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Proceedings Paper

Multi-layer robot skin with embedded sensors and muscles
Author(s): Ankit Tomar; Yonas Tadesse
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Paper Abstract

Soft artificial skin with embedded sensors and actuators is proposed for a crosscutting study of cognitive science on a facial expressive humanoid platform. This paper focuses on artificial muscles suitable for humanoid robots and prosthetic devices for safe human-robot interactions. Novel composite artificial skin consisting of sensors and twisted polymer actuators is proposed. The artificial skin is conformable to intricate geometries and includes protective layers, sensor layers, and actuation layers. Fluidic channels are included in the elastomeric skin to inject fluids in order to control actuator response time. The skin can be used to develop facially expressive humanoid robots or other soft robots. The humanoid robot can be used by computer scientists and other behavioral science personnel to test various algorithms, and to understand and develop more perfect humanoid robots with facial expression capability. The small-scale humanoid robots can also assist ongoing therapeutic treatment research with autistic children. The multilayer skin can be used for many soft robots enabling them to detect both temperature and pressure, while actuating the entire structure.

Paper Details

Date Published: 15 April 2016
PDF: 12 pages
Proc. SPIE 9798, Electroactive Polymer Actuators and Devices (EAPAD) 2016, 979809 (15 April 2016); doi: 10.1117/12.2219625
Show Author Affiliations
Ankit Tomar, The Univ. of Texas at Dallas (United States)
Yonas Tadesse, The Univ. of Texas at Dallas (United States)

Published in SPIE Proceedings Vol. 9798:
Electroactive Polymer Actuators and Devices (EAPAD) 2016
Yoseph Bar-Cohen; Frédéric Vidal, Editor(s)

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