RESUMO
This paper describes the design, fabrication, integration, characterization, and demonstration of a novel flexible double-sided curvature sensor array for use in soft robotics. The paper explores the performance and potential applications of a piezoresistive sensor array consisting of four gold strain gauges on a flexible polyimide (PI) substrate arranged in a Wheatstone bridge configuration. Multiple sensor strips were arranged like the fingers of a hand. Integrating Shape Memory Alloy (SMA) foils alongside the fingers was explored to mimic a human hand-gripping motion controlled with temperature, while curvature sensor array strips measure the resulting finger shapes. Moreover, object sensing in a flexible granular material gripper was demonstrated. The sensors were embedded within Polydimethylsiloxane (PDMS) to enhance their tactile feel and adhesive properties. The findings of this study are promising for future applications, particularly in robotics and prosthetics, as the ability to accurately mimic human hand movements and reconstruct sensor surfaces paves the way for robotic hand functionality.
RESUMO
This Letter presents the design of a diffractive beam diffuser to homogenize the irradiance within optical free-space cells generated from multimode fibers in an indoor high-speed network environment. Native speckled beams with a Gaussian envelope are transformed into circular flat-top distributions to guarantee a constant signal-to-noise ratio at the wireless receiving stage. Design considerations followed by the device fabrication and test results are given, showing its ability to shape narrow line-of-sight optical wireless cells operating at the Gbps range.
