3D Printed Soft Robotic Actuator With Embedded Strain Sensing For Position Estimation

Gerjan Wolterink; Stijn Kolkman; Gijs Krijnen

doi:10.1109/SENSORS52175.2022.9967233

3D Printed Soft Robotic Actuator With Embedded Strain Sensing For Position Estimation

Gerjan Wolterink, Stijn Kolkman, Gijs Krijnen

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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Abstract

This work shows the development and characterization of a fully 3D printed pneumatic soft robotic actuator with embedded strain gauges to estimate the bending angle of the actuator. The actuator was printed in one go using a multi material Fused Filament Fabrication (FFF) printer. By taking the difference of the reading of two integrated strain gauges, printed using carbon doped TPU, a strong linear relation (R2=0.97) between the bending angle and sensor output is achieved.

Original language	English
Title of host publication	2022 IEEE SENSORS - Conference Proceedings
Place of Publication	Piscataway, NJ
Publisher	IEEE
Number of pages	4
ISBN (Electronic)	978-1-6654-8464-0
ISBN (Print)	978-1-6654-8465-7
DOIs	https://doi.org/10.1109/SENSORS52175.2022.9967233
Publication status	Published - 2022
Event	2022 IEEE Sensors Conference, SENSORS 2022 - Dallas, United States Duration: 30 Oct 2022 → 2 Nov 2022

Publication series

Name	Proceedings of IEEE Sensors
Volume	2022-October
ISSN (Print)	1930-0395
ISSN (Electronic)	2168-9229

Conference

Conference	2022 IEEE Sensors Conference, SENSORS 2022
Country/Territory	United States
City	Dallas
Period	30/10/22 → 2/11/22

Keywords

3D Printing
Conductive TPU
Pneunet
Sensorized
Soft actuators
Strain sensor
2023 OA procedure

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/SENSORS52175.2022.9967233

ArticleFinal published version, 1.73 MBLicence: Taverne

Cite this

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title = "3D Printed Soft Robotic Actuator With Embedded Strain Sensing For Position Estimation",

abstract = "This work shows the development and characterization of a fully 3D printed pneumatic soft robotic actuator with embedded strain gauges to estimate the bending angle of the actuator. The actuator was printed in one go using a multi material Fused Filament Fabrication (FFF) printer. By taking the difference of the reading of two integrated strain gauges, printed using carbon doped TPU, a strong linear relation (R2=0.97) between the bending angle and sensor output is achieved.",

keywords = "3D Printing, Conductive TPU, Pneunet, Sensorized, Soft actuators, Strain sensor, 2023 OA procedure",

author = "Gerjan Wolterink and Stijn Kolkman and Gijs Krijnen",

note = "Funding Information: This work was supported by the Dutch Soft Robotics Consortium of the 4TU Federation. Publisher Copyright: {\textcopyright} 2022 IEEE.; 2022 IEEE Sensors Conference, SENSORS 2022 ; Conference date: 30-10-2022 Through 02-11-2022",

year = "2022",

doi = "10.1109/SENSORS52175.2022.9967233",

language = "English",

isbn = "978-1-6654-8465-7",

series = "Proceedings of IEEE Sensors",

publisher = "IEEE",

booktitle = "2022 IEEE SENSORS - Conference Proceedings",

address = "United States",

}

Wolterink, G, Kolkman, S & Krijnen, G 2022, 3D Printed Soft Robotic Actuator With Embedded Strain Sensing For Position Estimation. in 2022 IEEE SENSORS - Conference Proceedings. Proceedings of IEEE Sensors, vol. 2022-October, IEEE, Piscataway, NJ, 2022 IEEE Sensors Conference, SENSORS 2022, Dallas, Texas, United States, 30/10/22. https://doi.org/10.1109/SENSORS52175.2022.9967233

3D Printed Soft Robotic Actuator With Embedded Strain Sensing For Position Estimation. / Wolterink, Gerjan; Kolkman, Stijn; Krijnen, Gijs.
2022 IEEE SENSORS - Conference Proceedings. Piscataway, NJ: IEEE, 2022. (Proceedings of IEEE Sensors; Vol. 2022-October).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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T1 - 3D Printed Soft Robotic Actuator With Embedded Strain Sensing For Position Estimation

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AU - Kolkman, Stijn

AU - Krijnen, Gijs

PY - 2022

Y1 - 2022

N2 - This work shows the development and characterization of a fully 3D printed pneumatic soft robotic actuator with embedded strain gauges to estimate the bending angle of the actuator. The actuator was printed in one go using a multi material Fused Filament Fabrication (FFF) printer. By taking the difference of the reading of two integrated strain gauges, printed using carbon doped TPU, a strong linear relation (R2=0.97) between the bending angle and sensor output is achieved.

AB - This work shows the development and characterization of a fully 3D printed pneumatic soft robotic actuator with embedded strain gauges to estimate the bending angle of the actuator. The actuator was printed in one go using a multi material Fused Filament Fabrication (FFF) printer. By taking the difference of the reading of two integrated strain gauges, printed using carbon doped TPU, a strong linear relation (R2=0.97) between the bending angle and sensor output is achieved.

KW - 3D Printing

KW - Conductive TPU

KW - Pneunet

KW - Sensorized

KW - Soft actuators

KW - Strain sensor

KW - 2023 OA procedure

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M3 - Conference contribution

AN - SCOPUS:85144010232

SN - 978-1-6654-8465-7

T3 - Proceedings of IEEE Sensors

BT - 2022 IEEE SENSORS - Conference Proceedings

PB - IEEE

CY - Piscataway, NJ

T2 - 2022 IEEE Sensors Conference, SENSORS 2022

Y2 - 30 October 2022 through 2 November 2022

ER -

3D Printed Soft Robotic Actuator With Embedded Strain Sensing For Position Estimation

Abstract

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Keywords

UN SDGs

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