The Sensitive Soft Robot From Multimodal Skin To Self Healing Adaptability
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The Sensitive Soft Robot From Multimodal Skin To Self Healing Adaptability
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Author : Hedan Bai
language : en
Publisher:
Release Date : 2021
The Sensitive Soft Robot From Multimodal Skin To Self Healing Adaptability written by Hedan Bai and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021 with categories.
Animals are evolved to acquire rich tactile sensations that allow them to adapt to and survive the changing environments. Robots built with conventional hardware, on the other hand, have yet to achieve the same level of sophistication for generally useful applications. In this dissertation, I present my work on a new class of multifunctional stretchable sensors that, taking inspirations from biology, provide rich tactile sensations for soft robots through novel designs combining optical sensing principles and functional organic materials. In the first part, I present stretchable distributed fiber-optic sensors (DFOS) that can resolve multimodal deformations to mimic the enabling distributed multimodal sensing function in skin's mechanoreception. With principles inspired by silica-based DFOS systems, stretchable DFOS exploits a combination of frustrated total internal reflection and wavelength-modulated absorption to distinguish and measure the locations, magnitudes, and modes (stretch, bend, or press) of mechanical deformations. We further demonstrate multilocation decoupling and multimodal deformation decoupling through a stretchable DFOS-integrated wireless glove that can reconfigure all types of finger joint movements and external presses simultaneously, with only a single sensor in real time. In the second part, I present autonomous self-healing and damage resilient stretchable optical sensors that enable soft robots to detect, adapt to, and survive damages via feedback control. Intrinsic self-healing materials can recover their mechanical properties post damages via dynamic bonds for infinite times autonomously or with external stimuli. Elasticity, toughness, and autonomous self-healing abilities are contradicting properties in self-healing elastomers to optimize simultaneously. Due to exacerbated viscoelasticity contributed by the dynamic bonds, self-healing stretchable electronic sensors suffer from drift, hysteresis and limited strain range. Combing optimization in material design and sensor design, a stretchable optical sensor has been achieved that autonomously self-heals in room temperature and provides dynamic measurements to 140% strain with no hysteresis or drift. Moreover, the sensor is damage resilient to substantial material removal by virtue of material toughness and optical sensing principle. A soft pneumatic quadruped with the self-healing sensors and self-sealing actuators is demonstrated to survive and adapt to sever damages.
Somatosensory Feedback For Neuroprosthetics
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Author : Burak Guclu
language : en
Publisher: Academic Press
Release Date : 2021-07-19
Somatosensory Feedback For Neuroprosthetics written by Burak Guclu and has been published by Academic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-07-19 with Science categories.
Although somatosensory system works in tandem with the motor system in biology, the majority of the prosthetics research and commercial efforts had focused on accommodating movement deficits. With the development of neuroprostheses in the last 15 years, it has become evident that somatosensory input (mainly as touch and proprioception) is essential for motor control, manipulating objects, and embodiment, in addition to its primary role for sensory perception.Somatosensory Feedback for Neuroprosthetics covers all relevant aspects to facilitate learning and doing research and development in the field.To understand the properties of the body to create viable solutions, this book starts with chapters reviewing the basic anatomy, physiology, and psychophysics of the somatosensory system, sensorimotor control, and instrumentation. Some sections are dedicated to invasive (peripheral and central, mainly cortical) and noninvasive (vibrotactile, electrotactile, etc.) approaches. Final chapters cover future technologies such as novel sensors and electrodes, safety, and clinical testing, and help to make up future prospects for this field with an emphasis on development and end use. With contributions from renowned experts, the contents include their recent findings and technical details necessary to understand those findings. - Provides a concise review of the somatosensory system and latest advances in the use of somatosensory feedback for neuroprosthetics - Analyzes many approaches to somatosensory feedback - Provides the most detailed work on somatosensory neuroprostheses, their development, and applications in real life work
Soft Robotics With Self Healing And Sensing Capability Achieved By Digital Light Processing And Ionogels
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Author :
language : en
Publisher:
Release Date : 2023
Soft Robotics With Self Healing And Sensing Capability Achieved By Digital Light Processing And Ionogels written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023 with categories.