Development of a Distributed Stretchable 3-axis Sensing System

2023 Fiscal Year Final Research Report

• Project/Area Number: 21K14131
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 20020:Robotics and intelligent system-related
• Research Institution: Waseda University
• Principal Investigator: Tomo Tito Pradhono 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)
• Project Period (FY): 2021-04-01 – 2024-03-31
• Keywords: stretchable / 3-axis / tactile sensor

Outline of Final Research Achievements

In this fiscal year, we have significantly enhanced the durability of the sensor, increasing its stretch lifespan from less than 500 cycles to over 1000 cycles when stretched by 250% of its initial length. This improvement was achieved by stitching copper wires onto a stretchable fabric, allowing for the connection of multiple PCBs. Despite this progress, we encountered a residual strain of 28.4% after more than 1000 cycles, attributed to the elastic nature of the material.
However, amidst this, the sensor proved its capability by successfully measuring 3-axis force while being stretched. This achievement enabled us to integrate the sensor into the Allegro Hand, covering one of its joints.

Free Research Field

Tactile sensing

Academic Significance and Societal Importance of the Research Achievements

Beyond addressing challenges in the super aging society, this sensor holds potential for diverse applications, including the medical field. For instance, it can enhance prosthetic limbs by providing tactile feedback to individuals with disabilities.