摘要
为实现法向力与切向力感知,设计了一种可用于机器人仿生皮肤的电容式柔性触觉传感器,并设计成阵列结构.以硅橡胶为柔性基体,有机硅导电银胶为上下两柔性极板,共同构成电容式触觉敏感单元.分析并介绍电容式柔性触觉传感器的工作原理、结构设计及触觉信息采集与处理系统.可实现法向力0~5 N范围内灵敏度为6.78 f F/N,切向力0~3 N范围内灵敏度为11.45 f F/N的触觉感知功能.试验结果表明,该全柔性电容式触觉阵列传感器具有良好的稳定性与灵敏度,可用作人工皮肤实现触觉感知.
To realize normal force and shear force perception,a fully compliant capacitive tactile sensor was designed for bio-inspired skin sensor array. The pressure-sensitive unit was constructed with silicone rubber as flexible substrate and silver conductive adhesive as flexible parallel-plate capacitor. The working principle and the structure design of capacitive flexible tactile sensor were introduced. The sensing information acquisition and processing system was also designed and implemented. When the normal load measurement ranges from 0 to 5 N with shear load measurement ranging from 0 to 3 N,the measured sensitivities are 6. 78 f F / N and 11. 45 f F / N,respectively. The experiment results indicate that the flexible capacitive sensors array and the capacitive signal extraction system have good stability and sensitivity for artificial skin to achieve tactile perception.
出处
《江苏大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2015年第3期337-342,共6页
Journal of Jiangsu University：Natural Science Edition
基金
吉林省教育厅"十一五"科学技术研究项目(吉教科合字第2010135号)
关键词
触觉传感器
电容式传感器
全柔性
传感信息处理
人工皮肤
tactile sensor capacitive sensor fully compliant sensing information processing artificial skin
