Relationship between Photoelasticity of Polyurethane and Dielectric Anisotropy of Diisocyanate, and Application of High-Photoelasticity Polyurethane to Tactile Sensor for Robot Hands

Emerging Functional Polymer Composites for Tactile Sensing

In recent years, extensive research has been conducted on the development of high-performance flexible tactile sensors, pursuing the next generation of highly intelligent electronics with diverse potential applications in self-powered wearable sensors, human-machine interactions, electronic skin, and soft robotics. Among the most promising materials that have emerged in this context are functional polymer composites (FPCs), which exhibit exceptional mechanical and electrical properties, enabling them to be excellent candidates for tactile sensors. Herein, this review provides a comprehensive overview of recent advances in FPCs-based tactile sensors, including the fundamental principle, the necessary property parameter, the unique device structure, and the fabrication process of different types of tactile sensors. Examples of FPCs are elaborated with a focus on miniaturization, self-healing, self-cleaning, integration, biodegradation, and neural control. Furthermore, the applications of FPC-based tactile sensors in tactile perception, human-machine interaction, and healthcare are further described. Finally, the existing limitations and technical challenges for FPCs-based tactile sensors are briefly discussed, offering potential avenues for the development of electronic products.

Application of Piezoelectric PLLA Braided Cord as Wearable Sensor to Realize Monitoring System for Indoor Dogs with Less Physical or Mental Stress

We attempted to realize a prototype system that monitors the living condition of indoor dogs without physical or mental burden by using a piezoelectric poly-l-lactic acid (PLLA) braided cord as a wearable sensor. First, to achieve flexibility and durability of the piezoelectric PLLA braided cord used as a sensor for indoor dogs, the process of manufacturing the piezoelectric PLLA fiber for the piezoelectric braided cord was studied in detail and improved to achieve the required performance. Piezoelectric PLLA braided cords were fabricated from the developed PLLA fibers, and the finite element method was used to realize an e-textile that can effectively function as a monitoring sensor. As a result, we realized an e-textile that feels similar to a high-grade textile and senses the complex movements of indoor dogs without the use of a complex computer system. Finally, a prototype system was constructed and applied to an actual indoor dog to demonstrate the usefulness of the e-textile as a sensor for indoor dog monitoring.

Application of High-Photoelasticity Polyurethane to Tactile Sensor for Robot Hands

We developed a tactile sensor for robot hands that can measure normal force (F_Z) and tangential forces (F_X and F_Y) using photoelasticity. This tactile sensor has three photodiodes and three light-emitting diode (LED) white light sources. The sensor is composed of multiple elastic materials, including a highly photoelastic polyurethane sheet, and the sensor can detect both normal and tangential forces through the deformation, ben sding, twisting, and extension of the elastic materials. The force detection utilizes the light scattering resulting from birefringence.

Accuracy improvement of demodulating the stress field with StressUnet in photoelasticity

Evaluating the stress field based on photoelasticity is of vital significance in engineering fields. To achieve the goal of efficiently demodulating stress distribution and to overcome the limitations of conventional methods, it is essential to develop a deep learning method to simplify and accelerate the process of image acquisition and processing. A framework is proposed to enhance prediction accuracy. By adopting Resnet as the backbone, applying U-Net architecture, and adding a physical constraint module, our model recovers the stress field with higher structural similarity. Under different conditions, our model performs robustly despite complicated geometry and a large stress range. The results prove the universality and effectiveness of our model and offer an opportunity for instant stress detection.

PhotoElasticFinger: Robot Tactile Fingertip Based on Photoelastic Effect

The sense of touch is fundamental for a one-to-one mapping between the environment and a robot that physically interacts with the environment. Herein, we describe a tactile fingertip design that can robustly detect interaction forces given data collected from a camera. This design is based on the photoelastic effect observed in silicone matter. Under the force applied to the silicone rubber, owing to the stress-induced birefringence, the light propagating within the silicone rubber is subjected to the angular phase shift, where the latter is proportional to the increase in the image brightness in the camera frames. We present the calibration and test results of the photoelastic sensor design on a bench using a robot arm and with a certified industrial force torque sensor. We also discuss the applications of this sensor design and its potential relationship with human mechano-transduction receptors. We achieved a force sensing range of up to 8 N with a force resolution of around 0.5 N. The photoelastic tactile fingertip is suitable for robot grasping and might lead to further progress in robust tactile sensing.

A Prototype Sensor System Using Fabricated Piezoelectric Braided Cord for Work-Environment Measurement during Work from Home

We proposed a new prototype sensor system to understand the workload of employees during telework. The goal of sensing using such a system is to index the degree of stress experienced by employees during work and recognize how to improve their work environment. Currently, to realize this, image processing technology with a Web camera is generally used for vital sign sensing. However, it creates a sense of discomfort at work because of a strong sense of surveillance. To truly evaluate a working environment, it is necessary that an employee be unaware of the sensor system and for the system to be as unobtrusive as possible. To overcome these practical barriers, we have developed a new removable piezoelectric sensor incorporated in a piezoelectric poly-L-lactic acid (PLLA) braided cord. This cord is soft and flexible, and it does not cause any discomfort when attached to the cushion cover sheet. Thus, it was possible to measure the workload of an employee working from home without the employee being aware of the presence of a sensor. Additionally, we developed a system for storing data in a cloud system. We succeeded in acquiring continuous long-term data on the vital signs of employees during telework using this system. The analysis of the data revealed a strong correlation between behavior and stress.