机器人Issue(2)：136-141,151,7.DOI:10.13973/j.cnki.robot.2015.0136
可拼接式全柔性电容触觉阵列传感器设计与实验
Expandable Fully Compliant Capacitive Tactile Sensing Array:Design and Experiment
摘要
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.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Key words
capacitive sensor/fully compliant/expandable array/sensing information processing/artificial skin分类
信息技术与安全科学引用本文复制引用
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,(2):136-141,151,7.基金项目
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）． （）
