2014 IEEE/RSJ International Conference onIntelligent Robots and Systems (IROS 2014)
September 14-18, 2014, Chicago, IL, USA

Conformable Actuation and Sensing with Robotic FabricMichelle Yuen1 , Arun Cherian1 , Jennifer C. Case1 , Justin Seipel1 , Rebecca K. Kramer1∗

Abstract— Future generations of wearable robots will include
systems constructed from conformable materials that do notconstrain the natural motions of the wearer. Fabrics represent
a class of highly conformable materials that have the potential
for embedded function and are highly integrated into our daily
lives. In this work, we present a robotic fabric with embedded
actuation and sensing. Attaching the same robotic fabric toa soft body in different ways leads to unique motions andsensor modalities with many different applications for robotics.
In one mode, the robotic fabric acts around the circumferenceof the body, and compression of the body is achieved. Attaching
the robotic fabric in another way, along one surface of abody for example, bending is achieved. We use thread-likeactuators and sensors to functionalize fabric via a standard
textile manufacturing process (sewing). The actuated fabricpresented herein yields a contractile force of 9.6N and changes
in length by approximately 60% when unconstrained. The
integrated strain sensor is evaluated and found to have an
RMS error of 14.6%, and qualitatively differentiates between
the compressive and bending motions demonstrated.

Fig. 1: Application of the same robotic fabric towards different
modes of motion: (a) flexing of a hinge joint and (b) compressinga soft body.

I. I NTRODUCTION

In this work, we present a functionalized fabric embeddedwith actuators and sensors. Because the actuators and sensors
integrated in the fabric base are also thread-like in terms ofshape, size and flexibility, the functionalized fabric retains
the conformable nature of its fabric base. To illustrate theversatility of robotic fabrics, we present two modes ofactuation using the same robotic fabric on a soft foam block:(1) bending, employing linear contraction along the lengthof the foam, and (2) compression, employing radial pressure
by wrapping the fabric around the foam midsection. For bothmodes of actuation, we test and report on the behavior of therobotic fabric.
We use shape-memory alloy (SMA) wire as the actuation
mechanism. The SMA is programmed to remember a helicalcoil when heated, which was previously shown to increase
the actuator change in length from between 4-10% to as
much as 50% [1]. The sensors used in this study are custommade by filling soft silicone tubing with liquid-metal. Whenthe tubing is strained or compressed, the cross-sectional
area of the encased liquid-metal is deformed, resulting in achange in electrical resistance. Both the actuator and sensor
components were chosen to mimic the compliance, strength,and usability of threads in fabric. As such, they can be
integrated with fabrics using standard textile manufacturing
approaches, such as sewing.
Robotic fabrics could be incorporated into wearable interfaces and electronics such as communication devices, wire
harnesses and conformable antennas, as well as assistive
fabrics for motion aid, prolonged endurance, and healthmonitoring. Furthermore, robotic fabrics have applications
in on-the-fly robot design in cases where function may need

Robots have the incredible power to amplify human productivity and enhance our capabilities, and by doing so shape
the world we live in. The use of the word robotic implies
a rigid, bulky, and complex device; however, the emerging
fields of soft robotics and wearable robotics counter this
implication by exploring the use of conformable materials as
actuators and sensors. In particular, we believe that fabrics
will play a large role in the future of soft and wearable robots,and could be employed in applications such as active clothing, active joint braces, or wearable interfaces. By treating
clothing as a field of engineering, it can be transformed frompassive apparel to active equipment, assisting its wearer byenhancing strength, improving stamina, or preventing injury.
As fabrics are already heavily integrated into our daily lives,
robotic fabrics will be natural for people to wear and interact
with, both minimizing discomfort and maximizing efficiency.
Robotic fabrics can also be customizable across different hosts and utilized differently depending on the host.
For example, a fabric sleeve with intermittent compression
actuators may be worn by a human to create peristalticlike flow of fluids within the muscle to aid in post-exertion
recovery, and this same fabric could be placed on a cylindrical deformable body to create peristaltic-like locomotion.
Similarly, a linearly actuating fabric might be applied to
produce contraction, bending or compression of different
hosts.
∗ Authortowhom

correspondence

shouldbe

addressed

rebeccakramer@purdue.edu
1 School of Mechanical Engineering, Purdue University, West Lafayette,

IN 47907, USA

978-1-4799-6934-0/14/$31.00 ©2014 IEEE580

to be adjusted on-demand, such as with exploratory robots
or first-responder robots.
II. P REVIOUS W ORK
Smart fabrics [2], [3], [4], [5] are generally fabrics thatincorporate some electronic component(s) for medical monitoring or wearable computing [6], [7]. Components andconnections are meant to be intrinsic to the fabric andtherefore less intrusive in daily tasks than other potential
forms of wearable computing. Some examples include theintegration of fiber optic sensors into fabrics [8], [9], textile
piezoresistive sensors [10], transistors in/on fibers [11], [12],and conductive threads [13], [14], [15], [16]. Furthermore,
smart textiles may utilize mainstream textile manufacturing
techniques, such as weaving [17], [18], [19] and knitting[20], which holds promise for fast integration times andprocess scalability.
While existing electronic fabrics have established exciting
possibilities for sensing in a conformable, soft, wearable
context, these do not yet have the capability of integrating
both sensing and actuation. Some recent demonstrations ofactuating systems that are comparable to fabrics include anactive soft orthotic device [21] and a soft exosuit made frompneumatic actuators and inextensible webbing [22]. Thesesoft exoskeleton architectures are designed to reduce impact
on the wearer’s normal kinematics by completely removing
rigid elements. Another related example is that demonstrated
by Seok, et al., where peristaltic locomotion was achieved
with a flexible braided mesh-tube structure with integrated
NiTi coil actuators [23]. In these cases, the actuating systems
have been designed for a very particular function, such as
assisted joint motion on a human wearer or locomotion via
compression of a deformable body. We counter this mindset
by exploring the use a single actuating fabric that may betransferred between hosts with the purpose of achieving
variable modes of actuation. By simply changing either thehost or orientation of the fabric, a different function may beenabled.
In this paper, we demonstrate the following two innovations: (1) integrated actuation and sensing in a functionaland conformable fabric, and (2) versatility in actuation mode
from the same robotic fabric, which may be controlled by
the position of the fabric and the deformable body it is on.

Fig. 2: (a) SMA wire stitched to fabric base. Dimensions of thewire area: 2.265” x 6”. Wire spacing: 0.375”. Stitch length: 0.785”.
(b) A closer look at the stitching of the SMA wire onto muslin.

Fig. 3: (a) A sensor thread composed of eGaIn-filled hyperelastic
silicone tubing. (b) Sensor threads attached to fabric via couching
and wrapped around a foam block.

shaft collar for 0.25” dia. shaft) to maintain tension in thewire. The shaft and wire are then heated at 500◦ C for 15
minutes in a furnace (Thermo Scientific Lindberg Blue M)
and quenched in cold water, over 5 intervals. The SMA wireis then unwound and sewn onto the fabric base in a serpentine
pattern as seen in Figure 2. By using a serpentine pattern,
the contractile force of a single SMA wire is extended acrossan area. The wire is laid upon the fabric in the desired
pattern and then cross-stitched in place by hand with aninelastic cotton thread. Alternatively, the SMA wire can be
fed through the lower bobbin in a sewing machine and lockstitched into place. In order to maximize the end-to-end
displacement of the fabric, the stitch length (i.e. the spacing
between anchoring points) is equal to the circumference ofthe programmed helical coil. With this spacing, an entire loop
is allowed to form when the SMA is heated. In contrast, if thestitches were spaced closer together, the SMA would be more
restrained to the fabric and fail to regain the programmed coil
as readily.

III. FABRICATIONThe robotic fabric begins with a base fabric of muslin, an
inelastic woven cotton textile. Because the fabric is flexible
and non-extensible, the deformation of the SMA wire istransferred more fully to the overall end-to-end displacementof the entire swatch of fabric. A stiffer fabric would resist
the deformation; a more elastic fabric will have reduced endto-end force production due to in-fabric stretching.
The actuator consists of nickel titanium (NiTi) shapememory alloy (SMA) wire. The SMA wire (Dynalloy 70◦ C,
0.015” dia.) is programmed by first coiling it tightly along ashaft (McMaster Carr, 0.25” dia. steel shaft) and fixing theends using shaft collars (McMaster Carr, two-piece clamp-on
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The sensors, hereby referred to as sensor threads, consistof hyperelastic tubing (High Purity White Silicone Tubing,
McMaster-Carr, outer diameter 0.037”) filled with eutectic
gallium indium (eGaIn), a non-toxic conductive liquid alternative to mercury (Figure 3a). A length of silicone tubing is
first filled with eGaIn by injecting it through the tubing witha syringe. Copper wire is inserted into the ends of the sensors
to serve as lead wires. The sensors are sealed by encasing
silicone caulk at the wire-tubing interface with heat shrink
tubing. After allowing the caulk to cure, heat is applied tothe heat-shrink tubing to complete the sealing process.
The sensor thread is secured onto the fabric base bycouching the heat shrink tubing onto the fabric as shownin Figure 3b. Couching is a method of securing a yarn
onto a fabric by stitching another thread around the yarn,
harnessing the yarn to the fabric. Only the ends of the sensor
threads covered with heat shrink tubing are couched onto thefabric to prevent the thread from compressing the silicone
tubing and provoking a false report of strain. The sensors
and SMA are attached on opposite sides of the fabric toreduce the possibility of damaging the tubing through heatingor pinching when the SMA is activated. The sensors arepretensioned with approximately 60% strain when attachingthem to the fabric base such that the sensor experiences zerostrain when the robotic fabric is fully contracted. As a result,when the fabric is flat, the sensor undergoes a positive 60%
strain.
Considerations of the robotic fabrics intended geometry
are used to determine the placement, length and orientationof the sensor threads. For example, to measure the amount ofbending in a body, sensors are laid parallel to the anticipateddirection of bending as shown in Figure 3b. By reading theresistance output of multiple sensors arranged on a body, thedeformation and curvature of the body can be obtained.

Fig. 4: Characterization of linear force generation by a single
actuator unit using a materials testing machine.
10

Load (N)

8
6
4
2
0
−2
0

200

400

600

800

1000

1200

Time (s)Fig. 5: Plot of the force produced by a single actuator unit
in isometric contraction over 15 cycles. The fabric swatch had
dimensions 2.625” x 6” and contained 8 returns of programmed
SMA spaced 0.375” apart. SMA was powered at 10V and 1.2A.

IV. C HARACTERIZATION
A. Actuator Characterization
In order to characterize the performance of SMA integrated in the fabric for linear isometric force generation, we
fabricated a rectangular swatch with dimensions 2.625” x 6”
containing 8 returns of SMA spaced 0.375” apart. The lengthof the swatch was maintained constant between the jaws of amaterials testing machine (Instron 3345) (Figure 4). The unit
was actuated by a power supply outputting a constant 10V
and a maximum of 1.2A, prompting the SMA to recall its
programmed shape, a helical coil of diameter 0.25”. Because
the length of the unit was maintained constant, an increasein force was measured.
The force was recorded over 15 cycles of powering the
SMA on and off at 10V and 1.2A over 30s and 60s timeintervals, respectively (Figure 5). The actuator unit was foundto degrade in performance in terms of force production
by 9.8% after 5 cycles and 17.4% after 15 cycles due todegradation of the shape memory effect of the SMA, as well
as stretching of the base fabric and stitching thread. It is
assumed that the degradation will continue due to weakening of the fabric and stitch threads. The maximum force

generated by the actuation unit, for which the total length of
SMA was 50.625”, was approximately 9.6N. When allowed
to freely contract, the fabric contracted approximately 60% in
length. This linear force and displacement may be translated
to bulk radial pressure when the fabric is wrapped around a
host. While a rough estimate may be obtained by assumingthat the stress in the actuator is linearly proportional to thehoop stress (as given by pressure vessel analysis), actual
distributed pressure will depend largely on properties of thehost such as size, shape, elasticity, and compressibility.
B. Sensor Characterization
To determine the sensor threads resistive response tostrain, an Instron materials testing machine was used toapply strain to the device at a rate of 50mm/min from0 to 100%. Simultaneously, a BK Precision 5492B digital
multimeter recorded the resistance at a rate of 2Hz. As
the sensors are stretched, the cross-section decreases and582

This is demonstrated in the plot of dR/R0 in Figure 7, where
the output resistance decreases as the joint angle decreases.
Characterization of the sensor threads focused solely on the
response due to linear strain (Figure 6). To translate linear
strain to proprioceptive capability in a bending application,
the joint angle can be calculated via the law of cosines as θ =22−L2), where a and b are the distances between
arccos( a +b
2abthe ends of the sensor and the axis of rotation and L is thelength of the sensor. Length L is calculated by applying theempirically found linear model to the normalized resistance
output of the sensor due to applied strain.
To empirically verify proprioceptive capability, the output
of a sensor thread was recorded at various joint angles fromapproximately 90◦ to 180◦ . The sensor was attached to thearms of the joint while the joint angle was 180◦ with a prestrain of 60%; at 90◦ , the distance between the attachment
points was slightly less than the initial length of the sensor.
The actual joint angle was determined by measuring theangle in photos taken directly from the side during the test.
The empirical calibration demonstrated a linear relationshipbetween the joint angle and the normalized resistance, whichis consistent with the linear characterization reported in
Figure 6. Analysis of the calibration data yielded the regression equation: θ = 108.46 dR
R0 + 103.61, which was used
to calculate the expected joint angle given a normalized
resistance value. A comparison of the actual and expectedjoint angle given a normalized resistance output is plotted in
Figure 8. The RMS error between the actual and expectedjoint angle was found to be 14.6%. At low bend angles, theaccuracy of the sensor degrades because the sensor was slack
and had a near-zero normalized resistance output. Once outof this range (approximately 115-120◦ ), the accuracy of thesensor improved due to sufficient tension across the sensor.
To increase the range of angles that can be measured, moresensors can be placed around the joint and different methodsof sensing can be used.

the overall length increases. This results in an increase inL, where ρ is the resistivity of eGaIn,
resistance as R = ρ A
L and A are the length and cross-sectional area of thesensor, respectively. The experimental data relating strain to
the normalized change in resistance of the sensor (dR/R0 )was plotted to determine the characteristic behavior of eachsensor (Figure 6).
2.5
2

dR/R0

1.5

Sensor 1
Sensor 2
Sensor 3
Sensor 4
Sensor 5
Sensor 6

1
0.5
0
0

20

40

60

80

100

Strain (%)

Fig. 6: Resistive response of 6 sensor threads of the same geometry
to applied strain at a rate of 50mm/min. Data has been smoothedby a running average over 10 data points.

Figure 6 plots the response of 6 individual threads of thesame dimensions (outer dia. 0.037”, length 5”). While thestrain characterization data appears to follow a 2nd-orderpolynomial model, within the range of 0 to 100% strain, thedata can also be approximated by a linear model. Althoughplotted outputs are normalized by the initial resistance ofeach sensor by dR/R0 , the responses are clearly inconsistentacross different specimens of the same design specifications.
This implies imperfections in the manufacturing process (e.g.
sealing, wire-eGaIn interface) that must be addressed forconsistent product yield and the need for individual empiricalcharacterization of each sensor.
V. R ESULTS

B. Compression

A. Bending
Robotic fabric was pinned across a hinge joint in a foam
block such that during activation, the fabric would remain
secured to the surface of the foam block, thus causing thearms to bend together (Figure 7). The SMA was powered at
a constant voltage of 10V and a maximum current of 1.2A
for 50s, which ensured that the SMA would reach maximal
force production as seen in Figure 5. The force produced was
sufficient to decrease the joint angle by approximately 80◦ .
After the power to the actuation unit was turned off, the foam
body and the fabric were allowed to relax to a final state.
Because the foam block did not provide sufficient rebounding
force, the SMA remained in a semi-contracted state and thejoint remained slightly bent.
The joint angle can be approximated from the sensory
data. Because the sensor is pretensioned when attaching it to
the fabric, it experiences maximal strain when the joint angle
is 180◦ , i.e. when the fabric is flat. As the joint is flexed due
to contraction of the SMA, the sensor experiences less strain.

The same swatch of robotic fabric was wrapped aroundand then pinned to a foam block with the sensor thread between the fabric and the foam (Figure 9). The SMA was activated with 10V and 1.2A for 2 minutes then deactivated; theresistance output of the sensor was continuously recorded.
In contrast to the bending application, the resistance of thesensor increased as the SMA was activated. As the fabricsqueezed the foam, it also applied pressure to the sensor.
Because the resistance of the sensor thread is R = ρL
A , thedecrease in cross-sectional area, A, results in an increase
in resistance, R. The effect of pressure on this device has
not yet been conclusively characterized; however, previously
developed elastomer-based pressure sensors operate on thisbasic principle [24], [25]. The resistance increased somewhat
linearly up to the maximum compression, at which point the
SMA was deactivated. As the SMA cooled, it maintained asemi-contracted state due to an insufficient restoring force todecompress the foam and re-extend the SMA wire.
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Fig. 7: (a)-(c) Photos of a bending application showing the initial state, the maximum bending position, and the final relaxed state. (d)Sensor output during flexure of a joint. The red and green shading indicate powered and unpowered SMA, respectively. Data has beensmoothed by averaging over 10 data points.

that are typically associated with bending of a spine or thebending of an articulated limb, and many traditional robotics
applications have been developed [26], [27], [28]. Robotic
fabric may have applications in traditional robotic settings,
as there is a need for softer and safer robots in industry andin human environments. Soft and partially articulated bodies
could bend and function effectively like an articulated limb as
the robotic fabric matrix acts effectively like the antagonist
pairs of muscles that occur across joints. To assist motionof a human wearer, fabric that spans articulated joints could
generate additional bending moments beyond what a humanachieves with his or her own muscles. Such robotic fabricspanning across a human joint would act like an additional
thin layer of muscle on top of the musculoskeletal complexof the joint.

200

Actual Joint Angle

180
160
140
120
100
80
100

120

140

160

180

200

Expected Joint Angle
Fig. 8: Comparison of actual and expected joint angles. The
dR+ 103.61
expected joint angle was calculated from θ = 108.46 R
0
as determined during prior empirical sensor calibration.

When the robotic fabric is attached to a foam blocksuch that the active threads act around the circumference,
it produces a net pressure on the surface of the body thatcauses a compressive deformation. The compression of acircumferential robotic fabric has immediate relevance forrobotics applications ranging from wearable compression
suits to soft-bodied locomotion like peristalsis (e.g. earthworm locomotion) [21], [22], [23]. To achieve a wearable
and active compression garment, active threads would beoriented around the circumference of limbs and the trunkof the human body. This would enable the control of staticpressure and cyclic pressure over desired portions of limbs
and the trunk.

VI. D ISCUSSION
When the robotic fabric is attached to a face of the bodysuch that the active threads act more on one side of the
body than another, bending occurs. Even if robotic fabric isattached on all sides or faces of a body and co-activation
occurs, if there is net actuation to one side of the body,then bending occurs to that side. The bending motion ofa soft body can also be approximated by bending beam
theory, lending itself to fundamental analysis and predictivemodeling.
Bending is a fundamental mode of motion with many applications for robotics. Bending is representative of motions

Although the current sensing capabilities of robotic fabriccannot be relied upon for their quantitative accuracy, their584

Fig. 9: (a)-(c) Photos of a compression application showing the initial uncompressed state, the maximum compression achieved, and thefinal semi-decompressed state. (d) Sensor output during compression of a foam block. The red and green shading indicate powered andunpowered SMA, respectively.

responses provide qualitative proprioceptive feedback. In thebending application, the robotic fabric was placed on theinside of the joint to cause flexion. As a result, the sensor
decreased in resistance as the joint was flexed because thesensor was less strained (Figure 7). A set of two sensors canthus be used, at a minimum, to qualitatively differentiate
between directions of flexion of a joint. Conversely, in thecompression application, the robotic fabric was wrappedaround a foam block and the sensor increased in resistanceas the foam was compressed (Figure 9). In both applications,the robotic fabric contracted, whereas the sensor responses
were opposite. Bending and compression can be clearly
differentiated and qualitatively correlated with the sensor
output.

Introducing multiple sensor threads into a robotic fabricwould yield richer sensory information. Not only would
the resolution of the sensory output increase, values suchas the curvature of the host body could be determined.
By combining knowledge of the host body and differential
curvature sensing techniques, the overall curvature of the
body can be found. Furthermore, the manufacturing methods
currently used can be improved towards goals of increased
repeatability and robustness. More specifically, more robust
sealing methods and elimination of air bubbles in the elastomer tubing used for the sensors should be pursued.
In terms of wearability of the robotic fabric, safetyconcerns will have to be studied. Because the transition
temperature of the SMA wire used here is 70◦ C, continuous
powering of SMA may generate enough thermal energy toburn the skin during sustained direct contact, depending on
the duration of contact and the temperature of the contacting
object. The threshold temperature for causing minor acuteskin burns after 30s exposure is 48.4◦ C [29]; currently,
the maximal temperature on back of the robotic fabric willreach 50◦ C as measured by a thermocouple (Fluke 87V
temperature probe) after a 30s actuation period at 10V
and 1.2A. Implementing conservative powering sequences,adding layers of thermal insulation and introducing otherthermal management mechanisms will minimize the skincontact temperature.

VII. F UTURE W ORK
The active and sensing thread components of the robotic
fabric can be readily integrated using existing textiles technology and methods. In this work, both SMA wire actuatorsand elastomeric sensors were sewn into the fabric by either
hand-sewing or use of a sewing machine. In the future, thesecomponents may also be woven into a fabric.
Investigating the interaction between the SMA wire andthe fabric, as well as the choice of textile and thread could
improve the performance of the actuation unit as a whole.
Also, the programming of the SMA can be optimized to improve shape fixity. Control and powering of the SMA can be
more precisely regulated to reduce damage to the crystalline
structure of the austenite phase and reduce degradation of
the shape memory effect.

VIII. C ONCLUSION
In this paper, we have demonstrated how a single sheetof robotic fabric can be used to generate multiple motion
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and sensing functions depending on how it is applied to ahost body. In particular, we demonstrated that compression
and bending motion can be achieved. These two modes of
motion are representative of basic motions for a range ofrobotic applications ranging from wearable robots to new
soft industrial robots to autonomous soft robots.
We discussed the fabrication methods and characterizationof the actuation and sensing components of robotic fabric.
The SMA wire actuator was programmed into a helical coil,then unwound and sewn onto a muslin base fabric in a
serpentine pattern. Although increasing the number of returnsof SMA on the fabric could increase the contractile force,interactions between the base fabric, stitch thread, and SMA
will also play a role in the resulting force production.
The sensor threads are composed of eGaIn-filled silicone
tubing. Due to inconsistencies in manufacturing, the responseof the sensors are currently non-uniform across different
samples. As a result, each thread is currently characterizedindividually. However, the sensors can reliably qualitatively
differentiate between the compressive and bending motions
demonstrated by yielding increased and decreased dR/R0 ,respectively.
The integration of actuator threads and sensor threads into
a robotic fabric was also demonstrated, and future integration
could include higher numbers of each thread. Having asingle robotic fabric with actuators and sensors integrated
throughout would provide general purpose functionality, andenable new programmable fabrics.
Overall, the introduction of robotic fabrics is expected
to contribute towards new exciting possibilities for highly
wearable and conformable robots, as well as general soft
robots.

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