Title:
DEVELOPMENT OF A NANOCOMPOSITE SENSOR AND ELECTRONIC SYSTEM FOR MONITORING OF LOCOMOTION OF A SOFT EARTHWORM ROBOT

dc.contributor.advisor Yeo, Woon-Hong
dc.contributor.advisor Jang, Seung Soon
dc.contributor.advisor Jayaraman, Sundaresan
dc.contributor.author Goldoni, Riccardo
dc.contributor.department Materials Science and Engineering
dc.date.accessioned 2021-06-10T16:48:54Z
dc.date.available 2021-06-10T16:48:54Z
dc.date.created 2020-05
dc.date.issued 2020-05-08
dc.date.submitted May 2020
dc.date.updated 2021-06-10T16:48:54Z
dc.description.abstract The ability to detect external stimuli and perceive the surrounding areas represents a key feature of modern soft robotic systems, used for exploration of harsh environments. Although people have developed various types of biomimetic soft robots, no integratedsensor system is available to provide feedback locomotion. Here, a stretchable nanocomposite strain sensor with integrated wireless electronics to provide a feedbackloop locomotion of a soft robotic earthworm is presented. The ultrathin and soft strain sensor based on a carbon nanomaterial and a low-modulus silicone elastomer allows for a seamless integration with the body of the soft robot, accommodating large strains derived from bending, stretching, and physical interactions with obstacles. A scalable, costeffective, screen-printing method manufactures an array of strain sensors that are conductive and stretchable over 100% with a gauge factor over 38. An array of stretchable nanomembrane interconnectors enables a reliable connection between soft strain sensors and wireless electronics, while tolerating the robot’s multi-modal movements. A set of computational and experimental studies of soft materials, stretchable mechanics, and hybrid packaging provides key design factors for a reliable, nanocomposite sensor system. The miniaturized wireless circuit, embedded in the robot joint, offers a real-time monitoring of strain changes on the earthworm skin. Collectively, the soft sensor system shows a great potential to be integrated with other flexible, stretchable electronics for applications in soft robotics, wearable devices, and human-machine interfaces.
dc.description.degree M.S.
dc.format.mimetype application/pdf
dc.identifier.uri http://hdl.handle.net/1853/64658
dc.language.iso en_US
dc.publisher Georgia Institute of Technology
dc.subject soft earthworm robot, nanocomposite, soft strain sensor, stretchable interconnectors, motion control, wireless electronic
dc.title DEVELOPMENT OF A NANOCOMPOSITE SENSOR AND ELECTRONIC SYSTEM FOR MONITORING OF LOCOMOTION OF A SOFT EARTHWORM ROBOT
dc.type Text
dc.type.genre Thesis
dspace.entity.type Publication
local.contributor.advisor Jang, Seung Soon
local.contributor.advisor Jayaraman, Sundaresan
local.contributor.advisor Yeo, Woon-Hong
local.contributor.corporatename School of Materials Science and Engineering
local.contributor.corporatename College of Engineering
relation.isAdvisorOfPublication 2a440d81-b960-4958-8534-0b207d8488a7
relation.isAdvisorOfPublication 82e1e769-09ec-4bd7-b713-b7922c8b3ca6
relation.isAdvisorOfPublication db60c3f5-1b0a-4bd3-9184-de4173eb1685
relation.isOrgUnitOfPublication 21b5a45b-0b8a-4b69-a36b-6556f8426a35
relation.isOrgUnitOfPublication 7c022d60-21d5-497c-b552-95e489a06569
thesis.degree.level Masters
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