Thermo and flex multi-functional array ionic sensor for a human adaptive device

Human-Centered Sensor Technologies for Soft Robotic Grippers: A Comprehensive Review

The importance of bio-robotics has been increasing day by day. Researchers are trying to mimic nature in a more creative way so that the system can easily adapt to the complex nature and its environment. Hence, bio-robotic grippers play a role in the physical connection between the environment and the bio-robotics system. While handling the physical world using a bio-robotic gripper, complexity occurs in the feedback system, where the sensor plays a vital role. Therefore, a human-centered gripper sensor can have a good impact on the bio-robotics field. But categorical classification and the selection process are not very systematic. This review paper follows the PRISMA methodology to summarize the previous works on bio-robotic gripper sensors and their selection process. This paper discusses challenges in soft robotic systems, the importance of sensing systems in facilitating critical control mechanisms, along with their selection considerations. Furthermore, a classification of soft actuation based on grippers has been introduced. Moreover, some unique characteristics of soft robotic sensors are explored, namely compliance, flexibility, multifunctionality, sensor nature, surface properties, and material requirements. In addition, a categorization of sensors for soft robotic grippers in terms of modalities has been established, ranging from the tactile and force sensor to the slippage sensor. Various tactile sensors, ranging from piezoelectric sensing to optical sensing, are explored as they are of the utmost importance in soft grippers to effectively address the increasing requirements for intelligence and automation. Finally, taking everything into consideration, a flow diagram has been suggested for selecting sensors specific to soft robotic applications.

Ultrasensitive Flexible Thermal Sensor Arrays based on High-Thermopower Ionic Thermoelectric Hydrogel

Ionic circuits using ions as charge carriers have demonstrated great potential for flexible and bioinspired electronics. The emerging ionic thermoelectric (iTE) materials can generate a potential difference by virtue of selective thermal diffusion of ions, which provide a new route for thermal sensing with the merits of high flexibility, low cost, and high thermopower. Here, ultrasensitive flexible thermal sensor arrays based on an iTE hydrogel consisting of polyquaternium-10 (PQ-10), a cellulose derivative, as the polymer matrix and sodium hydroxide (NaOH) as the ion source are reported. The developed PQ-10/NaOH iTE hydrogel achieves a thermopower of 24.17 mV K-1 , which is among the highest values reported for biopolymer-based iTE materials. The high p-type thermopower can be attributed to thermodiffusion of Na+ ions under a temperature gradient, while the movement of OH- ions is impeded by the strong electrostatic interaction with the positively charged quaternary amine groups of PQ-10. Flexible thermal sensor arrays are developed through patterning the PQ-10/NaOH iTE hydrogel on flexible printed circuit boards, which can perceive spatial thermal signals with high sensitivity. A smart glove integrated with multiple thermal sensor arrays is further demonstrated, which endows a prosthetic hand with thermal sensation for human-machine interaction.