Stretchable Capacitive Sensors of Torsion, Strain, and Touch Using Double Helix Liquid Metal Fibers

Conventionally, engineers have employed rigid materials to fabricate precise, predictable robotic systems, which are easily modelled as rigid members connected at discrete joints. Natural systems, however, often match or exceed the performance of robotic systems with deformable bodies. Cephalopods, for example, achieve amazing feats of manipulation and locomotion without a skeleton; even vertebrates such as humans achieve dynamic gaits by storing elastic energy in their compliant bones and soft tissues. Inspired by nature, engineers have begun to explore the design and control of soft-bodied robots composed of compliant materials. This Review discusses recent developments in the emerging field of soft robotics.

Devices made from stretchable electronic materials could be incorporated into clothing or attached directly to the body. Such materials have typically been prepared by engineering conventional rigid materials such as silicon, rather than by developing new materials. Here, we report a class of wearable and stretchable devices fabricated from thin films of aligned single-walled carbon nanotubes. When stretched, the nanotube films fracture into gaps and islands, and bundles bridging the gaps. This mechanism allows the films to act as strain sensors capable of measuring strains up to 280% (50 times more than conventional metal strain gauges), with high durability, fast response and low creep. We assembled the carbon-nanotube sensors on stockings, bandages and gloves to fabricate devices that can detect different types of human motion, including movement, typing, breathing and speech.

Considerable efforts have been made to achieve highly sensitive and wearable sensors that can simultaneously detect multiple stimuli such as stretch, pressure, temperature or touch. Here we develop highly stretchable multifunctional sensors that can detect strain (up to 50%), pressure (up to ∼1.2 MPa) and finger touch with high sensitivity, fast response time (∼40 ms) and good pressure mapping function. The reported sensors utilize the capacitive sensing mechanism, where silver nanowires are used as electrodes (conductors) and Ecoflex is used as a dielectric. The silver nanowire electrodes are screen printed. Our sensors have been demonstrated for several wearable applications including monitoring thumb movement, sensing the strain of the knee joint in patellar reflex (knee-jerk) and other human motions such as walking, running and jumping from squatting, illustrating the potential utilities of such sensors in robotic systems, prosthetics, healthcare and flexible touch panels.