可拼接式全柔性电容触觉阵列传感器设计与实验 - 机器人.PDFVIP

第37 卷第2 期 机器人 ROBOT Vol.37, No.2 2015 年3 月 Mar., 2015 DOI ：10.13973/ki.robot.2015.0136 可拼接式全柔性电容触觉阵列传感器设计与实验 黄 英，郭小辉，刘家俊，马阳洋，刘彩霞，刘 平，田合雷 （合肥工业大学大学电子科学与应用物理学院，安徽 合肥 230009 ） 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． 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 中图分类号：TP212 文献标识码：A 文章编号：1002-0446(2015)-02-0136-06 Expandable Fully Compliant Capacitive Tactile Sensing Array: Design and Experiment HUANG Ying ，GUO Xiaohui ，LIU Jiajun ，MA Yangyang ，LIU Caixia ，LIU Ping ，TIAN Helei (School of Electronic Science Applied Physics, Hefei University of Technology, Hefei 230009, China) 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 intr