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
In the surgery of lumbar disc herniation(LDH),the nerve root retractor is used to pull the nerve root to prevent damage.The traditional medical nerve root retractor cannot quantify the force on the nerve root.In order...In the surgery of lumbar disc herniation(LDH),the nerve root retractor is used to pull the nerve root to prevent damage.The traditional medical nerve root retractor cannot quantify the force on the nerve root.In order to improve the nerve root retractor,this paper proposes an intraoperative lumbar neurological force monitoring system.The core module of this system is the improved nerve root retractor equipped with the high density flexible pressure sensor array.The high density microneedle array and multiple pressure detection units are used in the pressure sensor to realise sensitive pressure monitoring in a narrow surgical operation area.The sensing area is 4 mm×17 mm,including 6 detection units.The sensitivity of sensor is 67.30%/N in the range of 0-5 N.This system is used for in vitro animal experiments,which can continuously detect pressure.展开更多
When human body is punched by boxing glove, both body surface and boxing glove deform in a complex shape. The purpose of this study is to develop a flexible sensor that can be used in such interface. Firstly, several ...When human body is punched by boxing glove, both body surface and boxing glove deform in a complex shape. The purpose of this study is to develop a flexible sensor that can be used in such interface. Firstly, several mechanical phenomena, which are the cause of the error signal of the sensor, are discussed. These are the influences of out-of-plane bending deformation, shear force caused by rubbing, shear force caused by the Poisson’s effect of contact material, and the lateral compressive force caused by the overhanging deformation of flexible material. Then, a prototype sensor that can eliminate the error factors of these is developed. The sensor is a distribution type impact sensor in which sixteen sensor elements are arranged in a 4 × 4 matrix. Punching experiments using a boxing glove are carried out by installing the sensor on the load cell, on the concrete wall and on the sandbag. From the experiment, it is found that the impact force can be measured with good accuracy by using the sensor. Despite the fact that the sensor has inadequate distribution number of sensor elements, the sensor structure meets mechanical requirements for the flexible impact sensor.展开更多
In the research of 2D flexible tactile sensor matrix,pressure-sensitive conductive rubber was developed and tested in which carbon black was used as its conductive phase and silicon rubber as its matrix layer.Experime...In the research of 2D flexible tactile sensor matrix,pressure-sensitive conductive rubber was developed and tested in which carbon black was used as its conductive phase and silicon rubber as its matrix layer.Experiments were undertaken and the resultant data were used for its piezoresistive characteristics investigation for two kinds of electrode connection configurations,the surface directive connection and embedded connection.It is found that due to the rather strong nonlinearity of the piezoresistive characteristic curves obtained,a higher correlation relationship can be obtained by means of quadratic polynomial fitting.It also showed that the embedded electrode assembling has higher fitting accuracy while the surface directive connection has better mechanical sensitivity.展开更多
To eliminate the load weight limit of carrier rockets and reduce the burden on support structures,in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules,wh...To eliminate the load weight limit of carrier rockets and reduce the burden on support structures,in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules,which requires smooth operation of assembly robots,and flexible force control technology is necessary. A ground demonstration system is presented for in-orbit assembly focusing on flexible force control. A six-dimensional force/torque sensor and its data acquisition system are used to compensate for gravity. For translation and rotation,an algorithm for flexible control is proposed. A ground transportation demonstration verifies accuracy and smoothness of flexible force control,and the transportation and assembly task is completed automatically. The proposed system is suitable for the development of in-orbit assembly robots.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
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
The past several decades have witnessed great progress in high-performance field effect transistors(FET)as one of the most important electronic compo-nents.At the same time,due to their intrinsic advantages,such as mu...The past several decades have witnessed great progress in high-performance field effect transistors(FET)as one of the most important electronic compo-nents.At the same time,due to their intrinsic advantages,such as multiparameter accessibility,excellent electric signal amplification function,and ease of large-scale manufacturing,FET as tactile sensors for flexible wear-able devices,artificial intelligence,Internet of Things,and other fields to per-ceive external stimuli has also attracted great attention and become a significant field of general concern.More importantly,FET has a unique three-terminal structure,which enables its different components to detect external mechanics through different sensing mechanisms.On one hand,it provides an important platform to shed deep insights into the underlying mechanisms of the tactile sensors.On the other hand,these properties could in turn endow excellent components for the construction of tactile matrix sensor arrays with high quality.With special emphasis on the configuration of FETs,this review classified and summarized structure-optimized FET tactile sensors with gate,dielectric layer,semiconductor layer,and source/drain electrodes as sensing active components,respectively.The working principles and the state-of-the-art protocols in terms of high-performance tactile sensors are detail discussed and highlighted,the innovative pixel distribution and integration analysis of the transistor sensor matrix array concerning flexible electronics are also intro-duced.We hope that the introduction of this review can provide some inspiration for future researchers to design and fabricate high-performance FET-based tactile sensor chips for flexible electronics and other fields.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the National Key Technologies R&D Program(No.2016YFC0105604)the National Natural Science Foundation of China(No.61474107).
文摘In the surgery of lumbar disc herniation(LDH),the nerve root retractor is used to pull the nerve root to prevent damage.The traditional medical nerve root retractor cannot quantify the force on the nerve root.In order to improve the nerve root retractor,this paper proposes an intraoperative lumbar neurological force monitoring system.The core module of this system is the improved nerve root retractor equipped with the high density flexible pressure sensor array.The high density microneedle array and multiple pressure detection units are used in the pressure sensor to realise sensitive pressure monitoring in a narrow surgical operation area.The sensing area is 4 mm×17 mm,including 6 detection units.The sensitivity of sensor is 67.30%/N in the range of 0-5 N.This system is used for in vitro animal experiments,which can continuously detect pressure.
文摘When human body is punched by boxing glove, both body surface and boxing glove deform in a complex shape. The purpose of this study is to develop a flexible sensor that can be used in such interface. Firstly, several mechanical phenomena, which are the cause of the error signal of the sensor, are discussed. These are the influences of out-of-plane bending deformation, shear force caused by rubbing, shear force caused by the Poisson’s effect of contact material, and the lateral compressive force caused by the overhanging deformation of flexible material. Then, a prototype sensor that can eliminate the error factors of these is developed. The sensor is a distribution type impact sensor in which sixteen sensor elements are arranged in a 4 × 4 matrix. Punching experiments using a boxing glove are carried out by installing the sensor on the load cell, on the concrete wall and on the sandbag. From the experiment, it is found that the impact force can be measured with good accuracy by using the sensor. Despite the fact that the sensor has inadequate distribution number of sensor elements, the sensor structure meets mechanical requirements for the flexible impact sensor.
基金Funded by the National Natural Science Foundation of China(No.60672024)National High Technology Research and Development Program of China (No.2007AA04Z220)
文摘In the research of 2D flexible tactile sensor matrix,pressure-sensitive conductive rubber was developed and tested in which carbon black was used as its conductive phase and silicon rubber as its matrix layer.Experiments were undertaken and the resultant data were used for its piezoresistive characteristics investigation for two kinds of electrode connection configurations,the surface directive connection and embedded connection.It is found that due to the rather strong nonlinearity of the piezoresistive characteristic curves obtained,a higher correlation relationship can be obtained by means of quadratic polynomial fitting.It also showed that the embedded electrode assembling has higher fitting accuracy while the surface directive connection has better mechanical sensitivity.
基金Supported by the National Natural Science Foundation of China(No.11672290)
文摘To eliminate the load weight limit of carrier rockets and reduce the burden on support structures,in-orbit assembly is a key technology to make design of scattering a large diameter telescope into submirror modules,which requires smooth operation of assembly robots,and flexible force control technology is necessary. A ground demonstration system is presented for in-orbit assembly focusing on flexible force control. A six-dimensional force/torque sensor and its data acquisition system are used to compensate for gravity. For translation and rotation,an algorithm for flexible control is proposed. A ground transportation demonstration verifies accuracy and smoothness of flexible force control,and the transportation and assembly task is completed automatically. The proposed system is suitable for the development of in-orbit assembly robots.
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
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.
基金This work was supported by the National Natural Science Foundation of China(51902131)Natural Science Foun-dation of Shandong province(ZR2019BEM006)the Major Scientific and Technological Innovation Project of Shandong Province(2021CXGC010603).
文摘The past several decades have witnessed great progress in high-performance field effect transistors(FET)as one of the most important electronic compo-nents.At the same time,due to their intrinsic advantages,such as multiparameter accessibility,excellent electric signal amplification function,and ease of large-scale manufacturing,FET as tactile sensors for flexible wear-able devices,artificial intelligence,Internet of Things,and other fields to per-ceive external stimuli has also attracted great attention and become a significant field of general concern.More importantly,FET has a unique three-terminal structure,which enables its different components to detect external mechanics through different sensing mechanisms.On one hand,it provides an important platform to shed deep insights into the underlying mechanisms of the tactile sensors.On the other hand,these properties could in turn endow excellent components for the construction of tactile matrix sensor arrays with high quality.With special emphasis on the configuration of FETs,this review classified and summarized structure-optimized FET tactile sensors with gate,dielectric layer,semiconductor layer,and source/drain electrodes as sensing active components,respectively.The working principles and the state-of-the-art protocols in terms of high-performance tactile sensors are detail discussed and highlighted,the innovative pixel distribution and integration analysis of the transistor sensor matrix array concerning flexible electronics are also intro-duced.We hope that the introduction of this review can provide some inspiration for future researchers to design and fabricate high-performance FET-based tactile sensor chips for flexible electronics and other fields.
