用廉价材料2分钟做出可拉伸触觉纤维，能用于机器人抓握与手势追踪。
Low cost, easily manufactured, highly flexible strain and touch sensitive fiber for robotics applications
- 用导电纱线和硅胶管手工编织，仅需20元工具
- 20厘米纤维2分钟完成，拉伸电阻变化率达100%
- 既可当电阻传感器，又能针织成电容触控层
现有机器人用拉伸与触觉传感器在材料、设备或制造时间上成本较高。本文提出并实验表征了一种仅使用廉价现成部件（导电纱线0.07美元/英尺，硅胶管0.94美元/英尺）和工具（环形针线器2美元）制成的导电纤维，可在2分钟内完成20厘米长度的制作。该纤维作为电阻式应变传感器，在三个应用中实现功能：触发气动辅助手指抓握、感知气动机器人束带姿态、估计柔性固体姿态。同时，通过针织方式实现电容式传感，应用于触控触发商用机械臂动作，以及近场感应使机械臂跟随移动手部。纤维具备高柔韧性。文章还讨论了制造规模化提升方法及其成本权衡，并演示了断裂纤维的修复方案。
原文摘要 · Abstract (English)
Existing stretch and touch sensors for robots are generally expensive with respect to at least one of material costs, required manufacturing equipment, or manufacturing time. We present and experimentally characterize a conductive fiber made using only inexpensive commercial off-the-shelf parts (conductive thread at $0.07/ft, silicone tubing at $0.94/ft) and tools (loop-style needle threader at $2), which can be manufactured quickly (20 cm length in 2 minutes.) We demonstrate its use as a resistive strain sensor with three applications: Triggering a grasp in a pneumatically actuated assistive finger, sensing the pose of a pneumatically actuated robotic strap, and estimating the pose of a flexible solid. We also demonstrate that it can be used as a capacitive sensor with two applications: First, as a touch sensor which triggers a commercial robot arm to move, and second, as a near-field sensor enabling the robot arm to follow a moving hand. The capacitive sensors are knitted, showcasing the high flexibility of the fiber. We discuss methods for improving manufacturing scalability and their cost trade-offs. Finally, we demonstrate a method for repairing a cut fiber.
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