Pacinian Corpuscle(PC)is the largest tactile vibration receptor in mammalian skin,with a layered structure that enables signal amplification and high-pass filtering functions.Modern robots feature vibro-tactile sensor...Pacinian Corpuscle(PC)is the largest tactile vibration receptor in mammalian skin,with a layered structure that enables signal amplification and high-pass filtering functions.Modern robots feature vibro-tactile sensors with excellent mechanical properties and fine resolution,but these sensors are prone to low-frequency noise interference when detecting high-frequency vibrations.In this study,a bionic PC with a longitudinally decreasing dynamic fractal structure is proposed.By creating a lumped parameter model of the PC’s layered structure,the bionic PC made of gelatin-chitosan based hydrogel can achieve high-pass filtering and specific frequency band signal amplification without requiring back-end circuits.The experimental results demonstrate that the bionic PC retains the structural characteristics of a natural PC,and the influence of structural factors,such as the number of layers in its shell,on filtration characteristics is explored.Additionally,a vibration source positioning experiment was conducted to simulate the earthquake sensing abilities of elephants.This natural structural design simplifies the filter circuit,is low-cost,cost-effective,stable in performance,and reduces redundancy in the robot’s signal circuit.Integrating this technology with robots can enhance their environmental perception,thereby improving the safety of interactions.展开更多
基金funded by the National Natural Science Foundation of China(No.52475190 and 52275191)China Postdoctoral Science Foundation Funded Project(No.2024M751165)the Tribology Science Fund of State Key Laboratory of Tribology in Advanced Equipment(No.SKLTKF24B17).
文摘Pacinian Corpuscle(PC)is the largest tactile vibration receptor in mammalian skin,with a layered structure that enables signal amplification and high-pass filtering functions.Modern robots feature vibro-tactile sensors with excellent mechanical properties and fine resolution,but these sensors are prone to low-frequency noise interference when detecting high-frequency vibrations.In this study,a bionic PC with a longitudinally decreasing dynamic fractal structure is proposed.By creating a lumped parameter model of the PC’s layered structure,the bionic PC made of gelatin-chitosan based hydrogel can achieve high-pass filtering and specific frequency band signal amplification without requiring back-end circuits.The experimental results demonstrate that the bionic PC retains the structural characteristics of a natural PC,and the influence of structural factors,such as the number of layers in its shell,on filtration characteristics is explored.Additionally,a vibration source positioning experiment was conducted to simulate the earthquake sensing abilities of elephants.This natural structural design simplifies the filter circuit,is low-cost,cost-effective,stable in performance,and reduces redundancy in the robot’s signal circuit.Integrating this technology with robots can enhance their environmental perception,thereby improving the safety of interactions.
