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

被引：54
|
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
收藏
页数：11
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