• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2019, Vol. 55 ›› Issue (10): 17-26.doi: 10.3901/JME.2019.10.017

• 仪器科学与技术 • 上一篇    下一篇

基于双对角匀强电场的柔性触觉传感器研究

张友志, 吴海彬, 何可耀, 王浩淼, 叶锦华   

  1. 福州大学机械工程及自动化学院 福州 350116
  • 收稿日期:2018-07-09 修回日期:2019-01-05 出版日期:2019-05-20 发布日期:2019-05-20
  • 通讯作者: 吴海彬(通信作者),男,1973年出生,博士,教授,博士研究生导师。主要研究方向为机器人触觉传感器(人工皮肤)、提高机器人安全性的技术与方法。E-mail:wuhb@fzu.edu.cn
  • 作者简介:张友志,男,1987年出生,博士研究生。主要研究方向为机器人触觉感知。E-mail:604400678@qq.com
  • 基金资助:
    国家自然科学基金资助项目(51575111,51605093)

Research on Flexible Tactile Sensor Based on Double Diagonal Uniform Planar Electric Field

ZHANG Youzhi, WU Haibin, HE Keyao, WANG Haomiao, YE Jinhua   

  1. School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350116
  • Received:2018-07-09 Revised:2019-01-05 Online:2019-05-20 Published:2019-05-20

摘要: 触觉感知是智能装备获取外部信息,并提升自身安全和人机交互共融性能的必备手段。以静电场唯一性定理为基础,提出一种能够检测接触位置的柔性触觉传感器模型。在一柔性矩形弱导电面的四周设置连续的强导电线电极,并在对角处引入偏置激励,从而在与弱导电面的对角呈一定角度方向构建匀强电场。进一步通过对两组对角电极分时施加偏置激励,则可以分时在两个不同方向形成匀强电场。基于匀强电场中位置与电势的线性关系,通过获取弱导电面内某点的电势值进而确定该点的位置坐标,实现接触位置的检测。传感器采用三层结构,包括弱导电层,中间隔离层和信号引出层。采用COMSOL软件对导电面不同结构形状和不同接触面积对电场分布的影响进行仿真,并制作了传感器样品。仿真和试验结果表明,提出的用于检测接触位置的触觉传感器原理可行,对于100 mm×100 mm幅面大小的触觉传感器,具有较好的检测精度。

关键词: 触觉传感器, 分时激励, 接触位置检测, 匀强电场

Abstract: Tactile perception is the necessary means for intelligent equipment to acquire external information, and improve its safety and the performance of human-machine interaction. Based on the uniqueness theorem of electrostatic field, a new flexible tactile sensor that can detect the contact position information is designed. A strong conductive line is arranged along the edge of a flexible rectangular plane with a layer of weak conductive film. A bias excitation is applied to the opposite angles of the conductive plane to construct a uniform electric field. The direction of the electric field is at a certain angle to the diagonal of the conductive plane. Furthermore, the bias excitation applied to two pairs of opposite angles alternately, so that two uniform electric fields in different direction can be alternately formed in the conductive plane. According to the linear relationship between position and potential in the uniform electric field, the coordinate of contact position can be determined by obtaining the potential of the contact point in the conducting plane. The sensor uses a three-layer structure, including a conductive layer, an intermediate isolation layer and a signal extraction layer. COMSOL multiphysics is used to simulate the different states of the electric-field distribution for different size of the plane and different contact area. A tactile sensor sample is fabricated. The simulation and experimental results show that the principle of the tactile sensor used for the contact position detection is feasible, and it has good detection accuracy for the tactile sensor of 100 mm×100 mm.

Key words: contact position detection, tactile sensor, time-sharing excitation, uniform electric field

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