全柔性电容式触觉传感阵列设计与实验

Design and experiment of full-flexible capacitive tactile sensing array

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,设计了一种可用于机器人敏感皮肤的全柔性电容式触觉阵列传感器。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,并排列成可拼接式阵列结构。分析并介绍电容式柔性触觉传感器的工作原理、结构设计及电容阵列信号采集与处理系统。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,可用作人工智能皮肤实现全触觉感知。

Aiming at the current robot tactile sensors＇ shortcomings： poor wearable and portability, unpleasant to maintain and expand, a full-flexible capacitive tactile sensing array used as artificial skin is presented. In this pa- per, carbon black filled silicone rubber uniformly acts as the elastic dielectric of the capacitive sensor, polyimide film acts as the flexible substrate, silver conductive adhesive and metal film act as the flexible parallel-plate capaci- tor, which together made up of the pressure-sensitive unit. And these units form an expandable tactile sensing ar- ray. The capacitive flexible tactile sensor＇ s working principle, the structure design and the design of capacitive ar- ray signal acquisition and processing system are given in this paper. The experiment results indicate that the capaci- tive sensing array and capacitive signal extraction system have good stability and sensitivity to be used as artificial skin to achieve tactile perception.