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      A hierarchically patterned, bioinspired e-skin able to detect the direction of applied pressure for robotics

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          Abstract

          Tactile sensing is required for the dexterous manipulation of objects in robotic applications. In particular, the ability to measure and distinguish in real time normal and shear forces is crucial for slip detection and interaction with fragile objects. Here, we report a biomimetic soft electronic skin (e-skin) that is composed of an array of capacitors and capable of measuring and discriminating in real time both normal and tangential forces. It is enabled by a three-dimensional structure that mimics the interlocked dermis-epidermis interface in human skin. Moreover, pyramid microstructures arranged along nature-inspired phyllotaxis spirals resulted in an e-skin with increased sensitivity, minimal hysteresis, excellent cycling stability, and response time in the millisecond range. The e-skin provided sensing feedback for controlling a robot arm in various tasks, illustrating its potential application in robotics with tactile feedback.

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          Most cited references30

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          Highly sensitive flexible pressure sensors with microstructured rubber dielectric layers.

          The development of an electronic skin is critical to the realization of artificial intelligence that comes into direct contact with humans, and to biomedical applications such as prosthetic skin. To mimic the tactile sensing properties of natural skin, large arrays of pixel pressure sensors on a flexible and stretchable substrate are required. We demonstrate flexible, capacitive pressure sensors with unprecedented sensitivity and very short response times that can be inexpensively fabricated over large areas by microstructuring of thin films of the biocompatible elastomer polydimethylsiloxane. The pressure sensitivity of the microstructured films far surpassed that exhibited by unstructured elastomeric films of similar thickness, and is tunable by using different microstructures. The microstructured films were integrated into organic field-effect transistors as the dielectric layer, forming a new type of active sensor device with similarly excellent sensitivity and response times.
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            An electrically and mechanically self-healing composite with pressure- and flexion-sensitive properties for electronic skin applications.

            Pressure sensitivity and mechanical self-healing are two vital functions of the human skin. A flexible and electrically conducting material that can sense mechanical forces and yet be able to self-heal repeatably can be of use in emerging fields such as soft robotics and biomimetic prostheses, but combining all these properties together remains a challenging task. Here, we describe a composite material composed of a supramolecular organic polymer with embedded nickel nanostructured microparticles, which shows mechanical and electrical self-healing properties at ambient conditions. We also show that our material is pressure- and flexion-sensitive, and therefore suitable for electronic skin applications. The electrical conductivity can be tuned by varying the amount of nickel particles and can reach values as high as 40 S cm(-1). On rupture, the initial conductivity is repeatably restored with ∼90% efficiency after 15 s healing time, and the mechanical properties are completely restored after ∼10 min. The composite resistance varies inversely with applied flexion and tactile forces. These results demonstrate that natural skin's repeatable self-healing capability can be mimicked in conductive and piezoresistive materials, thus potentially expanding the scope of applications of current electronic skin systems.
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              Coding and use of tactile signals from the fingertips in object manipulation tasks.

              During object manipulation tasks, the brain selects and implements action-phase controllers that use sensory predictions and afferent signals to tailor motor output to the physical properties of the objects involved. Analysis of signals in tactile afferent neurons and central processes in humans reveals how contact events are encoded and used to monitor and update task performance.
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                Author and article information

                Journal
                Science Robotics
                Sci. Robot.
                American Association for the Advancement of Science (AAAS)
                2470-9476
                November 21 2018
                November 21 2018
                November 21 2018
                November 21 2018
                : 3
                : 24
                : eaau6914
                Article
                10.1126/scirobotics.aau6914
                33141713
                6aaa1067-c6bd-42f4-b352-dd621f71c5f2
                © 2018

                http://www.sciencemag.org/about/science-licenses-journal-article-reuse

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