2023 Fiscal Year Annual Research Report
Development of a Distributed Stretchable 3-axis Sensing System
| Project/Area Number |
21K14131
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| Research Institution | Waseda University |
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Principal Investigator |
トモ ティト・プラドノ 早稲田大学, 次世代ロボット研究機構, 次席研究員(研究院講師) (00844193)
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| Project Period (FY) |
2021-04-01 – 2024-03-31
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| Keywords | stretchable / 3-axis / tactile sensor |
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| Outline of Annual Research Achievements |
In the current fiscal year, significant improvements have been made to the stretchable 3-axis tactile sensor, enhancing its robustness and performance. This version utilizes a novel approach by stitching four copper wires (VDD/power, SCL/clock, SDA/data bus, and GND/ground) into a stretchable fabric with a zig-zag pattern, allowing for the daisy-chaining of multiple hall-effect sensors. As a result, the sensor achieves a stretch rate increase of 250%. Moreover, this version of the sensor demonstrates a notable improvement in stretch-cycle durability, exceeding 1000 cycles. This advancement enables the successful mounting of the sensors onto the Allegro Hand, effectively covering one of its joints.
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