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
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
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.
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.
