基于导电橡胶的一种新型类皮肤触觉传感器阵列

Study of a New Type Skin Liked Arrayed Tactile Sensor Based on Conductive Rubber

本文设计了一种基于导电橡胶的类皮肤柔性触觉传感器阵列,传感器阵列采用交叉排列的两层节点的框架结构,用注射成型(LIMS)的方法进行导电橡胶的整体浇注,通过测量外力作用下导电橡胶的阻值变化,求解出加载在柔性传感器表面上的三维力位置和大小。该设计突破了当前基于盔甲的柔性触觉传感器的设计思路,具有优良力学特性、柔韧性好、抗干扰能力强、在传感器表面可以连续点测量的特性。实验仿真结果表明,在理想导电橡胶的条件下,设计的柔性触觉传感器阵列测量三维力有较高的分辨率和精度,可以满足当前用于作机器人皮肤的需要。

The paper proposed a new type skin liked arrayed tactile sensor based on conductive rubber, which has the framework of two layers of staggered nodes, the widely used liquid rubber injection molding （LIMS） method is used for ＂the overall injection molding＂ of the conductive rubber, the location and the magnitude of the force can be solved by measuring the resistance variation of the conductive rubber under the force. The design breaks through most of current flexible tactile sensor array based on the armor-type structure with favorable mechanical ability, good flexibility, and strong anti-jamming and realizes three-dimensional force detection on the continuous surface of the sensor. The simulation result shows that the flexible arrayed tactile sensor can be used for the 3-D force detection with high resolution and accuracy under the condition of ideal conductive character, which meet the current need of the use of robot skin.