摘要
人体皮肤含有丰富的感知受体,通过触摸可以识别不同物质,柔性热觉传感器能够模拟人体皮肤的结构和功能,实现智能机器人、智能传感应用。设计了一种基于恒定温差法(CTD)的柔性热觉传感器,由金属电极与柔性聚合物薄膜结构组成,结合机器手指触摸识别应用,建立了“加热-接触”传热模型,考虑了传感器、物体、机器手指的几何特征,采用数值拉氏逆变换算法进行求解。通过有限元仿真和热觉感知实验进行了验证,设计了CTD工作模式的调理电路,通过PID算法实现闭环温差控制,引入卡尔曼滤波抑制扰动,温控相对误差在3.0%以内,实现了11种具有不同热属性的材料的识别。该柔性系统在机器人感知、可穿戴电子、虚拟现实等领域具有应用潜力。
There are rich sensory tactile receptors in human skin.Through touch,the human body can recognize materials with different thermal properties.Flexible thermosensation sensors can simulate the function and structure of human skin.They can be applied to intelligent robots and smart sensing.This article presents a flexible thermosensation sensor based on the constant temperature difference(CTD)method,which is consisted of metal electrodes and flexible polymer films.Combined with the application for machine finger touch and recognition,a“heating-contact”heat transfer model is formulated.The geometric characteristics of the sensor,object,and robot fingers are considered.The numerical Laplace inverse transformation algorithm is used to solve the model.The model is evaluated by finite element simulation and thermal perception experiment.A conditioning circuit for the CTD operating mode is designed.Closed-loop temperature difference control is implemented by using the PID algorithm,and disturbance is suppressed by introducing the Kalman filter.The relative error of temperature control is within 3.0%,and the system can recognize 11 materials with different thermal properties.This flexible system has potential application in fields such as robot perception,wearable electronics,and virtual reality.
作者
马天成
张浩龙
白云飞
田俊豪
张旻
Ma Tiancheng;Zhang Haolong;Bai Yunfei;Tian Junhao;Zhang Min(Tsinghua Shenzhen International Graduate School,Tsinghua University,Shenzhen 518055,China)
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2023年第5期223-231,共9页
Chinese Journal of Scientific Instrument
基金
深圳市高等院校稳定资助重点项目(WDZC20200817152115001)资助。
关键词
热觉传感器
传热建模
PID控制
卡尔曼滤波
thermosensation sensor
heat transfer modeling
PID control
Kalman filter