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    Flexible Linear Absolute Encoder System for Force Localization in Soft Environments
    (IEEE, 2020) Erdil, Kuter; Korkut, Dogukan; Akcan, O. Gokalp; Muslu, Batin; Gokdel, Y. Daghan; Baran, Eray A.
    This paper proposes a novel disposable linear absolute encoder system and its peripheral electronic readout circuitry to be used for the localization of force in a continuum media such as a flexible robotic arm. The proposed structure relies on the design of graphite layers on a flexible surface that shows varying resistance based on the applied strain. The proposed topology can localize the force applied on a continuous paper based sensor having the geometry of an absolute encoder system. The successful results obtained from the experiments prove the efficacy of the proposed system while opening new paradigms for the possibility of contact force localization in flexible structures like soft robots.
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    Paper-Based Piezoresistive Force Encoder for Soft Robotic Applications
    (IEEE-Inst Electrical Electronics Engineers Inc, 2022) Akcan, Omer Gokalp; Erdil, Kuter; Korkut, Dogukan; Baran, Eray A.; Gokdel, Y. Daghan
    This work demonstrates the design, implementation, and experimental results of a low-cost disposable flexible sensor system capable of both impact localization and measurement. The proposed flexible sensor structure utilizes a special series of Bristol paper as the main fabrication material, which is coated with electric paint graphite paste and silver paste. The implemented sensor system uses a planar absolute encoder-like sensing topology to locate the impact and has a low-cost and quick manufacturing process. The size of the structure is 210 x 18.56 mm with a thickness of approximately 340 mu m. It has an electronic read-out consisting of three identical Wheatstone bridge circuits and instrumentation amplifiers for each bit. It can detect the external forces in the range of 0.6N to 12N with a spatial resolution of 2.4 cm and 0.55 cm in horizontal and vertical axes, respectively. The proposed sensor structure is tested in a series of experiments using a robotic setup consisted of a pantograph mechanism and a direct drive linear motor. The experiments illustrate the results with measurement sensitivity as small as 1N and proper fatigue resilience against repetitive loads.
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    Silicone Mold Implementation for High-Sensitive Detection of Strain Sensing using Paper-Based Piezoresistive System
    (IEEE, 2020) Korkut, Dogukan; Erdi, Kuter; Akcan, O. Gokalp; Muslu, Batin; Baran, Eray A.; Gokdel, Y. Daghan
    This paper presents the design, fabrication, experimental results and related discussion of a portable bending enhancing silicone mold structure for biomedical applications in which a high-sensitive but low-cost force measurement structure with a large-dynamic range is required. Proposed system is composed of a replaceable parts like graphite coated Strathmore (R) 400 series Bristol paper and cheap RTV-2 silicone molds. The results shows that low-cost, portable and high-sensitive force and strain sensor systems can be realized for point-of-care biomedical applications in the future.