Transparent Pneumatic Tactile Sensors for Soft Biomedical Robotics

Palpation is a simple but effective method to distinguish tumors from healthy tissues. The development of miniaturized tactile sensors embedded on endoscopic or robotic devices is key to achieving precise palpation diagnosis and subsequent timely treatment. This paper reports on the fabrication and characterization of a novel tactile sensor with mechanical flexibility and optical transparency that can be easily mounted on soft surgical endoscopes and robotics. By utilizing the pneumatic sensing mechanism, the sensor offers a high sensitivity of 1.25 mbar and negligible hysteresis, enabling the detection of phantom tissues with different stiffnesses ranging from 0 to 2.5 MPa. Our configuration, combining pneumatic sensing and hydraulic actuating, also eliminates electrical wiring from the functional elements located at the robot end-effector, thereby enhancing the system safety. The optical transparency path in the sensors together with its mechanical sensing capability open interesting possibilities in the early detection of solid tumor as well as in the development of all-in-one soft surgical robots that can perform visual/mechanical feedback and optical therapy.

Highly Transparent and Flexible Iontronic Pressure Sensors Based on an Opaque to Transparent Transition

Human-computer interfaces, smart glasses, touch screens, and some electronic skins require highly transparent and flexible pressure-sensing elements. Flexible pressure sensors often apply a microstructured or porous active material to improve their sensitivity and response speed. However, the microstructures or small pores will result in high haze and low transparency of the device, and thus it is challenging to balance the sensitivity and transparency simultaneously in flexible pressure sensors or electronic skins. Here, for a capacitive-type sensor that consists of a porous polyvinylidene fluoride (PVDF) film sandwiched between two transparent electrodes, the challenge is addressed by filling the pores with ionic liquid that has the same refractive index with PVDF, and the transmittance of the film dramatically boosts from 0 to 94.8% in the visible range. Apart from optical matching, the ionic liquid also significantly improves the signal intensity as well as the sensitivity due to the formation of an electric double layer at the dielectric-electrode interfaces, and improves the toughness and stretchability of the active material benefiting from a plasticization effect. Such transparent and flexible sensors will be useful in smart windows, invisible bands, and so forth.