Zenine, Mehdi (Sorbonne Université), RÉGNIER, Stéphane (Université Pierre et Marie CURIE, Institut des Systèmes Intellig), Boudaoud, Mokrane (Université Pierre et Marie CURIE, Institut des Systèmes Intellig)

Highly Localised Dynamic Mechanical Characterisation of Soft Polydimethylsiloxane (PDMS) with a Micro-Robotic System Based on Quartz Crystal Tuning Forks

Scheduled for presentation during the Regular Session "Soft Robotics" (WeBT5), Wednesday, July 16, 2025, 15:40−16:00, Room 109

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on July 16, 2025

Abstract

In this study, we present a semi-automated microrobotic platform based on a tuning fork for the characterization of the stiffness of soft polydimethylsiloxane (PDMS) samples involving very low-amplitude and highly localized interaction forces. Stiffness characterization is based on the measurement of the shift Δf in the resonance frequency of the tuning fork. A control strategy is proposed and implemented to ensure safe landing and indentation of the tuning fork probe on the sample. A model describing Δf as a function of PDMS stiffness and indentation depth is proposed. The results demonstrate the relevance of tungsten-tipped tuning forks controlled in permanent contact mode to distinguish PDMS samples of different rigidities through frequency shift and indentation depth measurements.