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Article

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

1
Research Center for Organic Electronics (ROEL), Graduate School of Science and Engineering, Yamagata University, 3-4-16, Jonan, Yonezawa, Yamagata 992-8510, Japan
2
Piezotech S. A. S., Arkema-CRRA, Rue Henri Moissan, 63493 Pierre-Benite Cedex, France
3
Arkema K. K., 2-2-2 Uchisaiwaicho, Chiyoda-ku, Tokyo 100-0011, Japan
*
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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MDPI and ACS Style

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. https://doi.org/10.3390/mi11100927

AMA Style

Miura R, Sekine T, Wang Y-F, Hong J, Watanabe Y, Ito K, Shouji Y, Takeda Y, Kumaki D, Santos FDD, Miyabo A, Tokito S. Printed Soft Sensor with Passivation Layers for the Detection of Object Slippage by a Robotic Gripper. Micromachines. 2020; 11(10):927. https://doi.org/10.3390/mi11100927

Chicago/Turabian Style

Miura, Reo, Tomohito Sekine, Yi-Fei Wang, Jinseo Hong, Yushi Watanabe, Keita Ito, Yoshinori Shouji, Yasunori Takeda, Daisuke Kumaki, Fabrice D.D. Santos, Atsushi Miyabo, and Shizuo Tokito. 2020. "Printed Soft Sensor with Passivation Layers for the Detection of Object Slippage by a Robotic Gripper" Micromachines 11, no. 10: 927. https://doi.org/10.3390/mi11100927

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