基于光学的触觉传感器电路设计

Circuit design for optics-based tactile sensor

相较于电信号触觉传感器,基于光学的触觉传感器性能更好,受外界环境影响小,抗干扰性能更高。触觉传感器以弹性材料模拟人体皮肤,在弹性材料内部有标记点阵列。用摄像头拍摄标记点的图像,通过测量弹性材料受力发生形变时标记点阵列的位移情况来求解出力的分布情况,进一步计算出触觉信息。传感器采用EP4CGX30为主处理芯片,采用双层电路堆叠的方式实现,总尺寸为40 mm×20 mm×15 mm。

Compared with tactile sensor based on electrical signal,optics-based tactile sensor has a better property,less influence of environment and higher interference resistance. An optics-based tactile sensor is made of skin-like elastic material with markers array inside. When a force is applied to the sensor,the elastic body deforms and the markers move. The camera captures image of the markers. Distribution of force is calculated by displacement of markers array. EP4CGX30 is used as main processing chip,the circuit is PCBs piled together and the totol size is 40 mm × 20 mm × 15 mm.