Abstract: A soft pressure sensing apparatus is provided. In one aspect of the present pressure sensing apparatus, a polymeric member, including conductive particles therein, is located between offset angled and crossing sets of electrodes. A further aspect includes a controller configured to calculate at least one regularized least-squares algorithm, to reduce cross-talk between the resistive members. In another aspect, a pressure sensor apparatus includes a piezoresistive film encapsulated between layers of substantially perpendicular electrodes to create a resistor network circuit where the ability to reconstruct cell resistance from measured two-point resistance. A method of manufacturing a pressure sensor includes using a mechanical vinyl cutter for the electrodes and/or piezoelectric resistive members.

Abstract: An amphibious robot is provided. An aspect of the robot includes an elongated flexible body, actuators in the flexible body and spaced apart along a length of the flexible body. The actuators are configured to move the flexible body in a serpentine or concertina motion on land and in water. An additional aspect includes a camera coupled adjacent to an end of the flexible body, at least one sensor coupled to the flexible body, and a buoyancy controller located in the flexible body. Another aspect includes a power source coupled to the flexible body and configured to power the actuators, the camera, the sensors, and the buoyancy controller. Yet another aspect employs an electric controller to control the actuators and receive data from the sensors.

Abstract: A soft gripper apparatus is provided. In another aspect, a soft gripper includes tribo-skin pressure sensors, an internal bending sensor, at least one flexible gripping finger and an actuator. A further aspect of a soft gripper apparatus employs longitudinally elongated, laterally spaced apart and self-powering, electrically conductive strips that sense and send a bending signal to a programmable controller indicative of a bending angle of a gripping finger within which the strips are encapsulated. Another aspect of a gripping apparatus includes at least one workpiece pressure sensor and/or at least one bending sensor, which are connected to a programmable controller and electrical circuit to automatically determine a characteristic of the workpiece.

Abstract: A flexible sensor is provided. A further aspect employs a sensor apparatus including pressure or force sensing layers or sheets in addition to location sensing layers or sheets. In another aspect, an electrical sensing circuit and flexible films are used to sense pressure and/or location of a contacting object. In another aspect, a compressible polymer includes conductive particles therein such that the compressible polymer changes electrical resistance when compressed to indicate a force or location. Still another aspect has stacked sandwiches of pressure and/or location sensing films, layers or sheets.

Abstract: A robotic submersible includes a housing having a body and a tail. In another aspect, a pump and a pump tank adjust the buoyancy of a submersible housing. In a further aspect, a first linear actuator controls the pump and/or a buoyancy, and/or a second linear actuator controls a position of a battery and/or adjusts a center of gravity. Another aspect includes a pump and at least one linear actuator that control gliding movements of the housing. In still a further aspect, a motor couples a tail with a body, such that the motor controls the movements of the tail to create a swimming movement. Moreover, an additional aspect provides a controller selectively operating the pump, first actuator, second actuator, and motor to control when swimming and gliding movements occur.

Abstract: An apparatus includes an electroactive polymer member and a first electric terminal and a second electric terminal. The electroactive polymer member has a free portion configured to change position relative to a fixed portion in response to an external stimulus corresponding to at least one of a flow parameter or a fluid parameter. The first electric terminal and the second electric terminal are coupled to the electroactive polymer member. The first electric terminal and the second electric terminal provide an electrical signal in response to the change.

Abstract: A robotic submersible includes a housing having a body and a tail. In another aspect, a pump and a pump tank adjust the buoyancy of a submersible housing. In a further aspect, a first linear actuator controls the pump and/or a buoyancy, and/or a second linear actuator controls a position of a battery and/or adjusts a center of gravity. Another aspect includes a pump and at least one linear actuator that control gliding movements of the housing. In still a further aspect, a motor couples a tail with a body, such that the motor controls the movements of the tail to create a swimming movement.

Abstract: A robotic submersible includes a housing having a body and a tail. In another aspect, a pump and a pump tank adjust the buoyancy of a submersible housing. In a further aspect, a first linear actuator controls the pump and/or a buoyancy, and/or a second linear actuator controls a position of a battery and/or adjusts a center of gravity. Another aspect includes a pump and at least one linear actuator that control gliding movements of the housing. In still a further aspect, a motor couples a tail with a body, such that the motor controls the movements of the tail to create a swimming movement. Moreover, an additional aspect provides a controller selectively operating the pump, first actuator, second actuator, and motor to control when swimming and gliding movements occur.

Abstract: A robotic submersible includes a housing having a body and a tail. In another aspect, a pump and a pump tank adjust the buoyancy of a submersible housing. In a further aspect, a first linear actuator controls the pump and/or a buoyancy, and/or a second linear actuator controls a position of a battery and/or adjusts a center of gravity. Another aspect includes a pump and at least one linear actuator that control gliding movements of the housing. In still a further aspect, a motor couples a tail with a body, such that the motor controls the movements of the tail to create a swimming movement. Moreover, an additional aspect provides a controller selectively operating the pump, first actuator, second actuator, and motor to control when swimming and gliding movements occur.

Abstract: An apparatus includes an electroactive polymer member and a first electric terminal and a second electric terminal. The electroactive polymer member has a free portion configured to change position relative to a fixed portion in response to an external stimulus corresponding to at least one of a flow parameter or a fluid parameter. The first electric terminal and the second electric terminal are coupled to the electroactive polymer member. The first electric terminal and the second electric terminal provide an electrical signal in response to the change.

Abstract: An integrated sensory actuator (10) which uses an electroactive polymer is provided. The sensory actuator is comprised of an actuating member (12) made of an ionic polymer-metal composite; a sensing member (14) made of a piezoelectric material; and an insulating member (16) interposed between the actuating member and the sensing member. The sensory actuator may further include a compensation circuit adapted to receive a sensed signal from the sensing member and an actuation signal from the actuating member and compensate the sensed signal for feedthrough coupling between the actuating member and the sensing member.

Abstract: An integrated sensory actuator (10) which uses an electroactive polymer is provided. The sensory actuator is comprised of an actuating member (12) made of an ionic polymer-metal composite; a sensing member (14) made of a piezoelectric material; and an insulating member (16) interposed between the actuating member and the sensing member. The sensory actuator may further include a compensation circuit adapted to receive a sensed signal from the sensing member and an actuation signal from the actuating member and compensate the sensed signal for feedthrough coupling between the actuating member and the sensing member.