Soft Pressure Sensor Array Inspired by Human Skin for Detecting 3D Robotic Movement

被引：0

作者：

Zhang, Qiang ^{[1
,2
,3
,4
]}

Zhang, Chunyan ^{[2
]}

Song, Haoyu ^{[1
,3
,4
]}

Tang, Weitao ^{[2
]}

Zeng, Yanhong ^{[2
]}

机构：

[1] Hebei Univ, Sch Qual & Tech Supervis, Baoding 071002, Peoples R China

[2] Taiyuan Univ Technol, Coll Elect Informat & Opt Engn, Taiyuan 030024, Peoples R China

[3] Hebei Univ, Natl & Local Joint Engn Res Ctr Metrol Instrument, Baoding 071002, Peoples R China

[4] Hebei Univ, Hebei Key Lab Energy Metering & Safety, Testing Technol, Baoding 071002, Peoples R China

来源：

ACS APPLIED MATERIALS & INTERFACES | 2025年 / 17卷 / 09期

关键词：

bioinspired; nanomaterials; soft tactile sensor; multimodal; three-dimensional;

D O I：

10.1021/acsami.4c22665

中图分类号：

TB3 [工程材料学];

学科分类号：

0805 ; 080502 ;

摘要：

3D soft pressure sensors play an important role in precise robotic operations. Multimodal soft pressure sensors that detect both static and dynamic pressure allow robots to respond accurately and in real time. Here, we present a sensor array with a size of 1.5 cm x 1.5 cm composed of capacitive and piezoelectric units, inspired by Merkel cells and Vater-Pacini corpuscles of human skin. The tangential force from 0.1 to 2 N at angles of 0 degrees, 45 degrees, 180 degrees, and 225 degrees can be resolved by analyzing the signals of the 16 piezoelectric sensors. The 4 capacitive sensors exhibit consistent and stable performance when sensing normal forces from 0.5 to 4 N. The weight and size of objects, as well as the direction of grasping, effectively distinguish the weight, size, and grasping direction of objects when integrated on a robotic gripper. Running and walking movements are recognized when attached to a robot's knee.

引用

页码：14604 / 14614

页数：11

共 30 条

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