用3D打印制造可拉伸应变传感器，实现连续体机器人的形状感知。
Fabrication and Characterization of Additively Manufactured Stretchable Strain Sensors Towards the Shape Sensing of Continuum Robots
- 通过直接墨水书写技术打印高粘度镓铟导电油墨，形成可拉伸电阻结构。
- 初始测试显示线性度达0.99，灵敏度因子约1，漂移可忽略。
- 适合微型连续体机器人，具备快速打印、易安装、可小型化优势。
本简报描述了用于连续体机器人的新型可拉伸应变传感器的制造与实验表征。研究目标是为这类设备提供一种新的形状感知解决方案。传感器采用基于挤出的增材制造技术——直接墨水书写法制造，将电导性材料（即‘油墨’）打印成导电线路，其电阻随机械变形而变化。可拉伸应变传感器的工作原理类似于传统应变片，但因能承受更大应变，具有显著更宽的动态工作范围。在多种导电材料中，本研究选用高粘度共晶镓铟油墨制作传感器，初步测试表明其线性度高达 $R^2 \ ext{≈} 0.99$，灵敏度因子 $\text{≈} 1$，且漂移可忽略。所提传感器的优势包括：(i) 制造简便，可在数分钟内完成打印；(ii) 安装便捷，可直接粘附于机器人外部；(iii) 易于微型化，可集成至毫米级连续体机器人中。
原文摘要 · Abstract (English)
This letter describes the manufacturing and experimental characterization of novel stretchable strain sensors for continuum robots. The overarching goal of this research is to provide a new solution for the shape sensing of these devices. The sensors are fabricated via direct ink writing, an extrusion-based additive manufacturing technique. Electrically conductive material (i.e., the \textit{ink}) is printed into traces whose electrical resistance varies in response to mechanical deformation. The principle of operation of stretchable strain sensors is analogous to that of conventional strain gauges, but with a significantly larger operational window thanks to their ability to withstand larger strain. Among the different conductive materials considered for this study, we opted to fabricate the sensors with a high-viscosity eutectic Gallium-Indium ink, which in initial testing exhibited high linearity ($R^2 \approx$ 0.99), gauge factor $\approx$ 1, and negligible drift. Benefits of the proposed sensors include (i) ease of fabrication, as they can be conveniently printed in a matter of minutes; (ii) ease of installation, as they can simply be glued to the outside body of a robot; (iii) ease of miniaturization, which enables integration into millimiter-sized continuum robots.
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