Design and Fabrication of a Five-Fingered Soft Robotic Hand with Embedded SMA Actuator and Piezoresistive Flexible Sensor

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This abstract focuses on the innovative performance and potential applications of a shape memory alloy as a material that can ideally actuate piezoresistive strain sensors. These sensors are made up of four gold strain gauges that are arranged in a Wheatstone bridge configuration on a flexible polyimide substrate. The SMA actuator was embedded in Polydimethylsiloxane (PDMS) along with the strain sensor to ensure better adhesion and stability. The sensor can detect the curvature and bending of the SMA and provide a voltage output. The experiment results reveal the displacement from the actuator as provided by the piezoresistive sensor.