A tactile function embedded flexible dynamic curvature sensor with rotational scanning detection ability

This paper presents a novel flexible dynamic curvature sensor with tactile sensing function (Fig. 1). The sensor is fabricated with a piezoelectric polyvinylidene fluoride (PVDF) film and integrated to the actuator made of arc-shaped ionic polymer metal composite (IPMC), allowing the curvature sensor to fit versatile curved targets, and rotationally scan the targets by electrical control. This polymer-based sensor can detect large curvature change and dynamically sense the curvature variation as a function of time. Meanwhile, the embedded tactile function of the curvature sensor can monitor whether the sensor touches the target. Detailed device design, fabrication process and testing are described in the text. This developed device could be applied to a dexterous robot for monitoring shape change of substance or possible to a catheter for medical applications.