可拼接式全柔性电容触觉阵列传感器设计与实验

doi:10.13973/j.cnki.robot.2015.0136

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引用本文:
黄英, 郭小辉, 刘家俊, 马阳洋, 刘彩霞, 刘平, 田合雷. 可拼接式全柔性电容触觉阵列传感器设计与实验[J]. 机器人, 2015, 37(2): 136-141,151.DOI: 10.13973/j.cnki.robot.2015.0136. HUANG Ying, GUO Xiaohui, LIU Jiajun, MA Yangyang, LIU Caixia, LIU Ping, TIAN Helei. Expandable Fully Compliant Capacitive Tactile Sensing Array: Design and Experiment. ROBOT, 2015, 37(2): 136-141,151. DOI: 10.13973/j.cnki.robot.2015.0136.

摘要

针对现有机器人触觉传感器存在可穿戴性与可移植性差、不易维护及扩展等缺点，提出了一种可用于机器人仿生皮肤的全柔性电容式触觉传感器，并设计成12×12正方形触觉传感阵列和正六边形触觉模块两种可拼接式阵列结构．以炭黑填充硅橡胶作为电容式触觉传感器的弹性电介质，聚酰亚胺为柔性基体，有机硅导电银胶和金属膜为上下两柔性极板，共同构成压力敏感单元．介绍了电容式柔性触觉传感器的工作原理、结构设计及两种与之对应的电容触觉阵列无线数据采集与处理系统．实验结果表明，该全柔性电容式触觉阵列传感器及信号提取系统具有良好的稳定性与灵敏度，可用作人工皮肤实现全触觉感知．

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	黄英
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	刘平
	田合雷

关键词 ：电容式传感器, 全柔性, 可拼接式阵列, 传感信息处理, 人工皮肤

Abstract：

Current robot tactile sensors have shortcomings such as poor wearability and portability, as well as being unpleasant to be maintained and expanded. An expandable, fully compliant capacitive tactile sensor is presented to counteract these shortcomings, which can be used as bio-inspired skin. The structure is designed with two kinds of expandable arrays, the 12×12 square tactile sensing array and the hexagon tactile model. The pressure-sensitive unit is constituted of carbon black filled silicone rubber uniformly as the elastic dielectric of the capacitive sensor, polyimide film as the flexible substrate, as well as silver conductive adhesive and metal film as the flexible parallel-plates of capacitor. In addition, the working principle and the structure design of the capacitive flexible tactile sensor are introduced, and also the wireless signal acquisition and processing systems of two corresponding capacitive arrays are proposed. The experiment results indicate that the fully compliant capacitive sensing array and capacitive signal extraction system has good stability and sensitivity to be used as artificial skin to achieve tactile perception.

Key words： capacitive sensor fully compliant expandable array sensing information processing artificial skin

收稿日期: 2014-06-26 录用日期: 2014-09-02

TP212

基金资助:

国家自然科学基金资助项目（61201076，61301060，61471155）；中央高校基本科研业务费专项资金资助项目（25720130025）．

通讯作者: 黄英，hf.hy@163.com E-mail: hf.hy@163.com

作者简介: 黄英（1960-），女，博士，教授，博士生导师．研究领域：敏感材料与传感技术，机器人敏感皮肤．
郭小辉（1988-），男，硕士生．研究领域：敏感材料与传感技术，传感信号采集与处理．

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2015.0136 或 https://robot.sia.cn/CN/Y2015/V37/I2/136

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