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
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
Piezoresistive composite elastomers have shown great potentials for wearable and flexible electronic applications due to their high sensitivity,excellent frequency response,and easy signal detection.A composition memb...Piezoresistive composite elastomers have shown great potentials for wearable and flexible electronic applications due to their high sensitivity,excellent frequency response,and easy signal detection.A composition membrane sensor with an interlocked structure has been developed and demonstrated outstanding pressure sensitivity,fast response time,and low temperature drift features.Compared with a flexible MXene-based flat sensor(Ti_(3)C_(2)),the interlocked sensor exhibits a significantly improved pressure sensitivity of two magnitudes higher(21.04 kPa^(-1)),a fast reaction speed of 31 ms,and an excellent cycle life of 5000 test runs.The viability of sensor in responding to various external stimuli with high deformation capacity has been confirmed by calculating the force distribution of a polydimethylsiloxane(PDMS)film model with a microlens structure using the solid mechanics module in COMSOL.Unlike conventional process,we utilized three-dimensional(3D)laser-direct writing lithography equipment to directly transform high-precision 3D data into a micro-nano structure morphology through variable exposure doses,which reduces the hot melting step.Moreover,the flexible pressure device is capable of detecting and distinguishing signals ranging from finger movements to human pulses,even for speech recognition.This simple,convenient,and large-format lithographic method offers new opportunities for developing novel human-computer interaction devices.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
当前主流的仿人机器人都采用ZMP(zero moment point)理论作为稳定行走的判据。实时ZMP点落在支撑足与地面接触形成的多边形支撑区域内是仿人机器人实现稳定步行的必要条件。因此实现仿人机器人在复杂现实环境中稳定行走,必须要求机器人...当前主流的仿人机器人都采用ZMP(zero moment point)理论作为稳定行走的判据。实时ZMP点落在支撑足与地面接触形成的多边形支撑区域内是仿人机器人实现稳定步行的必要条件。因此实现仿人机器人在复杂现实环境中稳定行走,必须要求机器人足部感知系统提供足够丰富的地面环境信息,从而可以准确获取支撑区域的形状以实现基于实时ZMP点的稳定控制。文中将柔性阵列力传感器应用于仿人机器人足部感知系统,提出了获取仿人机器人支撑区域形状的方法,而且通过实验验证了其可行性。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.
基金This work was supported by the National Natural Science Foundation of China(No.61974100)the National Science Foundation of the Jiangsu Higher Education Institutions of China(No.20KJA480002)+2 种基金This project was also funded by the Collaborative Innovation Center of Suzhou Nano Science and Technology,and by the Priority Academic Program Development of Jiangsu Higher Education Institutions(PAPD)X.H.Z.acknowledges the support from the NSERC-Alberta Innovated Advanced Program.B.B.X.and Y.H.J.are grateful for the support from the Engineering and Physical Sciences Research Council(EPSRC,UK)(Nos.EP/N007921 and EP/X02041X)Y.H.J.also acknowledges the support from the Leverhulme Trust(No.RPG-2022-177).
文摘Piezoresistive composite elastomers have shown great potentials for wearable and flexible electronic applications due to their high sensitivity,excellent frequency response,and easy signal detection.A composition membrane sensor with an interlocked structure has been developed and demonstrated outstanding pressure sensitivity,fast response time,and low temperature drift features.Compared with a flexible MXene-based flat sensor(Ti_(3)C_(2)),the interlocked sensor exhibits a significantly improved pressure sensitivity of two magnitudes higher(21.04 kPa^(-1)),a fast reaction speed of 31 ms,and an excellent cycle life of 5000 test runs.The viability of sensor in responding to various external stimuli with high deformation capacity has been confirmed by calculating the force distribution of a polydimethylsiloxane(PDMS)film model with a microlens structure using the solid mechanics module in COMSOL.Unlike conventional process,we utilized three-dimensional(3D)laser-direct writing lithography equipment to directly transform high-precision 3D data into a micro-nano structure morphology through variable exposure doses,which reduces the hot melting step.Moreover,the flexible pressure device is capable of detecting and distinguishing signals ranging from finger movements to human pulses,even for speech recognition.This simple,convenient,and large-format lithographic method offers new opportunities for developing novel human-computer interaction devices.
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.
文摘当前主流的仿人机器人都采用ZMP(zero moment point)理论作为稳定行走的判据。实时ZMP点落在支撑足与地面接触形成的多边形支撑区域内是仿人机器人实现稳定步行的必要条件。因此实现仿人机器人在复杂现实环境中稳定行走,必须要求机器人足部感知系统提供足够丰富的地面环境信息,从而可以准确获取支撑区域的形状以实现基于实时ZMP点的稳定控制。文中将柔性阵列力传感器应用于仿人机器人足部感知系统,提出了获取仿人机器人支撑区域形状的方法,而且通过实验验证了其可行性。
