<rdf:RDF xmlns:rdf="http://www.openarchives.org/OAI/2.0/rdf/" xmlns:ow="http://www.ontoweb.org/ontology/1#" xmlns:dc="http://purl.org/dc/elements/1.1/" xmlns:ds="http://dspace.org/ds/elements/1.1/" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:doc="http://www.lyncode.com/xoai" xsi:schemaLocation="http://www.openarchives.org/OAI/2.0/rdf/ http://www.openarchives.org/OAI/2.0/rdf.xsd">
   <ow:Publication rdf:about="oai:digibug.ugr.es:10481/110962">
      <dc:title>SensAct: The Soft and Squishy Tactile Sensor with Integrated Flexible Actuator</dc:title>
      <dc:creator>Ozioko, Oliver</dc:creator>
      <dc:creator>Karipoth, Prakash</dc:creator>
      <dc:creator>Escobedo Araque, Pablo</dc:creator>
      <dc:creator>Ntagios, Markellos</dc:creator>
      <dc:creator>Pullanchiyodan, Abhilash</dc:creator>
      <dc:creator>Dahiya, Ravinder</dc:creator>
      <dc:description>Herein, a novel tactile sensing device (SensAct) with a soft touch/pressure sensor seamlessly integrated on a flexible actuator is presented. The squishy touch sensor is developed with custom-made graphite paste on a tiny permanent magnet, encapsulated in Sil-Poxy, and the actuator (15 μ-thick coil) is fabricated on polyimide by Lithographie Galvanoformung Abformung (LIGA) micromolding method. The actuator can operate in two modes (expansion and contraction/squeeze) and two states (vibration and nonvibration). The sensor was tested with up to 12 N applied forces and exhibited ≈70% average relative resistance variation (ΔR/Ro), ≈0.346 kPa−1 sensitivity, and ≈49 ms response time with excellent repeatability (≈12.7% coefficient of variation) at 5 N. During simultaneous sensing and actuation, the modulation of coil current, due to ΔR/Ro (≈14% at 2 N force) in the sensor, allows the close loop control (ΔI/Io ≈385%) of expansion/contraction (≈69.8 μm expansion in nonvibration state and ≈111.5 μm peak-to-peak in the vibration state). Finally, the soft sensor is embedded in the 3D-printed fingertip of a robotic hand to demonstrate its use for pressure mapping along with remote vibrotactile stimulation using SensAct device. The self-controllable actuation of SensAct could provide eSkin the ability to tune stiffness and the vibration states could be utilized for controlled haptic feedback.</dc:description>
      <dc:date>2026-02-13T09:56:47Z</dc:date>
      <dc:date>2026-02-13T09:56:47Z</dc:date>
      <dc:date>2021-01-21</dc:date>
      <dc:type>journal article</dc:type>
      <dc:identifier>Ozioko, O., Karipoth, P., Escobedo, P., Ntagios, M., Pullanchiyodan, A. and Dahiya, R. (2021), SensAct: The Soft and Squishy Tactile Sensor with Integrated Flexible Actuator. Adv. Intell. Syst., 3: 1900145. https://doi.org/10.1002/aisy.201900145</dc:identifier>
      <dc:identifier>https://hdl.handle.net/10481/110962</dc:identifier>
      <dc:identifier>10.1002/aisy.201900145</dc:identifier>
      <dc:language>eng</dc:language>
      <dc:rights>http://creativecommons.org/licenses/by-nc-nd/4.0/</dc:rights>
      <dc:rights>open access</dc:rights>
      <dc:rights>Attribution-NonCommercial-NoDerivatives 4.0 Internacional</dc:rights>
   </ow:Publication>
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