A Nanocrack‐Based Graphene/PDMS‐Encapsulated Medical Tape Flexible Sensor for Motion Detection of Underwater Robots

摘要

Abstract Underwater environment sensing is crucial for robotic operations. Since flexible sensors can adapt to a variety of shapes and surfaces, they have a wide range of applications in scientific applications such as deep‐sea bio‐capture, environmental detection, and mechanical manipulation. However, faced with complex underwater environments, the implementation of underwater flexible sensors to meet the needs of many underwater applications is still a considerable challenge. Inspired by bio‐mimetic structures, such as scorpion leg joints and lotus leaf surfaces, a flexible strain sensor encapsulated in graphene/PDMS based on nanocrack sensitization is proposed. The medical tape nanocrack‐based sensor exhibits high sensitivity (GF = 1.98), high hydrophobicity (contact angle = 133°), and bending cyclic stability (ΔR/R 0 < 0.2 after 5000 cycle tests). Moreover, the sensor can be used in robotic hands for precise pose monitoring and interactive perception. The outcomes of this study provide an innovative solution for underwater flexible sensing, which has significant potential and application value for enhancing the operational flexibility of underwater robots and other related marine fields.