Three-Dimensional Force Decouping-Sensing Soft Sensor with Topological Elastomer

Sensing the deformation of soft sensor elastomer can realize flexible operation robot and enhance perception human-computer interaction. The structural configuration its elastic force transfer path are crucial for decoupling sensing studying performance three-dimensional sensor. In this article, we present a theoretical method with decoupling-sensing. First, constraint types parallel manipulator three translational motion characteristics analyzed used to set conditions topology optimization. addition, differential kinematic modeling is adopted establish equation translations manipulator, which as pseudo-rigid body model information perception. Second, combining Jacobi matrix solid isotropic material penalization (SIMP), topological built designing elastomer. We optimized composition evaluate model’s capabilities. results validate unity between stiffness perceived sensitivity.