Embedment of sensing elements for robust, highly sensitive, and cross-talk–free iontronic skins for robotics applications

Junli Shi, Yuan Dai, Yu Cheng, Sai Xie, Gang Li, Yuan Liu, Jingxiao Wang, Ruirui Zhang, Ningning Bai, Minkun Cai, Yuan Zhang, Yifei Zhan, Zhengyou Zhang, Cunjiang Yu, Chuan Fei Guo

Research output: Contribution to journalArticlepeer-review

43 Scopus citations

Abstract

Iontronic pressure sensors are promising in robot haptics because they can achieve high sensing performance using nanoscale electric double layers (EDLs) for capacitive signal output. However, it is challenging to achieve both high sensitivity and high mechanical stability in these devices. Iontronic sensors need microstructures that offer subtly changeable EDL interfaces to boost sensitivity, while the microstructured interfaces are mechanically weak. Here, we embed isolated microstructured ionic gel (IMIG) in a hole array (28 × 28) of elastomeric matrix and cross-link the IMIGs laterally to achieve enhanced interfacial robustness without sacrificing sensitivity. The embedded configuration toughens and strengthens the skin by pinning cracks and by the elastic dissipation of the interhole structures. Furthermore, cross-talk between the sensing elements is suppressed by isolating the ionic materials and by designing a circuit with a compensation algorithm. We have demonstrated that the skin is potentially useful for robotic manipulation tasks and object recognition.

Original languageEnglish (US)
Article numbereadf8831
JournalScience Advances
Volume9
Issue number9
DOIs
StatePublished - Mar 3 2023

All Science Journal Classification (ASJC) codes

  • General

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