Abstract
This paper introduces a new method for improved integrated angle sensing in the foldable robot joints (hinges), using low-cost inkjet printed sensors and a novel physical intelligence based compensation approach. Silver nanoparticle angle sensors are inkjet printed on a flexible PET substrate as a hinge material and implemented as pairs of compression and tension side folding individuals into a rigid experimental setup. Resulting combined signals improved the individual sensor responses due to their compensating physical characteristics, and gave the far best performances in the existing literature in terms of linearity, sensor life-time, static and cyclic drift, hysteresis and dynamic dependency. Proposed approach is promising for eliminating the major limitations on the printed sensor use in flexible hinges and paving the way to reliable, fully soft and easy-to-fabricate all-integrated foldable robots.
| Original language | English |
|---|---|
| Article number | 113752 |
| Journal | Sensors and Actuators A: Physical |
| Volume | 345 |
| DOIs | |
| Publication status | Published - 1 Oct 2022 |
Bibliographical note
Publisher Copyright:© 2022 Elsevier B.V.
Funding
This work was supported by the Scientific and Technological Research Council of Turkey (TUBITAK) (Grant No. 216M193 ).
| Funders | Funder number |
|---|---|
| Türkiye Bilimsel ve Teknolojik Araştırma Kurumu | 216M193 |
Keywords
- Angle sensors
- Flexible sensors
- Foldable robots
- Printed sensors