仿生假手触滑觉研究

Study of Tactile Sensor In Bionical Artificial Hand

实现人体假手的触滑觉传感器 ,包括其结构设计、传感信号的采集、处理和感觉信息输出。传感器采用PVDF作为敏感材料 ,柔顺的传感器表面和小巧的尺寸使之能完全应用于仿生假手的手指上。信号调理电路完成信号的放大、滤波。信号数字处理完成触觉、滑觉信号的分离 ,并根据特征值的大小判断是否输出相应的感觉信息。

Introduced a tactile sensor used in a bionical artificial hand. The structure of the sensor, data acquisition, signal processing and output of sense are discussed. Applying PVDF as a sensitive material,the developed sensor has a complaisance surface and a minimal size,very suitable for the bionical hand. The circuit has the functions of signal amplifying and filtering. The data processing method solve the problem of separating the tactile and sliding signal, making the decision of tactility and slide sensibility(on off voltage).