Resistive Self-Sensing Controllable Fabric-Based Actuator: A Novel Approach to Creating Anisotropy

Designing advanced soft robots with soft sensing capabilities for real-world applications remains challenging due to the intricate integration of actuation and sensor capabilities, which require diverse materials and complex procedures. This paper introduces a fabric-based robotic technology featuring an "all textile-based self-sensing pneumatic actuator" and a low-cost resistive strain sensor created through simple sewing techniques. The novel approach eliminates the need for additional strain-limiting woven fabric, simplifying the manufacturing process. It also enables the development of bioinspired motions such as bending, twisting, and snake-like movements. The electromechanical behaviors of the sensor and bending actuator are tested for their performance under positive air pressure. Through mathematical modeling, the actuator's sensing capacity is estimated accurately, providing precise feedback for pressure and position control. Different closed-loop controller types, including On-Off and Proportional Integral Derivative (PID) control, are evaluated for their effectiveness. Furthermore, the practical application of the sensing actuator is demonstrated by integrating it into a wearable glove, showcasing its enhanced sensing capabilities for finger-like soft wearable robotic applications. This research tackles the challenges associated with designing advanced soft robots with integrated sensing capabilities, offering a promising fabric-based solution that can drive significant advancements in real-world applications.

This study focuses on the design, fabrication, characterization, modeling, and control of a textile-based resistive sensing robotic actuator. A novel approach is introduced to create mechanical anisotropy, eliminating the limitations posed by strain-limiting fabric. The integrated sensor provides accurate strain measurements for closed-loop control in soft robotics. The research findings contribute to flexible and adaptable robotic systems with broad applications. image