A Novel Polypyrrole-based Sensor for Robotics Applications

A novel large strain sensor that can be used for the control of air muscle and robotic rotary joint is shown here. This sensor is made from polypyrrole coated on a natural rubber substrate using vapour phase polymerisation technique and then oxidized with ferric chloride to adjust the conductivity. The operation of this sensor is based on the change of the resistance of polypyyrole when stretched or strained and hence measuring the contraction and extension of an air muscle or the angular displacement of a rotary joint. A gauge factor of 1.86 was achieved.