eprintid: 10159254 rev_number: 7 eprint_status: archive userid: 699 dir: disk0/10/15/92/54 datestamp: 2022-11-15 11:28:27 lastmod: 2022-11-15 11:28:27 status_changed: 2022-11-15 11:28:27 type: article metadata_visibility: show sword_depositor: 699 creators_name: George Thuruthel, T creators_name: Bosman, AW creators_name: Hughes, J creators_name: Iida, F title: Soft self-healing fluidic tactile sensors with damage detection and localization abilities ispublished: pub divisions: UCL divisions: B04 divisions: C05 divisions: F48 keywords: soft robotic sensors; self-healing sensors; fluidic sensing; damage detection note: This is an open access article distributed under the Creative Commons Attribution License (https://creativecommons.org/licenses/by/4.0/) which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. abstract: Self-healing sensors have the potential to increase the lifespan of existing sensing technologies, especially in soft robotic and wearable applications. Furthermore, they could bestow additional functionality to the sensing system because of their self-healing ability. This paper presents the design for a self-healing sensor that can be used for damage detection and localization in a continuous manner. The soft sensor can recover full functionality almost instantaneously at room temperature, making the healing process fully autonomous. The working principle of the sensor is based on the measurement of air pressure inside enclosed chambers, making the fabrication and the modeling of the sensors easy. We characterize the force sensing abilities of the proposed sensor and perform damage detection and localization over a one-dimensional and two-dimensional surface using multilateration techniques. The proposed solution is highly scalable, easy-to-build, cheap and even applicable for multi-damage detection. date: 2021-12-02 date_type: published publisher: MDPI AG official_url: https://doi.org/10.3390/s21248284 oa_status: green full_text_type: pub language: eng primo: open primo_central: open_green verified: verified_manual elements_id: 1987377 doi: 10.3390/s21248284 medium: Electronic pii: s21248284 lyricists_name: George Thuruthel, Thomas lyricists_id: TTHUR31 actors_name: George Thuruthel, Thomas actors_id: TTHUR31 actors_role: owner funding_acknowledgements: 828818 [Future and Emerging Technologies (FET) programme of the European Commission] full_text_status: public publication: Sensors volume: 21 number: 24 article_number: 8284 event_location: Switzerland issn: 1424-8220 citation: George Thuruthel, T; Bosman, AW; Hughes, J; Iida, F; (2021) Soft self-healing fluidic tactile sensors with damage detection and localization abilities. Sensors , 21 (24) , Article 8284. 10.3390/s21248284 <https://doi.org/10.3390/s21248284>. Green open access document_url: https://discovery.ucl.ac.uk/id/eprint/10159254/1/Soft%20Self-Healing%20Fluidic%20Tactile%20Sensors%20with%20Damage%20Detection%20and%20Localization%20Abilities.%20.pdf