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

Karipoth, P., Christou, A., Pullanchiyodan, A. and Dahiya, R. (2022) Bioinspired inchworm- and earthworm-like soft robots with intrinsic strain sensing. Advanced Intelligent Systems, 4(2), 2100092. (doi: 10.1002/aisy.202100092)

Abstract

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: Published
• Refereed: Yes
• Glasgow Author(s) Enlighten ID: Pullanchiyodan, Dr Abhilash and Karipoth, Mr Prakash and Dahiya, Professor Ravinder and Christou, Mr 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
• Publisher: Wiley
• ISSN: 2640-4567
• ISSN (Online): 2640-4567
• Published Online: 01 September 2021
• Copyright Holders: Copyright © 2021 The Authors
• First Published: First published in Advanced Intelligent Systems 4(2): 2100092
• Publisher Policy: Reproduced under a Creative Commons License

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Project Code	Award No	Project Name	Principal Investigator	Funder's Name	Funder Ref	Lead Dept
301728		Engineering Fellowships for Growth: Printed Tactile SKIN	Ravinder Dahiya	Engineering and Physical Sciences Research Council (EPSRC)	EP/R029644/1	ENG - Electronics & Nanoscale Engineering
301949		TOWARDS A NOVEL HIGH PERFORMANCE FLEXIBLE GMR SENSOR ON PAPER	Ravinder Dahiya	European Commission (EC)	798639	ENG - Electronics & Nanoscale Engineering