机器人2011，Vol.33Issue(3)：347-353,359,8.DOI:10.3724/SP.J.1218.2011.00347
用于机器人皮肤的柔性多功能触觉传感器设计与实验
Design and Experiment of Flexible Multi-Functional Tactile Sensors for Robot Skin
摘要
Abstract
Flexible multi-functional tactile sensors are designed and fabricated for intelligent robot skin to detect threedimensional force and temperature. Using the significant piezoresistive effect of carbon black/silicone rubber, a threedimensional 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.关键词
多功能触觉传感器/机器人皮肤/三维力/温度Key words
multi-functional tactile sensor/ robot skin/ three-dimensional force/ temperature分类
信息技术与安全科学引用本文复制引用
黄英,陆伟,赵小文,廉超,葛运建..用于机器人皮肤的柔性多功能触觉传感器设计与实验[J].机器人,2011,33(3):347-353,359,8.基金项目
国家自然科学基金资助项目(61072032):国家863计划资助项目(2007AA04Z220). （61072032）
