Berman Arielle, Hsiao Kaiwen, Root Samuel E, Choi Hojung, Ilyn Daniel, Xu Chengyi, Stein Emily, Cutkosky Mark, DeSimone Joseph M, Bao Zhenan
Department of Mechanical Engineering, Stanford University, Stanford, CA 94305, USA.
Department of Materials Science and Engineering, Texas A&M University, College Station, TX 77840, USA.
Sci Adv. 2024 Oct 4;10(40):eadq8866. doi: 10.1126/sciadv.adq8866.
Soft sensors that can perceive multiaxial forces, such as normal and shear, are of interest for dexterous robotic manipulation and monitoring of human performance. Typical planar fabrication techniques have substantial design constraints that often prohibit the creation of functionally compelling and complex architectures. Moreover, they often require multiple-step operations for production. Here, we use an additive manufacturing process based on continuous liquid interface production to create high-resolution (30-micrometer) three-dimensional elastomeric polyurethane lattices for use as dielectric layers in capacitive sensors. We show that the capacitive responses and sensitivities are highly tunable through designs of lattice type, thickness, and material-void volume percentage. Microcomputed tomography and finite element simulation are used to elucidate the influence of lattice design on the deformation mechanism and concomitant sensing behavior. The advantage of three-dimensional printing is exhibited with examples of fully printed representative athletic equipment with integrated sensors.
能够感知多轴力（如法向力和剪切力）的软传感器，对于灵巧的机器人操作和人类行为监测具有重要意义。典型的平面制造技术存在重大设计限制，常常阻碍功能强大且复杂的架构的创建。此外，它们通常需要多步操作来进行生产。在此，我们使用基于连续液体界面生产的增材制造工艺，来制造高分辨率（30微米）的三维弹性聚氨酯晶格，用作电容式传感器的介电层。我们表明，通过晶格类型、厚度和材料-孔隙体积百分比的设计，电容响应和灵敏度具有高度可调性。利用微计算机断层扫描和有限元模拟来阐明晶格设计对变形机制和伴随的传感行为的影响。通过集成传感器的全打印代表性运动器材示例展示了三维打印的优势。
