Soft robots adapt passively to complex environments due to their inherent compliance, allowing them to interact safely with fragile or irregular objects and traverse uneven terrain. The vast tunability and ubiquity of textiles has enabled new soft robotic capabilities, especially in the field of wearable robots, but existing textile processing techniques (e.g., cut‐and‐sew, thermal bonding) are limited in terms of rapid, additive, accessible, and waste‐free manufacturing. While 3D knitting has the potential to address these limitations, an incomplete understanding of the impact of structure and material on knit‐scale mechanical properties and macro‐scale device performance has precluded the widespread adoption of knitted robots. In this work, the roles of knit structure and yarn material properties on textile mechanics spanning three regimes–unfolding, geometric rearrangement, and yarn stretching–are elucidated and shown to be tailorable across unique knit architectures and yarn materials. Based on this understanding, 3D knit soft actuators for extension, contraction, and bending are constructed. Combining these actuation primitives enables the monolithic fabrication of entire soft grippers and robots in a single‐step additive manufacturing procedure suitable for a variety of applications. This approach represents a first step in seamlessly “printing” conformal, low‐cost, customizable textile‐based soft robots on‐demand.
This content will become publicly available on January 1, 2024
Textile Knitted Stretch Sensors for Wearable Health Monitoring: Design and Performance Evaluation
The advancement of smart textiles has led to significant interest in developing wearable textile sensors (WTS) and offering new modalities to sense vital signs and activity monitoring in daily life settings. For this, textile fabrication methods such as knitting, weaving, embroidery, and braiding offer promising pathways toward unobtrusive and seamless sensing for WTS applications. Specifically, the knitted sensor has a unique intermeshing loop structure which is currently used to monitor repetitive body movements such as breathing (microscale motion) and walking (macroscale motion). However, the practical sensing application of knit structure demands a comprehensive study of knit structures as a sensor. In this work, we present a detailed performance evaluation of six knitted sensors and sensing variation caused by design, sensor size, stretching percentages % (10, 15, 20, 25), cyclic stretching (1000), and external factors such as sweat (salt-fog test). We also present regulated respiration (inhale–exhale) testing data from 15 healthy human participants; the testing protocol includes three respiration rates; slow (10 breaths/min), normal (15 breaths/min), and fast (30 breaths/min). The test carried out with statistical analysis includes the breathing time and breathing rate variability. These testing results offer an empirically derived guideline for future WTS research, present aggregated information to understand the sensor behavior when it experiences a different range of motion, and highlight the constraints of the silver-based conductive yarn when exposed to the real environment.
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- Award ID(s):
- 1655221
- NSF-PAR ID:
- 10437663
- Date Published:
- Journal Name:
- Biosensors
- Volume:
- 13
- Issue:
- 1
- ISSN:
- 2079-6374
- Page Range / eLocation ID:
- 34
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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