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Improving Inkjet Printed Flexible Angle Sensor Performance by Compression-Tension Sensor Pair Compensation

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posted on 10.05.2022, 02:52 authored by Dila TürkmenDila Türkmen, Merve Acer KalafatMerve Acer Kalafat

This paper introduces a new method for improved integrated angle sensing in the foldable robot joints (hinges), using low-cost inkjet printed sensors and a novel physical intelligence based compensation approach. Silver nanoparticle angle sensors are inkjet printed on a fl exible PET substrate as a hinge material and implemented as pairs of compression and tension side folding individuals into a rigid experimental setup. Resulting combined signals improved the individual sensor responses due to their compensating physical characteristics, and gave the far best performances in the existing literature in terms of linearity, sensor life-time, static and cyclic drift, hysteresis and dynamic dependency. Proposed approach is promising for eliminating the major limitations on the printed sensor use in fl exible hinges and paving the way to reliable fully soft and easy-to-fabricate all-integrated foldable robots.

Funding

This work was supported by the Scientific and Technological Research Council of Turkey (TUBITAK) (Grant No. 216M193

History

Email Address of Submitting Author

turkmend@itu.edu.tr

Submitting Author's Institution

Istanbul Technical University

Submitting Author's Country

Turkey

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