柔性阵列电容式触觉传感器设计与实验

Design and Experiment of Flexible Array Capacitive Tactile Sensor

针对现有柔性触觉传感器柔性差、结构和加工工艺复杂等问题,设计了一种可用于智能机器人和健康监测领域中的柔性阵列电容式触觉传感器。传感器由上电极层、下电极层和中间介电层构成,每个电极层上有多个平行带状电极,且上下层电极互相垂直,电极垂直交叉点形成阵列传感器单元。介绍了柔性阵列电容式触觉传感的理论基础和结构设计,并根据阵列结构建立了信号采集和处理系统。实验证明,该柔性阵列电容式触觉传感器和信号采集系统有很好的稳定性和准确性,可获得其表面的压力分布情况,并可在上位机中图形化呈现。

In view of the problems of poor flexibility,complex structure and processing technology existing in flexible tactile sensor,a flexible array capacitive tactile sensor used in intelligent robots,medical and health monitoring was designed.The sensor was composed of top-electrode layer,bottom-electrode layer and intermediate dielectric layer.Each electrode layer had a plurality of parallel strip electrodes,and the top layer and bottom layer electrodes were perpendicular to each other,which crossing point formed the array sensor cell.This paper introduced the theoretical basis and structure design of the flexible tactile sensor,and established the signal acquisition and processing system according to the array structure.The experiment results show that the flexible array capacitive tactile sensor and signal acquisition system have good stability and accuracy.And it can obtain the surface pressure distribution,and also the results can be displayed on the host compute graphically.