Design and Experiment of Flexible Multi-Functional Tactile Sensors for Robot Skin
HUANG Ying1,2, LU Wei1, ZHAO Xiaowen1, LIAN Chao1, GE Yunjian2
1. School of Electronic Science & Applied Physics, Hefei University of Technology, Hefei 230009, China; 2. Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei 230031, China
Abstract：Flexible multi-functional tactile sensors are designed and fabricated for intelligent robot skin to detect three-dimensional force and temperature.Using the significant piezoresistive effect of carbon black/silicone rubber,a three-dimensional force sensor with four-electrode symmetrical structure is designed.Using the significant temperature sensitive effect of carbon fiber-PDMS(polydimethylsiloxane),a temperature sensor with interdigitated electrode structure is designed. The principles of three-dimensional force and temperature detection are analyzed.In view of the themechanical/temperature sensitivity cross-interference of the two kinds of conductive composites,the flexible multi-functional tactile sensor array is structured in the way that three-dimensional force and temperature sensors are arranged in alternately concave-convex form. The experiment results prove that the flexible multi-functional tactile sensors have three-dimensional force and temperature detection functions and can be applied to robot sensitive skin.
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