软体仿生机械手柔性触觉感知技术研究进展

Research progress of flexible tactile sensing technology for soft biomimetic manipulator

柔性触觉感知信息获取是软体仿生机械手自主操纵的关键反馈环节,它提供了关于仿生机械手和物体接触点的相互作用力和表面特性的信息。从敏感材料、结构设计、制备方法到信号获取分析等方面,应用于软体机械手的柔性触觉感知方法近年来取得了一定进展,但是存在若干问题限制了技术的应用发展。为此,梳理了软体仿生机械手柔性触觉感知的概念与内涵,分析了相关的重要参数和设计原则,汇总分类讨论了不同结构的柔性触觉传感器的设计思想及其性能和应用,最后对软体仿生机械手柔性触觉传感器的发展前景提出了展望与思考。

The acquisition of flexible tactile perception information is the key feedback of soft bionic manipulator to achieve autonomous control. The information of interaction force and surface characteristics is provided, which is generated between the bionic manipulator and grasping contact point. In recent years, although the flexible tactile sensing method applied to software manipulator has made some progress in sensitive materials, structural design, preparation methods and signal acquisition and analysis, there are some problems that limit the application and development of the technology. In view of this, this paper sorts out the concept and connotation of flexible tactile sensing technology for software bionic manipulator, and its related parameters and design principles are systematically analyzed. The design ideas, performance and applications of flexible tactile sensors with different structures are summarized, classified and discussed. Finally, the discussion and the prospect of development for the flexible tactile sensor for soft bionic manipulator are presented in the conclusion.