasping an object in motion. It [...] Read more.
A robot’s ability to grasp moving objects depends on the availability of real-time sensor data in both the far-field and near-field of the gripper. This research investigates the potential contribution of tactile sensing to a task of grasping an object in motion. It was hypothesised that combining tactile sensor data with a reactive grasping strategy could improve its robustness to prediction errors, leading to a better, more adaptive performance. Using a two-finger gripper, we evaluated the performance of two algorithms to grasp a ball rolling on a horizontal plane at a range of speeds and gripper contact points. The first approach involved an adaptive grasping strategy initiated by tactile sensors in the fingers. The second strategy initiated the grasp based on a prediction of the position of the object relative to the gripper, and provided a proxy to a vision-based object tracking system. It was found that the integration of tactile sensor feedback resulted in a higher observed grasp robustness, especially when the gripper–ball contact point was displaced from the centre of the gripper. These findings demonstrate the performance gains that can be attained by incorporating near-field sensor data into the grasp strategy and motivate further research on how this strategy might be expanded for use in different manipulator designs and in more complex grasp scenarios. Full article
(This article belongs to the Special Issue Soft Robotics and Sensors)
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