レンズ付き3Dプリント軟質光学センサ（SOLen）：メカノセンシングにおける光ガイド
3D-printed Soft Optical sensor with a Lens (SOLen) for light guidance in mechanosensing
3Dプリント可能な軟質光学センサを提案し、レンズの回転による焦点移動で光を分岐させ、動きの方向と大きさを検出する。
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著者: Diana Cafiso, Petr Trunin, Carolina Gay, Lucia Beccai
分類: cs.RO
原文アブストラクト
Additive manufacturing is enabling soft robots with increasingly complex geometries, creating a demand for sensing solutions that remain compatible with single-material, one-step fabrication. Optical soft sensors are attractive for monolithic printing, but their performance is often degraded by uncontrolled light propagation (ambient coupling, leakage, scattering), while common miti- gation strategies typically require multimaterial interfaces. Here, we present an approach for 3D printed soft optical sensing (SOLen), in which a printed lens is placed in front of an emitter within a Y-shaped waveguide. The sensing mechanism relies on deformation-induced lens rotation and focal-spot translation, redistributing optical power between the two branches to generate a differential output that encodes both motion direction and amplitude. An acrylate polyurethane resin was modified with lauryl acrylate to improve compliance and optical transmittance, and single-layer optical characterization was used to derive wavelength-dependent refractive index and transmittance while minimizing DLP layer-related artifacts. The measured refractive index was used in simulations to design a lens profile for a target focal distance, which was then printed with sub-millimeter fidelity. Rotational tests demonstrated reproducible branch-selective signal switching over multiple cycles. These results establish a transferable material-to-optics workflow for soft optical sensors with lens with new functionalities for next-generation soft robots
