Special Section Technical Briefs

Flexible, Stretchable Skin Sensors for Two-Dimensional Position Tracking in Medical Simulators1

[+] Author and Article Information
Jason Lu, Timothy M. Kowalewski

Department of Mechanical Engineering,
University of Minnesota,
Minneapolis, MN 55455

Accepted and presented at The Design of Medical Devices Conference (DMD2015), April 13-16, 2015, Minneapolis, MN, USA.

Manuscript received March 3, 2015; final manuscript received March 16, 2015; published online April 24, 2015. Editor: Arthur Erdman.

J. Med. Devices 9(2), 020927 (Jun 01, 2015) (3 pages) Paper No: MED-15-1120; doi: 10.1115/1.4030138 History: Received March 03, 2015; Revised March 16, 2015; Online April 24, 2015

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Shan, J. H., Mei, T., Sun, L., Kong, D. Y., Zhang, Z. Y., Ni, L., Meng, M., and Chu, J. R., 2005, “The Design and Fabrication of a Flexible Three-Dimensional Force Sensor Skin,” IEEE International Conference on Intelligent Robots and Systems (IROS 2005), Edmonton, Canada, Aug. 2–6, pp. 1818–1823. [CrossRef]
Ulmen, J., and Cutkosky, M., 2010, “A Robust, Low-Cost and Low-Noise Artificial Skin for Human-Friendly Robots,” IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, May 3–7, pp. 4836–4841. [CrossRef]
Kim, D.-H., Ghaffari, R., Lu, N., Wang, S., Lee, S. P., Keum, H., D'Angelo, R., Klinker, L., Su, Y., Lu, C., Kim, Y.-S., Ameen, A., Li, Y., Zhang, Y., de Graff, B., Hsu, Y.-Y., Liu, Z., Ruskin, J., Xu, L., Lu, C., Omenetto, F. G., Huang, Y., Mansour, M., Slepian, M. J., and Rogers, J. A., 2012, “Electronic Sensor and Actuator Webs for Large-Area Complex Geometry Cardiac Mapping and Therapy,” Proc. Natl. Acad. Sci., 109(49), pp. 19910–19915 [CrossRef]. [CrossRef]
Walz, R., Meier, Z., Winek, M., and Kowalewski, T. M., 2014, “Medical Simulators for Developing Countries Via Low-Cost Two-Dimensional Position Tracking,” ASME J. Med. Devices, 8(3), p. 030949. [CrossRef]


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Fig. 1

Side view of CNT skin sensor

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Fig. 2

(a) PDMS substrate with partial CNT strips shows stretchability, (b) perforated layer detail, (c) brass node clamp, and (d) brass clamp contact node attached to the CNT–PDMS pad

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Fig. 3

(a) Circuit, (b) 1 cm grid test grid, and (c) sensor CNT surface

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Fig. 4

Raw voltage (color) versus x-y contact position; “up” and “right” plots are flipped to illustrate similarity

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Fig. 5

Polynomial surface fit (order 3 × 2) to averaged data in “down” configuration; R2= 0.9956, RMSE = 0.47 mm



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