Highly Stretchable Additively Manufactured Capacitive Proximity and Tactile Sensors for Soft Robotic Systems

This research project investigates the design, fabrication, and characterization of highly stretchable, additively manufactured capacitive sensors capable of dual-mode proximity and tactile detection for soft robotic applications. Utilizing additive manufacturing techniques, the proposed sensor architecture offers enhanced design flexibility and material customization to match the compliance of soft robotic actuators. The methodology involves evaluating the influence of mechanical strain on tactile measurements to ensure reliable sensor performance under deformation. Experimental characterization of the capacitive pad's sensitivity is conducted by applying normal forces ranging from 1 N to 16 N, resulting in a measurable capacitance change between 1 pF and 60 pF across the tactile sensing elements. Additionally, the proximity sensing

capability is validated across five distinct target materials, demonstrating a detection range of up to 20 mm with corresponding capacitance variations between 0.1 pF and 2.4 pF. This work provides a structured framework for integrating multi-modal sensory feedback into soft robotic fingers, facilitating safer human-robot collaboration and adaptive grasping. Implementation support focuses on sensor calibration, material selection, and signal processing methodologies to mitigate strain-induced signal drift.

Message: Hi FE, I need help with “Highly Stretchable Additively Manufactured Capacitive Proximity and Tactile Sensors for Soft Robotic Systems” in “Mechanical Engineering”