Teleoperation of Soft Robots with Real‐Time Fingertip Haptic Feedback Using Small Batteries

摘要

Abstract Soft robots are promising candidates for robust grasping and manipulation of different types of objects; however, their development has been a scientific challenge because of the lack of compact, yet precise, controllable soft actuators. In this work, innovative haptic interactive systems based on sensor‐integrated actuators powered by small batteries are reported. A liquid‐metal strain sensor with a versatile form factor and robust sensing performance is incorporated into a fast‐switching high‐force ionic polymer actuator. The structure of the sensor‐integrated actuator is rationally designed through encapsulation technology to achieve the best sensitivity and actuation while maintaining compactness, allowing for accurate, real‐time estimation and tracking of the actuation process. In a closed loop between the user and sensor‐integrated actuator, the motion and manipulation dynamics of a soft gripper made of sensor‐integrated actuators can be controlled by hand motions during a task. By combining with a thimble‐type haptic feedback device, the states of the gripper can be transmitted back to the user in real‐time via the proprioception of the integrated sensor. The approach opens a prospective avenue for the development of future robotic technologies without requiring camera‐based sensors for versatile, wearable, and scalable haptic systems.