Design and experiment of flexible multi-functional tactile sensors for robot skin

作者：Huang, Ying^*; Lu, Wei; Zhao, Xiaowen; Lian, Chao; Ge, Yunjian

来源：Robot, 2011, 33(3): 347-353+359.

DOI：10.3724/SP.J.1218.2011.00347

• Conductive composites
• Inter-digitated electrodes
• Piezoresistive effects
• Robot skin
• Symmetrical structure
• Tactile sensors
• Temperature detection
• Three dimensional forces

Flexible multi-functional tactile sensors are designed and fabricated for intelligent robot skin to detect three-dimensional force and temperature. Using the significant piezoresistive effect of carbon black/silicone rubber, a three-dimensional force sensor with four-electrode symmetrical structure is designed. Using the significant temperature sensitive effect of carbon fiber-PDMS (polydimethylsiloxane), a temperature sensor with interdigitated electrode structure is designed. The principles of three-dimensional force and temperature detection are analyzed. In view of the the mechanical/temperature sensitivity cross-interference of the two kinds of conductive composites, the flexible multi-functional tactile sensor array is structured in the way that three-dimensional force and temperature sensors are arranged in alternately concave-convex form. The experiment results prove that the flexible multi-functional tactile sensors have three-dimensional force and temperature detection functions and can be applied to robot sensitive skin.

• 出版日期2011
• 单位合肥工业大学