Research Article

Design and Fabrication of Soft 3D Printed Sensors and Performance Analysis of the Soft Sensors in a C-leg as Sensing Element

Volume: 9 Number: 3 September 28, 2022
  • Doğa Özbek
  • Talip Batuhan Yılmaz
  • Mert Ali İhsan Kalın
  • Onur Özcan *
EN

Design and Fabrication of Soft 3D Printed Sensors and Performance Analysis of the Soft Sensors in a C-leg as Sensing Element

Abstract

In soft robotics, a recent challenge is to decrease the number of rigid components used tocreate entirely soft robots. A common rigid component used in soft robots is the rigid encoder, which should be replaced with a soft counterpart if possible. In this work, we de-sign and manufacture a soft sensor, which is embedded into a C-shaped leg of a soft, legged, miniature robot. Our main goal is to show that we can embed a soft sensor into and receive contact feedback from a soft C-shaped leg of our soft miniature quadruped. We test various sensor parameters using custom test setups to analyze the soft sensor performance. Our soft sensor design is iterated by experimentally investigating several sensor shape options. For the C-leg of the soft miniature quadruped, optimal sensor geometry and position for the sensor implementation are found from a discrete design space as the outcome of this work. We received feedback from the soft sensor and compared commercial encoder data to the soft sensor embedded C-leg data. We managed to detect the rotation speed of the C-leg with the accuracy of 87.5% on a treadmill and with the accuracy of %86.7 under free rotation of the C-leg. However, if connection loss occurs in the miniature slipring mechanism, the error percentage in estimating the rotational speed increases significantly.

Keywords

References

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Details

Primary Language

English

Subjects

Engineering

Journal Section

Research Article

Authors

Talip Batuhan Yılmaz This is me
0000-0003-4051-7517
Türkiye

Mert Ali İhsan Kalın This is me
0000-0001-9846-0379
Türkiye

Publication Date

September 28, 2022

Submission Date

July 19, 2022

Acceptance Date

September 8, 2022

Published in Issue

Year 2022 Volume: 9 Number: 3

APA
Özbek, D., Yılmaz, T. B., Kalın, M. A. İ., & Özcan, O. (2022). Design and Fabrication of Soft 3D Printed Sensors and Performance Analysis of the Soft Sensors in a C-leg as Sensing Element. Hittite Journal of Science and Engineering, 9(3), 193-204. https://doi.org/10.17350/HJSE19030000271
AMA
1.Özbek D, Yılmaz TB, Kalın MAİ, Özcan O. Design and Fabrication of Soft 3D Printed Sensors and Performance Analysis of the Soft Sensors in a C-leg as Sensing Element. Hittite J Sci Eng. 2022;9(3):193-204. doi:10.17350/HJSE19030000271
Chicago
Özbek, Doğa, Talip Batuhan Yılmaz, Mert Ali İhsan Kalın, and Onur Özcan. 2022. “Design and Fabrication of Soft 3D Printed Sensors and Performance Analysis of the Soft Sensors in a C-Leg As Sensing Element”. Hittite Journal of Science and Engineering 9 (3): 193-204. https://doi.org/10.17350/HJSE19030000271.
EndNote
Özbek D, Yılmaz TB, Kalın MAİ, Özcan O (September 1, 2022) Design and Fabrication of Soft 3D Printed Sensors and Performance Analysis of the Soft Sensors in a C-leg as Sensing Element. Hittite Journal of Science and Engineering 9 3 193–204.
IEEE
[1]D. Özbek, T. B. Yılmaz, M. A. İ. Kalın, and O. Özcan, “Design and Fabrication of Soft 3D Printed Sensors and Performance Analysis of the Soft Sensors in a C-leg as Sensing Element”, Hittite J Sci Eng, vol. 9, no. 3, pp. 193–204, Sept. 2022, doi: 10.17350/HJSE19030000271.
ISNAD
Özbek, Doğa - Yılmaz, Talip Batuhan - Kalın, Mert Ali İhsan - Özcan, Onur. “Design and Fabrication of Soft 3D Printed Sensors and Performance Analysis of the Soft Sensors in a C-Leg As Sensing Element”. Hittite Journal of Science and Engineering 9/3 (September 1, 2022): 193-204. https://doi.org/10.17350/HJSE19030000271.
JAMA
1.Özbek D, Yılmaz TB, Kalın MAİ, Özcan O. Design and Fabrication of Soft 3D Printed Sensors and Performance Analysis of the Soft Sensors in a C-leg as Sensing Element. Hittite J Sci Eng. 2022;9:193–204.
MLA
Özbek, Doğa, et al. “Design and Fabrication of Soft 3D Printed Sensors and Performance Analysis of the Soft Sensors in a C-Leg As Sensing Element”. Hittite Journal of Science and Engineering, vol. 9, no. 3, Sept. 2022, pp. 193-04, doi:10.17350/HJSE19030000271.
Vancouver
1.Doğa Özbek, Talip Batuhan Yılmaz, Mert Ali İhsan Kalın, Onur Özcan. Design and Fabrication of Soft 3D Printed Sensors and Performance Analysis of the Soft Sensors in a C-leg as Sensing Element. Hittite J Sci Eng. 2022 Sep. 1;9(3):193-204. doi:10.17350/HJSE19030000271

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