Optimization of a Soft Pressure Sensor in Terms of the Molecular Weight of the Ferroelectric-Polymer Sensing Layer

Abstract

Tactile sensing is considered essential for effective object handling by robots. To this end, flexible smart materials are being extensively researched for application as soft pressure sensors. This paper proposes a soft pressure sensor featuring a ferroelectric-polymer sensing layer for dynamic pressure detection during robotic grasping operations. The solution-processed sensing layer is optimized in terms of the molecular weight of the ferroelectric polymer and the processing solvent. The proposed sensor exhibits high sensitivity to pressure with minimal response delay. Furthermore, these sensors successfully sensitize a robotic hand, enabling the real-time detection of pressure signals during object handling, thus demonstrating the potential of the proposed sensor for novel robotic interface applications such as biomimetic electronic skin.