The Design and Characterization of a Flexible Tactile Sensing Array for Robot Skin

被引：56

作者：

Ji, Zhangping ^{[1
]}

Zhu, Hui ^{[1
]}

Liu, Huicong ^{[1
]}

Liu, Nan ^{[1
]}

Chen, Tao ^{[1
]}

Yang, Zhan ^{[1
]}

Sun, Lining ^{[1
]}

机构：

[1] Soochow Univ, Sch Mech & Elect Engn, Collaborat Innovat Ctr Suzhou Nano Sci & Technol, Jiangsu Prov Key Lab Adv Robot, Suzhou 215000, Peoples R China

来源：

SENSORS | 2016年 / 16卷 / 12期

基金：

中国国家自然科学基金; 国家高技术研究发展计划(863计划);

关键词：

flexible electronics; capacitive tactile sensing array; robot skin; robotic obstacle avoidance; PRESSURE; SENSOR;

D O I：

10.3390/s16122001

中图分类号：

O65 [分析化学];

学科分类号：

070302 ; 081704 ;

摘要：

In this study, a flexible tactile sensing array based on a capacitive mechanism was designed, fabricated, and characterized for sensitive robot skin. A device with 8 x 8 sensing units was composed of top and bottom flexible polyethyleneterephthalate (PET) substrates with copper (Cu) electrodes, a polydimethylsiloxane (PDMS) dielectric layer, and a bump contact layer. Four types of microstructures (i.e., pyramids and V-shape grooves) atop a PDMS dielectric layer were well-designed and fabricated to enhance tactile sensitivity. The optimal sensing unit achieved a high sensitivity of 35.9%/N in a force range of 0-1 N. By incorporating a tactile feedback control system, the flexible sensing array as the sensitive skin of a robotic manipulator demonstrated a potential capability of robotic obstacle avoidance.

引用

页数：11

共 36 条

[1]

[Anonymous], AUTOMATION ROBOTICS

[2]

Cannata G, 2008, 2008 IEEE INTERNATIONAL CONFERENCE ON MULTISENSOR FUSION AND INTEGRATION FOR INTELLIGENT SYSTEMS, VOLS 1 AND 2, P170

[3] A Multifunctional Capacitive Sensor for Stretchable Electronic Skins [J].

Cotton, Darryl P. J. ;

Graz, Ingrid M. ;

Lacour, Stephanie P. .

IEEE SENSORS JOURNAL, 2009, 9 (12) :2008-2009

[4] Conformable amplified lead zirconate titanate sensors with enhanced piezoelectric response for cutaneous pressure monitoring [J].

Dagdeviren, Canan ;

Su, Yewang ;

Joe, Pauline ;

Yona, Raissa ;

Liu, Yuhao ;

Kim, Yun-Soung ;

Huang, YongAn ;

Damadoran, Anoop R. ;

Xia, Jing ;

Martin, Lane W. ;

Huang, Yonggang ;

Rogers, John A. .

NATURE COMMUNICATIONS, 2014, 5

[5]

Dahiya R. S., 2007, P 3 INT C PHD RES MI

[6] Tactile Sensing-From Humans to Humanoids [J].

Dahiya, Ravinder S. ;

Metta, Giorgio ;

Valle, Maurizio ;

Sandini, Giulio .

IEEE TRANSACTIONS ON ROBOTICS, 2010, 26 (01) :1-20

[7] TACTILE SENSORS AND THE GRIPPING CHALLENGE [J].

DARIO, P ;

DEROSSI, D .

IEEE SPECTRUM, 1985, 22 (08) :46-52

[8] Large Scale Triboelectric Nanogenerator and Self-Powered Pressure Sensor Array Using Low Cost Roll-to-Roll UV Embossing [J].

Dhakar, Lokesh ;

Gudla, Sudeep ;

Shan, Xuechuan ;

Wang, Zhiping ;

Tay, Francis Eng Hock ;

Heng, Chun-Huat ;

Lee, Chengkuo .

SCIENTIFIC REPORTS, 2016, 6

[9] An intelligent skin based self-powered finger motion sensor integrated with triboelectric nanogenerator [J].

Dhakar, Lokesh ;

Pitchappa, Prakash ;

Tay, Francis Eng Hock ;

Lee, Chengkuo .

NANO ENERGY, 2016, 19 :532-540

[10] Intelligent robot trends and predictions for the .Net future [J].

Hall, EL .

INTELLIGENT ROBOTS AND COMPUTER VISION XX: ALGORITHMS, TECHNIQUES, AND ACTIVE VISION, 2001, 4572 :70-80

← 1 2 3 4 →