Multi-layered morphing soft structure with high-performance embedded electrothermal artificial muscles along with touch and temperature sensors

Abstract In this paper, we present a novel multilayered morphing structure, having similar topology resembling the structures found in nature to grasp delicate objects effectively as well as sense contact force and temperature. The structure consists of two actuation layers, two U-shaped cooling channel layers, piezoelectric based touch sensors and temperature sensors. Employing shape memory alloy (SMA) spring actuators for bending and twisted and coiled polymer fishing line with nichrome (TCP FL NMC ) artificial muscles for antagonistic return, the soft silicone-based composite skin exhibits unique capabilities of large bidirectional movement, avoid rigid passive springs for return motion, soft grasping, safe interaction with humans, and ease fabrication. The SMA (0.38 mm wire diameter) serves as relatively fast actuating muscle and the TCP FL NMC (0.8 mm fiber diameter) as a slow actuating (considering mainly heating cycle), which was programmed/designed to mimic the fast and slow twitching muscles found in nature. Bending and return operations of skin samples of length 100 mm and thickness of 9 mm, with three different widths 20 mm, 25 mm, 30 mm, were experimentally studied. The 25 mm wide multilayered soft skin demonstrated cyclic actuation with a maximum bending angle of ∼70°, which was attributed due to the active cooling. The fluidic channels for active cooling were fabricated using 3D printed PVA tubes, casting within the silicone in a mold and subsequently dissolving in a circulating water. The study also included the integration and voltage response of mini-piezodisk sensor PIC255 having a diameter of 2 mm and thickness of 0.15 mm, which was embedded at different depths within the silicone (on the surface, 1 mm depth and 2 mm depth). The multilayered soft skin was also able to detect the temperature of the object during grasping, suggesting its potential application as a soft gripper in robotic systems.