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Soft crawling robot integrated with liquid metal-based flexible strain sensor and closed-loop feedback control
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AI
DOI：10.1016/j.sna.2024.115316.png)
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Abstract
En 中文
Due to the inherent softness and adaptability, soft robots have shown great application prospects in medical rehabilitation, environmental exploration, and other fields. However, the unpredictable and complex behaviors of the elastic materials greatly increased the difficulty in the control of soft robots. This study proposed an integrated soft crawling robot (ISCR) with flexible strain sensors to achieve the closed-loop feedback control of motion. First, a flexible strain sensor was fabricated by injecting liquid metal (LM) into an elastomer with a wavy structure. The key performances of the sensor were investigated. The developed flexible strain sensor can achieve a high gauge factor of 2.07, a low hysteresis of 1.902%, a wide detection range of 150% strain, a low detection limitation as low as 0.4% strain change, and an excellent stability and durability, which fully satisfy the requirements for the proprioception of soft robots. We built a closed-loop feedback control system to achieve closed-loop control of the ISCR. Finally, we successfully realized the continuous motion of the ISCR under closed- loop control. We believe this work will be helpful for the development of automation and intelligence of soft crawling robots.
Keywords:
Flexible Sensor
Strain sensor
Liquid metal
Soft robot
Closed-loop control
Journal
IF:
4.9
Papers:
1.5W
Citations:
3.3W