#  Bill of Materials 

 



 ##  

  expand\_more  

 
  

 

This section is split into each individual component of the sensor. A generic name is provided with the supplier for ease of substitution. Every item can be replaced at your own discretion.

#### Conductive Rubber

 ![bom-conductive-rubber](/sites/g/files/omnuum4601/files/2024-11/bom-conductive-rubber.jpg)

 

### 3D Printed Parts

These parts can be printed with ABS or PLA. They are designed to require minimal support material.

- Mold body ([Download](https://sandbox.softroboticstoolkit.com/f2875f32/downloads))
- Syringe attachment ([Download](https://sandbox.softroboticstoolkit.com/f2875f32/downloads))

### Casting Materials

- 3 mm chopped carbon fiber ([.125" Chopped Carbon - 1 lb - Amazon](https://www.amazon.com/125-Chopped-Carbon-1-lb/dp/B071NGRJ57/))
- Rubbing alcohol (not pictured, any generic household rubbing alcohol works)
- Shore 25 A platinum cure silicone rubber ([Platsil Gel-25 - Brick in the Yard](https://www.brickintheyard.com/collections/platsil-gels/products/gel25u2))
- 10 ml Syringe ([10ml Oral Syringe - Amazon](https://www.amazon.com/Syringe-Cover-Syringes-Care-Touch/dp/B01L7U9VVK/))
- Stirring sticks ([Mixing sticks - Brick in the Yard](https://www.brickintheyard.com/collections/mixing-measuring/products/mixing-sticks-box))
- Mixing cups

### Mold Parts

- 4 mm steel rod ([Low-Carbon Steel Rod - McMaster Carr](https://www.mcmaster.com/#8920k16/=1d2hx8y))

### Equipment

- Multimeter or Ohmmeter (not pictured)
- Precision weight scale with 0.01 g resolution ([AMIR Digital Kitchen Scale, 500g/0.01g - Amazon](https://www.amazon.com/AMIR-Back-Lit-Function-Stainless-Batteries/dp/B01HCKQG7G))

#### Sensor Body

 ![bom-sensor-body](/sites/g/files/omnuum4601/files/2024-11/bom-sensor-body.jpg)

 

### 3D Printed Parts

These parts can be printed with ABS or PLA. They are designed to require minimal support material.

- Mold body ([Download](https://sandbox.softroboticstoolkit.com/f2875f32/downloads))

### Casting Materials

- Shore 25 A platinum cure silicone rubber ([Platsil Gel-25 - Brick in the Yard](https://www.brickintheyard.com/collections/platsil-gels/products/gel25u2))
- Stirring sticks ([Mixing sticks - Brick in the Yard](https://www.brickintheyard.com/collections/mixing-measuring/products/mixing-sticks-box))
- Mixing cups
- Conductive rubber ends
- 4 mm OD - 2 mm ID semi-clear silicone tubing ([PUTC4-10 - MiSUMi](https://us.misumi-ec.com/vona2/detail/110300311440/?KWSearch=silicone%20tubing&searchFlow=results2products&curSearch=%7B%22field%22:%22@search%22,%22seriesCode%22:%22110300311440%22,%22innerCode%22:%22%22,%22sort%22:1,%22specSortFlag%22:0,%22allSpecFlag%22:0,%22page%22:1,%22pageSize%22:%2260%22,%2200000030745%22:%22nvd00000000000014%22,%2200000030746%22:%22nvd00000000000012%22,%2200000142078%22:%22mig00000000298578%22,%22fixedInfo%22:%22MDM0000094255))
- Silicone adhesive ([Silpoxy - Smooth-on](https://www.smooth-on.com/product-line/sil-poxy/))

### Mold Parts

- 4 mm steel rod ([Low-Carbon Steel Rod - McMaster Carr](https://www.mcmaster.com/#8920k16/=1d2hx8y))

### Equipment

- Weight scale ([AMIR Digital Kitchen Scale, 500g/0.01g - Amazon](https://www.amazon.com/AMIR-Back-Lit-Function-Stainless-Batteries/dp/B01HCKQG7G))

#### Conductive Fluid

 ![bom-salt](/sites/g/files/omnuum4601/files/2024-11/bom-salt.jpg)

 

### Materials

- Table salt
- Water
- Food coloring

#### Equipment

The equipment listed here is simply what we had at hand during the project, each instrument can be replaced with any equivalent piece of hardware.

### Sensing Pressure

**Digital**

- Pressure sensor ([ABPMANT100PG2A3 - Mouser](https://www.mouser.com/ProductDetail/Honeywell/ABPMANT100PG2A3?qs=pAQS8nDEJVpIV8l6byQa9A==)) (I2C)
- Microcontroller ([Teensy 3.5 - PJRC](https://www.pjrc.com/store/teensy35.html))

**Analog**

- Pressure sensor ([ABPMANN004BGAA5 - Mouser](https://www.mouser.com/ProductDetail/Honeywell/ABPDANT015PGAA5)) (0 - 5 V)

### Sensing Resistance

- Data acquisition device capable of +-5V analog output ([NI USB-6351 - National Instruments](http://www.ni.com/en-us/support/model.usb-6351.html))
- Assorted resistors, should cover at least 1 kOhm to 1MOhm range ([Resistors - Amazon](https://www.amazon.com/Cutequeen-750-Values-Resistor-25pcs/dp/B016NXK6QK))

### Bibliography

Preechayasomboon et. al. [Multi-Modal Sensing and Actuation in Biomechanical Hydraulic and Pneumatic Systems.](/publications/multi-modal-sensing-and-actuation-biomechanical-hydraulic-and-pneumatic?admin_panel=1)

[Export Citation](/bibcite/export?content_filter%5B0%5D=1333742&format=bibtex)

### Contributors

Pornthep Preechayasomboon

Gaurav Mukherjee

Eric Rombokas