REU • Research Experience for Undergraduates (2024)

AirResistorID

Single-Sensor Distributed Tactile Sensing in Soft Robotic Finger Segments

Description

Researchers have sought to detect changes in pressure within different segments of soft robotics to enable tasks such as picking up irregularly shaped objects. Traditional distributed tactile sensing (DTS) systems typically require extensive sensor arrays or complex multimaterial fabrication, which significantly raises both the cost and complexity of developing sophisticated soft robotic grippers. To address these challenges, we present AirResistorID (ARID), a novel DTS technique utilizing 3D-printed air resistors to identify the origin of airflow within a pneumatic system. By employing a single pressure sensor, ARID enables the attachment of air resistors to each chamber of a silicone finger. Through a windowing strategy, we can effectively differentiate the air pressures in each chamber. Our approach, with its reduced electronic overhead, allows for more nuanced input, ultimately enhancing the design and functionality of soft robotic systems.