| 引用本文: | 周建辉,曹建国,程春福,尹海斌,余宁,范阳.高柔弹性电子皮肤压力触觉传感器的研究[J].哈尔滨工业大学学报,2020,52(7):1.DOI:10.11918/201911058 |
| ZHOU Jianhui,CAO Jianguo,CHENG Chunfu,YIN Haibin,YU Ning,FAN Yang.Research on highly flexible and stretchable pressure tactile sensor for electronic skin[J].Journal of Harbin Institute of Technology,2020,52(7):1.DOI:10.11918/201911058 |
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| 高柔弹性电子皮肤压力触觉传感器的研究 |
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周建辉1,2,3,曹建国1,3,4,程春福1,3,尹海斌5,余宁1,范阳1,3,4
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(1.北京科技大学 机械工程学院,北京 100083;2.华北理工大学 迁安学院,河北 唐山 064400; 3.北京科技大学 人工智能研究院,北京 100083;4.北京科技大学 顺德研究生院,广东 佛山 528399; 5.武汉理工大学 机电工程学院,武汉 430070)
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| 摘要: |
| 为解决可用于机器人等复杂三维载体表面的电子皮肤触觉传感器难以兼具高柔弹性及压力检测功能的难题,从材料的选取、结构的优化以及新型制作工艺等方面进行了研究,提出研制高弹性的柔性电子皮肤压力触觉传感器新方法. 采用新型银纳米线（AgNWs）/聚二甲基硅氧烷（PDMS）复合材料,基于半圆与圆形相结合的高柔弹性导电薄膜电极层及阵列式“多孔PDMS”的新型“三明治”式传感器阵列结构,极大地提高了触觉传感器的柔弹性,用模具固化成型工艺制作了高柔弹性电子皮肤压力触觉传感器. 结果表明:这种电子皮肤压力触觉传感器具有良好的柔弹性,其弹性拉伸率超越人类皮肤的弹性,达到了30%,可覆盖于机器人等复杂三维载体表面；在不同载荷条件下进行了压力大小及分布情况的测量,发现在自然及拉伸状态下,该电子皮肤压力触觉传感器均具有较高的线性度、灵敏度及较小的迟滞误差. 研究结果为机器人触觉感知技术和智能化发展奠定了基础. |
| 关键词: 电子皮肤 触觉传感器 压力 高柔弹性 银纳米线 聚二甲基硅氧烷 |
| DOI：10.11918/201911058 |
| 分类号:TP212 |
| 文献标识码:A |
| 基金项目:科技部创新方法工作专项(2016IM010300)； 中央高校基本科研业务费专项(FRF-GF-18-010B)； 北京科技大学顺德研究生院科技创新专项(BK19AE006)； 青年科学基金项目(61603035) |
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| Research on highly flexible and stretchable pressure tactile sensor for electronic skin |
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ZHOU Jianhui1,2,3,CAO Jianguo1,3,4,CHENG Chunfu1,3,YIN Haibin5,YU Ning1,FAN Yang1,3,4
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(1. School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China; 2. Qian’ an College, North China University of Science and Technology, Tangshan 064400,Hebei, China; 3. Intelligent Robot Innovation Institute, University of Science and Technology Beijing, Beijing 100083, China; 4. Shunde Graduate School of University of Science and Technology Beijing, Foshan 528399,Guangdong,China; 5. School of Mechanical and Electrical Engineering, Wuhan University of Technology, Wuhan 430070, China)
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| Abstract: |
| To solve the problem that the electronic skin tactile sensor which can be used on the surface of complex three-dimensional carrier such as robots is difficult to have high flexibility and stretchability and pressure detection function, a new method of flexible and stretchable electronic skin pressure tactile sensor is proposed from the selection of materials, structural optimization and new manufacturing process. The novel AgNWs/PDMS composite material is used. The new "sandwich" sensor array structure based on a semi-circular and circular shaped conductive film electrode layer and an array of "porous PDMS" is proposed, which greatly improves the flexibility and stretchability of the tactile sensor. And a highly flexible and stretchable electronic skin pressure tactile sensor is produced. The results show that the electronic skin pressure tactile sensor has good flexibility and stretchability, and the elastic stretch rate of the sensor exceeds the elasticity of human skin by 30%, then it can cover the surface of complex three-dimensional carriers such as robots to measure the pressure and distribution under different load conditions. Also the novel tactile sensor has high linearity, sensitivity and small hysteresis error in both natural and stretching states. Therefore, the tactile sensor laid the foundation for the development of flexible and intelligent robots. |
| Key words: electronic skin tactile sensor pressure high flexibility and stretchability silver nanowires PDMS |
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