UCL Discovery
UCL home » Library Services » Electronic resources » UCL Discovery

Bio-compatible Piezoresistive Pressure Sensing Skin Sleeve for Millimetre-Scale Flexible Robots: Design, Manufacturing and Pitfalls.

Wasylczyk, P; Ozimek, F; Tiwari, MK; da Cruz, L; Bergeles, C; (2019) Bio-compatible Piezoresistive Pressure Sensing Skin Sleeve for Millimetre-Scale Flexible Robots: Design, Manufacturing and Pitfalls. In: Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS. (pp. pp. 1657-1661). IEEE: Berlin, Germany. Green open access

[thumbnail of wasylczyk2019biocompatible.pdf]
Preview
Text
wasylczyk2019biocompatible.pdf - Accepted Version

Download (10MB) | Preview

Abstract

Safe interactions between humans and robots require the robotic arms and/or tools to recognize and react to the surrounding environment via pressure sensing. With small-scale surgical interventions in mind, we have developed a flexible skin with tens of pressure sensing elements, designed to cover a 5mm diameter tool. The prototype uses only biocompatible materials: soft silicones, carbon powder and metal wires. The material performance, sensing element design, manufacturing technology, and the readout electronics are described. Our prototype demonstrates the feasibility of using this technology in various intervention scenarios, from endoscopic navigation to tissue manipulation. We conclude by identifying research directions that maximise the potential of the proposed technology.

Type: Proceedings paper
Title: Bio-compatible Piezoresistive Pressure Sensing Skin Sleeve for Millimetre-Scale Flexible Robots: Design, Manufacturing and Pitfalls.
Event: 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
Location: United States
ISBN-13: 978-1-5386-1312-2
Open access status: An open access version is available from UCL Discovery
DOI: 10.1109/EMBC.2019.8856871
Publisher version: https://doi.org/10.1109/EMBC.2019.8856871
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
Keywords: Electrodes, Wires, Robot sensing systems, Carbon, Piezoresistance, Electron tubes
UCL classification: UCL
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Brain Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Brain Sciences > Institute of Ophthalmology
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng
URI: https://discovery.ucl.ac.uk/id/eprint/10093907
Downloads since deposit
0Downloads
Download activity - last month
Download activity - last 12 months
Downloads by country - last 12 months

Archive Staff Only

View Item View Item