Bioinspired inchworm- and earthworm-like soft robots with intrinsic strain sensing

Karipoth, P., Christou, A., Pullanchiyodan, A. and Dahiya, R. (2021) Bioinspired inchworm- and earthworm-like soft robots with intrinsic strain sensing. Advanced Intelligent Systems, (doi: 10.1002/aisy.202100092) (Early Online Publication)

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Stimulus-responsive soft structures, with biological organs like intrinsic sensing, are needed to enable controlled movements and hence bring the transformative advances in soft robotics. Herein, bioinspired inchworm- and earthworm-like soft structures with intrinsic strain sensing achieved by seamless embedding of a graphite-paste-based sensor material are presented. The developed strain sensor exhibits a record stretchability (900%) and sensitivity (of 103 up to ≈200 and of the order of 105 at around 700% linear strain). With tiny permanent magnets incorporated at the ends of these soft structures, the sensory-feedback-based controlled movements of magnetically driven inchworm- and earthworm-like soft robots are also demonstrated. The presented results potentially boost the prospects of self-sensing in soft robots and advance the field toward cognitive soft robotics.

Item Type:Articles
Status:Early Online Publication
Glasgow Author(s) Enlighten ID:Karipoth, Mr Prakash and Dahiya, Professor Ravinder and Pullanchiyodan, Dr Abhilash and Christou, Adamos
Authors: Karipoth, P., Christou, A., Pullanchiyodan, A., and Dahiya, R.
College/School:College of Science and Engineering > School of Engineering > Electronics and Nanoscale Engineering
Journal Name:Advanced Intelligent Systems
ISSN (Online):2640-4567
Published Online:01 September 2021
Copyright Holders:Copyright © 2021 The Authors
First Published:First published in Advanced Intelligent Systems 2021
Publisher Policy:Reproduced under a Creative Commons License
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Project CodeAward NoProject NamePrincipal InvestigatorFunder's NameFunder RefLead Dept
301728Engineering Fellowships for Growth: Printed Tactile SKINRavinder DahiyaEngineering and Physical Sciences Research Council (EPSRC)EP/R029644/1ENG - Electronics & Nanoscale Engineering
301949TOWARDS A NOVEL HIGH PERFORMANCE FLEXIBLE GMR SENSOR ON PAPERRavinder DahiyaEuropean Commission (EC)798639ENG - Electronics & Nanoscale Engineering