Flexible tactile sensors have broad applications in human physiological monitoring,robotic operation and human-machine interaction.However,the research of wearable and flexible tactile sensors with high sensitivity,wi...Flexible tactile sensors have broad applications in human physiological monitoring,robotic operation and human-machine interaction.However,the research of wearable and flexible tactile sensors with high sensitivity,wide sensing range and ability to detect three-dimensional(3D)force is still very challenging.Herein,a flexible tactile electronic skin sensor based on carbon nanotubes(CNTs)/polydimethylsiloxane(PDMS)nanocomposites is presented for 3D contact force detection.The 3D forces were acquired from combination of four specially designed cells in a sensing element.Contributed from the double-sided rough porous structure and specific surface morphology of nanocomposites,the piezoresistive sensor possesses high sensitivity of 12.1 kPa?1 within the range of 600 Pa and 0.68 kPa?1 in the regime exceeding 1 kPa for normal pressure,as well as 59.9 N?1 in the scope of<0.05 N and>2.3 N?1 in the region of<0.6 N for tangential force with ultra-low response time of 3.1 ms.In addition,multi-functional detection in human body monitoring was employed with single sensing cell and the sensor array was integrated into a robotic arm for objects grasping control,indicating the capacities in intelligent robot applications.展开更多
Negative step response experimental method is used in wrist force sensor＇s dynamic performance calibration. The exciting manner of negative step response method is the same as wrist force sensor＇s load in working. T...Negative step response experimental method is used in wrist force sensor＇s dynamic performance calibration. The exciting manner of negative step response method is the same as wrist force sensor＇s load in working. This experimental method needn＇t special experiment equipments. Experiment＇s dynamic repeatability is good. So wrist force sensor＇s dynamic performance is suitable to be calibrated by negative step response method. A new correlation wavelet transfer method is studied. By wavelet transfer method, the signal is decomposed into two dimensional spaces of time-frequency. So the problem of negative step exciting energy concentrating in the low frequency band is solved. Correlation wavelet transfer doesn＇t require that wavelet primary function be orthogonal and needn＇t wavelet reconstruction. So analyzing efficiency is high. An experimental bench is designed and manufactured to load the wrist force sensor orthogonal excitation force/moment. A piezoelectric force sensor is used to setup soft trigger and calculate the value of negative step excitation. A wrist force sensor is calibrated. The pulse response function is calculated after negative step excitation and step response have been transformed to positive step excitation and step response. The pulse response function is transferred to frequency response function. The wrist force sensor＇s dynamic characteristics are identified by the frequency response function.展开更多
Multi-axis wrist force sensor is one of the most important sensors in the intelligentrobot. It measures the force and torque messages of three-dimensional space to ensurerobots to accomplish tasks with accuracy, such ...Multi-axis wrist force sensor is one of the most important sensors in the intelligentrobot. It measures the force and torque messages of three-dimensional space to ensurerobots to accomplish tasks with accuracy, such as mechanical assembling, precise grind-ing and outline trace. Its response speed must be high enough and its dynamic展开更多
This paper analyses the seometry features of target object, prasents anactive searching principle and tactics based on information fusion of force and tac-tile, discusses the way of searching the object by usiap wrist...This paper analyses the seometry features of target object, prasents anactive searching principle and tactics based on information fusion of force and tac-tile, discusses the way of searching the object by usiap wrist force sensor and tac-tile sensor join展开更多
Many animals possess actively movable tactile sensors in their heads,to explore the near-range space.During locomotion,an antenna is used in near range orientation,for example,in detecting,localizing,probing,and negot...Many animals possess actively movable tactile sensors in their heads,to explore the near-range space.During locomotion,an antenna is used in near range orientation,for example,in detecting,localizing,probing,and negotiating obstacles.A bionic tactile sensor used in the present work was inspired by the antenna of the stick insects.The sensor is able to detect an obstacle and its location in 3 D(Three dimensional) space.The vibration signals are analyzed in the frequency domain using Fast Fourier Transform(FFT) to estimate the distances.Signal processing algorithms,Artificial Neural Network(ANN) and Support Vector Machine(SVM) are used for the analysis and prediction processes.These three prediction techniques are compared for both distance estimation and material classification processes.When estimating the distances,the accuracy of estimation is deteriorated towards the tip of the probe due to the change in the vibration modes.Since the vibration data within that region have high a variance,the accuracy in distance estimation and material classification are lower towards the tip.The change in vibration mode is mathematically analyzed and a solution is proposed to estimate the distance along the full range of the probe.展开更多
A capacitive tactile sensor(CTS)has been developed by assembling a double-sided patterned dielectric layer and novel electrodes.The patterned aluminium foil-supported electrode comprises zinc-aluminium layered double ...A capacitive tactile sensor(CTS)has been developed by assembling a double-sided patterned dielectric layer and novel electrodes.The patterned aluminium foil-supported electrode comprises zinc-aluminium layered double hydroxides(Zn AlLDH),MXene,and Ag NWs via electrostatic interaction.This flexible device enables greater structural deformation,thereby enhancing sensitivity to a wide range of pressure.The sensitivity of the CTS can be customized to meet specific requirements by matching the microstructured electrodes with the patterned dielectric layer.An optimized sensor exhibits a sensitivity of 2.752 kPa^(–1)within 30 kPa,a response time of approximately 100 ms,and a wide detection range of 0–300 kPa.The strong physical interaction among the electrode materials ensures a reliable conductive network,ensuring the long-term stability of the sensor,even after 7500 loading and unloading cycles.Furthermore,the fabricated CTS device presents a promising prospect for the integration into wearable electronics,with the ability to effectively respond to both human activities and external physical stimuli.展开更多
Tactile sensors have been used for haptic perception in intelligent robotics,smart prosthetics,and human-machine interface.The development of multifunctional tactile sensor remains a challenge and limit its applicatio...Tactile sensors have been used for haptic perception in intelligent robotics,smart prosthetics,and human-machine interface.The development of multifunctional tactile sensor remains a challenge and limit its application in flexible electronics and devices.We propose a liquid metal based tactile sensor for both temperature and force sensing which is made by 3D printing.The structural design and working principle of liquid metal based tactile sensor are firstly described.A digital light processing-based printing process is developed to print two kinds of photosensitive resins with different hardness,and used to fabricate the tactile sensor.A Wheatstone bridge circuit is designed for decoupling the temperature and forces from the measured output voltages.Characterization tests show that the tactile sensor has relatively high force sensing sensitivity of 0.29 N^(-1),and temperature sensing sensitivities are 0.55%°C−1 at 20~50°C and 0.21%°C^(−1)at 50~80°C,respectively.Then,the fabricated tactile sensor is mounted onto hand finger to measure the contact force and temperature during grasping.Results show that the 3D printed tactile sensor has excellent flexibility and durability and can accurately measure the temperature and contact forces,which demonstrate its potential in robotic manipulation applications.展开更多
基金funding from National Natural Science Foundation of China(NSFC Nos.61774157,81771388,61874121,and 61874012)Beijing Natural Science Foundation(No.4182075)the Capital Science and Technology Conditions Platform Project(Project ID:Z181100009518014).
文摘Flexible tactile sensors have broad applications in human physiological monitoring,robotic operation and human-machine interaction.However,the research of wearable and flexible tactile sensors with high sensitivity,wide sensing range and ability to detect three-dimensional(3D)force is still very challenging.Herein,a flexible tactile electronic skin sensor based on carbon nanotubes(CNTs)/polydimethylsiloxane(PDMS)nanocomposites is presented for 3D contact force detection.The 3D forces were acquired from combination of four specially designed cells in a sensing element.Contributed from the double-sided rough porous structure and specific surface morphology of nanocomposites,the piezoresistive sensor possesses high sensitivity of 12.1 kPa?1 within the range of 600 Pa and 0.68 kPa?1 in the regime exceeding 1 kPa for normal pressure,as well as 59.9 N?1 in the scope of<0.05 N and>2.3 N?1 in the region of<0.6 N for tangential force with ultra-low response time of 3.1 ms.In addition,multi-functional detection in human body monitoring was employed with single sensing cell and the sensor array was integrated into a robotic arm for objects grasping control,indicating the capacities in intelligent robot applications.
基金National Hi-tech Research and Development Program of China(863 Program,No.2001AA42330).
文摘Negative step response experimental method is used in wrist force sensor＇s dynamic performance calibration. The exciting manner of negative step response method is the same as wrist force sensor＇s load in working. This experimental method needn＇t special experiment equipments. Experiment＇s dynamic repeatability is good. So wrist force sensor＇s dynamic performance is suitable to be calibrated by negative step response method. A new correlation wavelet transfer method is studied. By wavelet transfer method, the signal is decomposed into two dimensional spaces of time-frequency. So the problem of negative step exciting energy concentrating in the low frequency band is solved. Correlation wavelet transfer doesn＇t require that wavelet primary function be orthogonal and needn＇t wavelet reconstruction. So analyzing efficiency is high. An experimental bench is designed and manufactured to load the wrist force sensor orthogonal excitation force/moment. A piezoelectric force sensor is used to setup soft trigger and calculate the value of negative step excitation. A wrist force sensor is calibrated. The pulse response function is calculated after negative step excitation and step response have been transformed to positive step excitation and step response. The pulse response function is transferred to frequency response function. The wrist force sensor＇s dynamic characteristics are identified by the frequency response function.
基金Project supported by the National Natural Science Foundation of China and "863" network laboratories.
文摘Multi-axis wrist force sensor is one of the most important sensors in the intelligentrobot. It measures the force and torque messages of three-dimensional space to ensurerobots to accomplish tasks with accuracy, such as mechanical assembling, precise grind-ing and outline trace. Its response speed must be high enough and its dynamic
文摘This paper analyses the seometry features of target object, prasents anactive searching principle and tactics based on information fusion of force and tac-tile, discusses the way of searching the object by usiap wrist force sensor and tac-tile sensor join
文摘Many animals possess actively movable tactile sensors in their heads,to explore the near-range space.During locomotion,an antenna is used in near range orientation,for example,in detecting,localizing,probing,and negotiating obstacles.A bionic tactile sensor used in the present work was inspired by the antenna of the stick insects.The sensor is able to detect an obstacle and its location in 3 D(Three dimensional) space.The vibration signals are analyzed in the frequency domain using Fast Fourier Transform(FFT) to estimate the distances.Signal processing algorithms,Artificial Neural Network(ANN) and Support Vector Machine(SVM) are used for the analysis and prediction processes.These three prediction techniques are compared for both distance estimation and material classification processes.When estimating the distances,the accuracy of estimation is deteriorated towards the tip of the probe due to the change in the vibration modes.Since the vibration data within that region have high a variance,the accuracy in distance estimation and material classification are lower towards the tip.The change in vibration mode is mathematically analyzed and a solution is proposed to estimate the distance along the full range of the probe.
基金supported by the Natural Science Foundation of Guangdong Province(Grant No.2021A1515010691)the College Innovation Team Project of Guangdong Province(Grant No.2021KCXTD042)+1 种基金the Major Program of Basic Research and Applied Research of Guangdong Province(Grant No.2019KZDXM051)Wuyi University-Hong Kong-Macao Joint Research and Development Fund(Grant Nos.2019WGALH06 and 2021WGALH15)。
文摘A capacitive tactile sensor(CTS)has been developed by assembling a double-sided patterned dielectric layer and novel electrodes.The patterned aluminium foil-supported electrode comprises zinc-aluminium layered double hydroxides(Zn AlLDH),MXene,and Ag NWs via electrostatic interaction.This flexible device enables greater structural deformation,thereby enhancing sensitivity to a wide range of pressure.The sensitivity of the CTS can be customized to meet specific requirements by matching the microstructured electrodes with the patterned dielectric layer.An optimized sensor exhibits a sensitivity of 2.752 kPa^(–1)within 30 kPa,a response time of approximately 100 ms,and a wide detection range of 0–300 kPa.The strong physical interaction among the electrode materials ensures a reliable conductive network,ensuring the long-term stability of the sensor,even after 7500 loading and unloading cycles.Furthermore,the fabricated CTS device presents a promising prospect for the integration into wearable electronics,with the ability to effectively respond to both human activities and external physical stimuli.
基金This work was supported by National Nature Science Foundation of China[51575485]the Natural Science Foundation of Zhejiang Province for Distinguished Young Scientists[LR19E050001]Open Fund Project of Zhejiang Laboratory[2019MC0AB02].
文摘Tactile sensors have been used for haptic perception in intelligent robotics,smart prosthetics,and human-machine interface.The development of multifunctional tactile sensor remains a challenge and limit its application in flexible electronics and devices.We propose a liquid metal based tactile sensor for both temperature and force sensing which is made by 3D printing.The structural design and working principle of liquid metal based tactile sensor are firstly described.A digital light processing-based printing process is developed to print two kinds of photosensitive resins with different hardness,and used to fabricate the tactile sensor.A Wheatstone bridge circuit is designed for decoupling the temperature and forces from the measured output voltages.Characterization tests show that the tactile sensor has relatively high force sensing sensitivity of 0.29 N^(-1),and temperature sensing sensitivities are 0.55%°C−1 at 20~50°C and 0.21%°C^(−1)at 50~80°C,respectively.Then,the fabricated tactile sensor is mounted onto hand finger to measure the contact force and temperature during grasping.Results show that the 3D printed tactile sensor has excellent flexibility and durability and can accurately measure the temperature and contact forces,which demonstrate its potential in robotic manipulation applications.
