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

页数：11

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