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Open AccessArticle

Printed Soft Sensor with Passivation Layers for the Detection of Object Slippage by a Robotic Gripper

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Research Center for Organic Electronics (ROEL), Graduate School of Science and Engineering, Yamagata University, 3-4-16, Jonan, Yonezawa, Yamagata 992-8510, Japan
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Piezotech S. A. S., Arkema-CRRA, Rue Henri Moissan, 63493 Pierre-Benite Cedex, France
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Arkema K. K., 2-2-2 Uchisaiwaicho, Chiyoda-ku, Tokyo 100-0011, Japan
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Authors to whom correspondence should be addressed.
Micromachines 2020, 11(10), 927; https://doi.org/10.3390/mi11100927
Received: 31 August 2020 / Revised: 28 September 2020 / Accepted: 2 October 2020 / Published: 8 October 2020
(This article belongs to the Special Issue FET and Field Effect-Based Sensors)
Tactile sensing, particularly the detection of object slippage, is required for skillful object handling by robotic grippers. The real-time measurement and identification of the dynamic shear forces that result from slippage events are crucial for slip detection and effective object interaction. In this study, a ferroelectric polymer-based printed soft sensor for object slippage detection was developed and fabricated by screen printing. The proposed sensor demonstrated a sensitivity of 8.2 μC·cm−2 and was responsive to shear forces applied in both the parallel and perpendicular directions. An amplifier circuit, based on a printed organic thin-film transistor, was applied and achieved a high sensitivity of 0.1 cm2/V·s. Therefore, this study experimentally demonstrates the effectiveness of the proposed printable high-sensitivity tactile sensor, which could serve as part of a wearable robotic e-skin. The sensor could facilitate the production of a system to detect and prevent the slippage of objects from robotic grippers. View Full-Text
Keywords: wearable sensing; soft sensor; robotics; shear force; dynamic friction coefficient wearable sensing; soft sensor; robotics; shear force; dynamic friction coefficient
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Miura, R.; Sekine, T.; Wang, Y.-F.; Hong, J.; Watanabe, Y.; Ito, K.; Shouji, Y.; Takeda, Y.; Kumaki, D.; Santos, F.D.D.; Miyabo, A.; Tokito, S. Printed Soft Sensor with Passivation Layers for the Detection of Object Slippage by a Robotic Gripper. Micromachines 2020, 11, 927.

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