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Shen et al. Robot. Biomim. (2016) 3:22 DOI 10.1186/s40638-016-0051-1
A soft stretchable bending sensor anddata glove applications
Zhong Shen1, Juan Yi1,2, Xiaodong Li3, Mark Hin Pei Lo3, Michael Z. Q. Chen1,2, Yong Hu3 and Zheng Wang1,2*
Introduction
Soft sensors are receiving growing attention, due to both the global wave of developments in wearable human-centered devices and the recent focus on soft robots [14]. For human motions, soft sensors could provide direct joint-level angle measurements, hence lead to a reconstruction of human body trajectories. For soft robots, soft sensors are required to provide sensory and control information while not interfering with the primary compliant and adaptive features of the robotic devices. However, for both of the above application scenarios, bending and stretch are two closely coupled factors. It is technically very challenging to make stretchable bending sensors insensitive to stretching. The available exible bending sensors are very limited, with few allowing for stretching.
In the last two decades, many researchers have engaged in developing a new kind of sensing technology, whether in hardware or software, to meet the need of soft wearable devices. Optical ber sensors, which have been recognized as a standard for motion capture, have drawn some
attention [57]. Apart from optical ber sensors, there were other groups making similar wearable motion capture devices using resistive bending sensors [810] and using a lter and multiple sensors for one joint to reduce the error [11]. Except resistive sensors, printed sensors or MEMS sensors can also provide small size, low cost and exibility [12, 13]. Recently, a new kind of sensors that uses a conductive liquid metal injected in a soft chamber has drawn much attention. The resistance of the sensor will change as the shape of the chamber deforms due to external force [1418]. This soft stretchable bending sensor suits well for wearable devices, but the uidity of liquid metal still brings technical constraints and limits its practiced application.
The techniques mentioned above have contributed to the wearable sensing technologies. For wider and further applications, bending or strain sensors are still in need of exibility, comfort and accuracy as well as low cost and non-toxicity. So, here we present a novel low-cost soft stretchable bending sensor (Fig. 1) along with two different sensor gloves....