机器人压阻阵列触觉数据采样的研究

Study of Data Acquisition for Piezoresistive Robot Tactile Array

压阻阵列触觉传感器为减少外接引线，一般来用行列电极结构，给触觉的扫描采样带来了噪声。随着阵列数的增加，提高传感器的频响，将直接影响它的实时处理。为此，设计了一种新的行扫描采样电路，解决了这二方面的问题．

In order to minimize interconnecting wire, tactile sensing array is made up of a sheet of piezoresistive rubber and common column and row stripe electrodes. Undesiable crosstalk between sensing elementS is introduced. While the number of array increases, the response frequency of taCtile array will decrease. By means of discussing some previous mothods, a new tactile array scanning circuit is developed.