GEORGIA INSTITUTE OF TECHNOLOGY

Under the provisions of the regulations for the degree

MASTER OF SCIENCE

on Friday, April 10, 2020

11:00 AM
BLUEJEANS: https://bluejeans.com/660059188 

will be held the

MASTER’S THESIS DEFENSE

for

Riccardo Goldoni

"Development of a Nanocomposite Sensor and Electronic System for Monitoring of Locomotion of a Soft Earthworm Robot"

Committee Members:

Prof. W. Hong Yeo, Advisor, ME

Prof. Seung Soon Jang, MSE

Prof. Sundaresan Jayaraman, MSE

Abstract:

The ability to detect external stimuli and perceive the surrounding areas represents a key feature of modern soft robotic systems, used for exploration of harsh environments. Although people have developed various types of biomimetic soft robots, no integrated-sensor system is available to provide feedback locomotion. Here, a stretchable nanocomposite strain sensor with integrated wireless electronics to provide a feedback-loop locomotion of a soft robotic earthworm is presented. The ultrathin and soft strain sensor based on a carbon nanomaterial and a low-modulus silicone elastomer allows for a seamless integration with the body of the soft robot, accommodating large strains derived from bending, stretching, and physical interactions with obstacles. A scalable, cost-effective, screen-printing method manufactures an array of strain sensors that are conductive and stretchable over 100% with a gauge factor over 38. An array of stretchable nanomembrane interconnectors enables a reliable connection between soft strain sensors and wireless electronics, while tolerating the robot’s multi-modal movements. A set of computational and experimental studies of soft materials, stretchable mechanics, and hybrid packaging provides key design factors for a reliable, nanocomposite sensor system. The miniaturized wireless circuit, embedded in the robot joint, offers a real-time monitoring of strain changes on the earthworm skin. Collectively, the soft sensor system shows a great potential to be integrated with other flexible, stretchable electronics for applications in soft robotics, wearable devices, and human-machine interfaces.