电容式柔性触觉传感器设计

Design of Capacitive Flexible Tactile Sensor

为了实现对机器人指端触觉压力的检测,设计了一种电容式柔性触觉传感器。以PORON聚氨酯材料作为电容式触觉传感器电极间的弹性绝缘介质,导电膜在空间上呈垂直分布,分别交叉粘贴于PORON聚氨酯材料上、下表面构成电容式触觉传感器的上、下电极,一起组成柔性电容传感单元。该触觉传感器制备工艺简单,材料成本低廉。测试结果表明,该触觉传感器及其信号采集与处理系统能够检测0~20 N的触觉压力,曲线拟合最大误差为6.44%,重复性误差为6.29%,能够实现触觉压力的检测,为在机器人指端实现触觉压力的检测提供一种参考。

In this paper,a capacitive flexible tactile sensor is designed for measurement of robot haptic force.PORON polyurethane material is used as an elastic insulating medium between the electrodes of a capacitive tactile sensor.Two pieces of conductive tape,which present the vertical distribution in space,are respectively pasted on the upper and the lower surface of the PORON polyurethane material to form the electrode of the capacitive tactile sensor.The PORON polyurethane material and conductive tape together form the flexible capacitive sensing unit for haptic force measurement.The tactile sensor has the advantages of the simple fabrication process and low material cost.The test results show that the tactile sensor,its signal acquisition and processing system can detect the tactile pressure in the range of 0~20N,the curve fitting error is 6.44%,and the repeatability error is 6.29%.It can detect the tactile pressure and provide an implementation reference for realizing the tactile pressure detection of the robot.