柔性温度压力仿生皮肤的模块化设计与实现

Modular Design and Implementation of Flexible Artificial Skin with Temperature and Pressure Sensors

为实现电子仿生皮肤的模块化设计,以石墨烯纳米片制备薄膜温敏传感器,同时,以炭黑/硅橡胶复合材料为弹性电介质、有机硅导电银胶为柔性上极板设计电容式力敏传感器,在此基础上,以聚酰亚胺为柔性基体,提出一种可用作智能机器人仿生皮肤的全柔性温度/压力触觉传感器,并设计成具有可拼接特点的模块化阵列结构.介绍柔性温度/压力触觉传感器的结构设计、检测机理以及信号采集与处理系统.通过温度、压力及温度/压力复合感知实验表明,该柔性温度/压力复合式触觉传感阵列及信号提取系统可实现触觉感知功能,为可穿戴式人工皮肤的研究提供了一种设计方案.

To achieve the modular design of electronic artificial skin, a fully compliant temperature and pressure tactile sensor is designed and used as artificial skin of intelligent robots, which is assembled into a modularized array structure with expandable characteristics. Taking graphene nanoplatelets （GNPs） as the temperature-sensitive material of the sensor, carbon black （CB） filled silicone rubber （SR） as the elastic dielectric, and the silver conductive silicone rubber as the flexible top plate, a capacitive pressure sensitive cell is designed, and the temperature and pressure sensor array is constructed with polyimide （PI） film as the flexible substrate. The structure design, working principle and the signal acquisition and processing system of the flexible temperature/pressure tactile sensor array are introduced. The experimental results of temperature, pressure and the compound perception indicate that the flexible temperature/pressure multifunctional tactile sensor array and the signal extraction system can realize tactile perception, and it provides a design scheme for wearable artificial skin.