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.
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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 |
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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 |
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