Stretchable, Multiplexed, and Bimodal Sensing Electronic Armor for Colonoscopic Continuum Robot Enhanced by Triboelectric Artificial Synapse
© 2025 The Author(s). Advanced Materials published by Wiley‐VCH GmbH.
| Publié dans: | Advanced materials (Deerfield Beach, Fla.). - 1998. - 37(2025), 33 vom: 23. Aug., Seite e2502203 |
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| Auteur principal: | |
| Autres auteurs: | , , , , , , , |
| Format: | Article en ligne |
| Langue: | English |
| Publié: |
2025
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| Accès à la collection: | Advanced materials (Deerfield Beach, Fla.) |
| Sujets: | Journal Article colonoscopic continuum robot full‐coverage multiplex strain sensing stretchable electronic armor tactile sensing triboelectric encoding Hydrogels Alginates |
| Résumé: | © 2025 The Author(s). Advanced Materials published by Wiley‐VCH GmbH. Colonoscopic continuum robots often lack sensing capabilities, risking tissue damage. An ideal robot electronic skin should offer full-body coverage, multiplexing, stretchability, and multifunctionality, but integration is challenging due to the robot's elongated structure. This work presents a stretchable electronic armor (E-armor) with a 3D crosslinked structure that enables 300 mm full coverage while accomplishing multiplexed simultaneous tactile and strain sensing through bioinspired artificial synapse mechanisms. The E-armor integrates 48 tactile sensing points through bilayer co-electrode strategy, reducing wiring while combining triboelectric encoding intelligence with innovative stretchable triboelectric interlinked films (TIFs) to form a triboelectric artificial synapse that generates digitally encoded signal pairs upon contact. A convolutional neural network and long short-term memory network (CNN-LSTM) deep learning framework achieve 99.31% accuracy in identifying multi-point tactile signals. A sodium alginate/polyacrylamide/sodium chloride (SA/PAM/NaCl) conductive hydrogel serves as a strain sensing element, providing excellent stretchability and biocompatibility, and allowing precise inference of bending angles at 12 strain sensing edges. A compliance control strategy coordinates tactile and strain signals to autonomously adjust continuum robot postures while ensuring smooth operation. The digital twin-based 3D visualization interface enhances human-robot interaction by digitally reconstructing both tactile and strain feedback, enabling real-time visualization of the continuum robot's intracolonic posture |
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| Description: | Date Completed 21.08.2025 Date Revised 23.08.2025 published: Print-Electronic Citation Status MEDLINE |
| ISSN: | 1521-4095 |
| DOI: | 10.1002/adma.202502203 |