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Micromech. Microeng."],"published-print":{"date-parts":[[2018,3,1]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>We demonstrate fabrication, characterization, and implementation of \u2018soft-matter\u2019 pressure and bending sensors for a soft robotic hand. The elastomer-based sensors are embedded in a robot finger composed of a 3D printed endoskeleton and covered by an elastomeric skin. Two types of sensors are evaluated, resistive pressure sensors and capacitive pressure sensors. The sensor is fabricated entirely out of insulating and conductive rubber, the latter composed of polydimethylsiloxane (PDMS) elastomer embedded with a percolating network of structured carbon black (CB). The sensor-integrated fingers have a simple materials architecture, can be fabricated with standard rapid prototyping methods, and are inexpensive to produce. When incorporated into a robotic hand, the CB\u2013PDMS sensors and PDMS carrier medium function as an \u2018artificial skin\u2019 for touch and bend detection. Results show improved response with a capacitive sensor architecture, which, unlike a resistive sensor, is robust to electromechanical hysteresis, creep, and drift in the CB\u2013PDMS composite. The sensorized fingers are integrated in an anthropomorphic hand and results for a variety of grasping tasks are presented.<\/jats:p>","DOI":"10.1088\/1361-6439\/aaa1d8","type":"journal-article","created":{"date-parts":[[2017,12,14]],"date-time":"2017-12-14T11:47:45Z","timestamp":1513252065000},"page":"034001","update-policy":"https:\/\/doi.org\/10.1088\/crossmark-policy","source":"Crossref","is-referenced-by-count":113,"title":["Fabrication and characterization of bending and pressure sensors for a soft prosthetic hand"],"prefix":"10.1088","volume":"28","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6160-4858","authenticated-orcid":false,"given":"Rui Pedro","family":"Rocha","sequence":"first","affiliation":[]},{"given":"Pedro Alhais","family":"Lopes","sequence":"additional","affiliation":[]},{"given":"Anibal T","family":"de Almeida","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2590-2196","authenticated-orcid":false,"given":"Mahmoud","family":"Tavakoli","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6469-9645","authenticated-orcid":false,"given":"Carmel","family":"Majidi","sequence":"additional","affiliation":[]}],"member":"266","published-online":{"date-parts":[[2018,1,17]]},"reference":[{"key":"jmmaaa1d8bib001","doi-asserted-by":"publisher","first-page":"233","DOI":"10.1007\/s00422-013-0548-4","type":"journal-article","article-title":"Evidence of muscle synergies during human grasping","volume":"107","author":"Castellini","year":"2013","journal-title":"Biol. 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All rights, including for text and data mining, AI training, and similar technologies, are reserved.","name":"copyright_information","label":"Copyright Information"},{"value":"2017-08-26","name":"date_received","label":"Date Received","group":{"name":"publication_dates","label":"Publication dates"}},{"value":"2017-12-14","name":"date_accepted","label":"Date Accepted","group":{"name":"publication_dates","label":"Publication dates"}},{"value":"2018-01-17","name":"date_epub","label":"Online publication date","group":{"name":"publication_dates","label":"Publication dates"}}]}}