一种新型机器人仿生皮肤的设计

doi:10.3724/SP.J.1218.2013.00032

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引用本文:
石金进, 吴海彬, 马志举. 一种新型机器人仿生皮肤的设计[J]. 机器人, 2013, 35(1): 32-38.DOI: 10.3724/SP.J.1218.2013.00032. SHI Jinjin, WU Haibin, MA Zhiju. Design of a New Robot Skin. ROBOT, 2013, 35(1): 32-38. DOI: 10.3724/SP.J.1218.2013.00032.

摘要

针对现有的大多数机器人触觉传感器矩阵结构复杂、不适合大面积使用等缺点，提出一种新型机器人仿生皮肤触觉传感器的设计．该仿生皮肤由导电纤维网络、绝缘格点、硅橡胶绝缘层及6条引出线等组成，根据电阻分压原理获取外力作用位置信息，根据电容变化原理间接测量外力的大小，无需额外的力检测元件．实验结果表明，本触觉传感器具备力与位置测量功能，同时能够降低矩阵网络布线复杂度，可作为机器人全身服装使用．

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关键词 ：仿生皮肤, 导电纤维, 触觉传感器

Abstract：

Because of the complexity of current robot tactile sensors' matrix structures, it is not suitable for covering the entire body of a robot. Therefore, a new type of robot skin tactile sensor is designed, which consists of conductive fiber, insulating points, silicone rubber insulating sheet and only six connectors. The force magnitude is indirectly obtained by measuring the capacitance changes, and the force action position is detected according to the principle of resistive voltage divider, without the needs of any other force sensors. Experiment results show that the sensor has force and position detection capability, meanwhile the wiring complexity of the sensor matrix is reduced. So it can be used as the full-body tactile sensor of robots.

Key words： robot skin conductive fiber tactile sensor

收稿日期: 2012-03-18 录用日期: 2012-12-07

ZTFLH:

TP212

基金资助:

国家自然科学基金资助项目（51175084）

通讯作者: 吴海彬 E-mail: wuhb@fzu.edu.cn

作者简介: 石金进（1985—），男，硕士生．研究领域：机器人技术，嵌入式系统，集成电路．
吴海彬（1973—），男，博士，教授．研究领域：机器人技术，嵌入系统，智能传感器．
马志举（1987—），男，硕士生．研究领域：机器人技术，嵌入系统，检测技术与仪器．

链接本文:

https://robot.sia.cn/CN/10.3724/SP.J.1218.2013.00032 或 https://robot.sia.cn/CN/Y2013/V35/I1/32

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