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Developing sensorized arm skin for an octopus inspired robot

Hou, J., Bonser, R. and Jeronimidis, G. (2012) Developing sensorized arm skin for an octopus inspired robot. In: 2012 IEEE International Conference on Robotics and Automation , 14-18 May 2012, St Paul, USA, pp. 3840-3845.

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Soft skin artefacts made of knitted nylon reinforced silicon rubber were fabricated mimicking octopus skin. A combination of ecoflex 0030 and 0010 were used as matrix of the composite to obtain the right stiffness for the skin artefacts. Material properties were characterised using static uniaxial tension and scissors cutting tests. Two types of tactile sensors were developed to detect normal contact; one used quantum tunnelling composite materials and the second was fabricated from silicone rubber and a conductive textile. Sensitivities of the sensors were tested by applying different modes of loading and the soft sensors were incorporated into the skin prototype. Passive suckers were developed and tested against squid suckers. An integrated skin prototype with embedded deformable sensors and attached suckers developed for the arm of an octopus inspired robot is also presented.

Item Type:Conference or Workshop Item (Paper)
Divisions:Science > School of the Built Environment
ID Code:28157
Uncontrolled Keywords:cutting , elasticity , mechanical contact , polymers , robots , silicone rubber , skin , tactile sensors , tensile testing , textiles conductive textile , ecoflex 0010 , ecoflex 0030 , embedded deformable sensor , knitted nylon reinforced silicon rubber , material properties , normal contact detection , octopus inspired robot , octopus skin , passive sucker , quantum tunnelling composite material , scissors cutting test , sensorized arm skin , soft sensor , soft skin artefact , squid sucker , static uniaxial tension , stiffness , tactile sensor
Additional Information:Digital Object Identifier : 10.1109/ICRA.2012.6224715

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