Interdigitated Sensor Based on a Silicone Foam for Subtle Robotic Manipulation.

In this contribution, a soft sensor configuration based on silicone foam is developed to measure compressive forces in the range of 50 N with the aim of providing proprioceptive capabilities to conventional robotic manipulators based on hard materials. This then makes them capable of interacting with soft and fragile objects without damage. The concept relies on interdigitated electrodes that are patterned on the backside of the sensor to generate a fringing electric field into a soft compressible polymeric foam. The deformation of the foam causes changes to relative permittivity as the air-filled cells compress. The model in this article shows how the different parameters of the foam, such as air volume fraction, permittivity, and Young's modulus, affect the stiffness and electrical sensitivity of the sensor, and how controlling the porosity of the foam is key to optimizing the sensitivity of the sensor. This sensor is easy to fabricate and does not require compliant electrodes, while exhibiting high sensitivity values of 33% capacitance change for as little as 10 N applied force.