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Silicone Based Capacitive E-Skin Sensor for Soft Surgical Robots

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Towards Autonomous Robotic Systems (TAROS 2020)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 12228))

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Abstract

In this extended abstract, we present a soft stretchable multi-modal capacitive skin sensor that can be used for exteroception and proprioception in soft surgical manipulators. A soft skin prototype was made using Ecoflex, embedding three conductive carbon grease terminal layers. This soft skin is capable of measuring stretch and touch simultaneously. The soft skin measures uniaxial stretches from 1 to 1.2475 within an error range of 2.6% and can also quantify as well as localize local indentation. An algorithm is developed that decouples local change, i.e., due to indentation, from global strain, due to stretch. An experimental study was conducted; results are presented.

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Author information

Authors and Affiliations

  1. Centre for Advanced Robotics @ Queen Mary, School of Engineering and Materials Science, Queen Mary University of London, London, E1 4NS, UK

    Abu Bakar Dawood

  2. Centre for Advanced Robotics @ Queen Mary, School of Electronics Engineering and Computer Science, Queen Mary University of London, London, E1 4NS, UK

    Hareesh Godaba & Kaspar Althoefer

Authors
  1. Abu Bakar Dawood
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  2. Hareesh Godaba
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  3. Kaspar Althoefer
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Corresponding author

Correspondence to Abu Bakar Dawood .

Editor information

Editors and Affiliations

  1. Faculty of Engineering, University of Nottingham, Nottingham, UK

    Abdelkhalick Mohammad

  2. Faculty of Engineering, University of Nottingham, Nottingham, UK

    Xin Dong

  3. Faculty of Engineering, University of Nottingham, Nottingham, UK

    Matteo Russo

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Dawood, A.B., Godaba, H., Althoefer, K. (2020). Silicone Based Capacitive E-Skin Sensor for Soft Surgical Robots. In: Mohammad, A., Dong, X., Russo, M. (eds) Towards Autonomous Robotic Systems. TAROS 2020. Lecture Notes in Computer Science(), vol 12228. Springer, Cham. https://doi.org/10.1007/978-3-030-63486-5_8

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  • DOI: https://doi.org/10.1007/978-3-030-63486-5_8

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-63485-8

  • Online ISBN: 978-3-030-63486-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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