面向智能机器人的大面积电子皮肤感知系统

doi:10.3901/JME.260162

机械工程学报 ›› 2026, Vol. 62 ›› Issue (11): 241-248.doi: 10.3901/JME.260162

• 机器人及机构学 • 上一篇

扫码分享

面向智能机器人的大面积电子皮肤感知系统

张聘^1,2, 姜山^1,2, 韩成³, 白龙^1,2, 布天昭³, 吴豪³

1. 航空工业济南特种结构研究所高性能电磁窗航空科技重点实验室济南 250023;
2. 电磁功能结构技术创新中心济南 250023;
3. 华中科技大学机械科学与工程学院武汉 430074

收稿日期:2024-11-12 修回日期:2025-09-28 发布日期:2026-07-29
作者简介:张聘,男,1983年出生,研究员,副总工程师。主要研究方向为先进航空制造技术;E-mail:sdzhangpin@sohu.com;姜山(通信作者),男,1993年出生,博士。主要研究方向为先进航空制造技术,电子封装技术。E-mail:jiangs060@avic.com

Large-area Electronic Skin Sensing Systems for Intelligent Robots

ZHANG Pin^1,2, JIANG Shan^1,2, HAN Cheng³, BAI Long^1,2, BU Tianzhao³, WU Hao³

1. AVIC Research Institute for Special Structures of Aeronautical Composite, Aviation Key Lab of Science and Technology on High Performance Electromagnetic Windows, Ji'nan 250023;
2. Innovation Centre for Electromagnetic Functional Structure, Ji'nan 250023;
3. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074

Received:2024-11-12 Revised:2025-09-28 Published:2026-07-29

摘要/Abstract

摘要： 电子皮肤为智能机器人提供类似于人类的触觉感知功能，是实现人机交互与灵巧操作的关键技术之一。尽管现有电子皮肤已具备一定的传感功能，但其传感区域较小且缺乏信号处理能力，无法满足机器人对大面积智能化触觉感知的需求。针对上述问题，开发了一种大面积电子皮肤感知系统，并探索了其在智能机器人领域的应用。该感知系统由电子皮肤、数据采集与处理装置组成，具有可扩展的传感面积和高空间分辨率，能够实时反映外部压力分布状态。并且受生物整体感知启发，提出了一种自监督传感校正网络，利用时空上下文信息从弱监督中学习，以解决大面积电子皮肤难以标定的问题。此外，将电子皮肤感知系统应用于触摸模态识别和机器人碰撞检测，拓展了其应用场景，表现出了在智能机器人、人机交互等领域的潜在应用价值。

关键词: 电子皮肤感知系统, 自监督传感校正, 触摸模态识别, 碰撞检测

Abstract: Electronic skin is one of the key technologies to achieve human-computer interaction and dexterous operation, providing intelligent robots with human-like tactile sensing functions. Existing electronic skins already have certain sensing functions, but their sensing areas are small and the signal processing capabilities are not satisfying, making them unable to meet the robot’s needs for large-area intelligent tactile perception. In response to the above problems, a large-area electronic skin sensing system has been investigated and preliminarily applied in intelligent robots. The sensing system consisting of electronic skin, data acquisition, and processing devices, has an expandable sensing area and high spatial resolution which can reflect the external pressure distribution status in real time. Inspired by biological holistic perception, this research proposes a self-supervised sensing correction network using spatiotemporal context information to learn from weak supervision to solve the problem of difficult calibration of large-area electronic skins. In addition, this research applies the electronic skin sensing system to touch mode recognition and robot collision detection, expanding its application scenarios and showing its potential application value in fields such as intelligent robots and human-computer interaction.

Key words: electronic skin sensing system, self-supervised sensing correction, touch modality recognition, collision detection

中图分类号:

TP242

张聘, 姜山, 韩成, 白龙, 布天昭, 吴豪. 面向智能机器人的大面积电子皮肤感知系统[J]. 机械工程学报, 2026, 62(11): 241-248.

ZHANG Pin, JIANG Shan, HAN Cheng, BAI Long, BU Tianzhao, WU Hao. Large-area Electronic Skin Sensing Systems for Intelligent Robots[J]. Journal of Mechanical Engineering, 2026, 62(11): 241-248.

导出引用管理器 EndNote|Reference Manager|ProCite|BibTeX|RefWorks

链接本文: http://www.cjmenet.com.cn/CN/10.3901/JME.260162

http://www.cjmenet.com.cn/CN/Y2026/V62/I11/241

参考文献

[1] WANG Tianmiao，TAO Yong，LIU Hui. Current researches and future development trend of intelligent robot：A review[J]. International Journal of Automation and Computing，2018，15(5)：525-546.
[2] 陶永，王田苗，刘辉，等. 智能机器人研究现状及发展趋势的思考与建议[J]. 高技术通讯，2019，29(2)：149-163. TAO Yong，WANG Tianmiao，LIU Hui，et al. Reflections and recommendations on the current status and development trends of intelligent robot research[J]. High Technology Letters，2019，29(2)：149-163.
[3] HE Wei，LI Zhijun. CHEN Bingliang. A survey of human-centered intelligent robots：Issues and challenges[J]. IEEE/CAA Journal of Automatica Sinica，2017，4(4)：602-609。
[4] HADDADIN S，HADDADIN S，KHOURY A，et al. On making robots understand safety：Embedding injury knowledge into control[J]. International Journal of Robotics Research，2012，31(13)：1578–1602.
[5] LEE M A，ZHU Yuke，SRINIVASAN K，et al. Making sense of vision and touch：Self-supervised learning of multimodal representations for contact-rich tasks[C]// 2019 International Conference on Robotics and Automation (ICRA)，IEEE，2019：8943-8950.
[6] 潘晓君，鲍容容，潘曹峰. 可穿戴柔性触觉传感器的研究进展[J]. 高等学校化学学报，2021，42(8)：2359-2373. PAN Xiaojun，BAO Rongrong，PAN Caofeng. Research progress on wearable flexible tactile sensors[J]. Chemical Journal of Chinese Universities，2021，42(8)：2359-2373.
[7] 易艺，宋爱国，李会军，等. 电容式柔性触觉传感器设计[J]. 传感技术学报，2019，32(8)：1123-1129. YI Yi，SONG Aiguo，LI Huijun，et al. Capacitive flexible tactile sensor design[J]. Chinese Journal of Sensors and Actuators，2019，32(8)：1123-1129.
[8] 张淑艳，张金红，赵立蕊. 一种简单的电容式三维力柔性触觉传感器设计[J]. 电子器件，2018，41(1)：95-99. ZHANG Shuyan，ZHANG Jinhong，ZHAO Lirui. A simple capacitive 3D force flexible tactile sensor design[J]. Chinese Journal of Electron Devices，2018，41(1)：95-99.
[9] TESHIGAWARA S，SHIMIZU S，TSUTSUMI T，et al. High sensitivity slip sensor using pressure conductive rubber for dexterous grasp and manipulation[C]// SENSORS，2010 IEEE. IEEE，2010：570-574.
[10] 张宪民，王浩楠，黄沿江. 机器人抓取对象硬度触觉感知研究[J]. 机械工程学报，2021，57：1-9. ZHANG Xianmin，WANG Haonan，HUANG Yanjiang. Research on hardness tactile perception of robot object grasping[J]. Journal of Mechanical Engineering，2021，57：1-9.
[11] SIM S，JO E，KANG Y，et al. Highly sensitive flexible tactile sensors in wide sensing range enabled by hierarchical topography of biaxially strained and capillary-densified carbon nanotube bundles[J]. Small，2021，17(50)：2105334.
[12] WANG Yanchen，CHEN Zhijian，MEI Deqing，et al. Highly sensitive and flexible tactile sensor with truncated pyramid-shaped porous graphene/silicone rubber composites for human motion detection[J]. Composites Science and Technology，2022，217：109078.
[13] YANG Mei，CHENG Yongfa，YUE Yang，et al. High-performance flexible pressure sensor with a self-healing function for tactile feedback[J]. Advanced Science，2022，9(20)：2200507.
[14] BOUTRY C M，NGUYEN A，LAWAL Q O，et al. A sensitive and biodegradable pressure sensor array for cardiovascular monitoring[J]. Advanced Materials (Deerfield Beach，Fla.)，2015，27(43)：6954-6961.
[15] FU Xiang，ZHANG Jiqiang，KANG Yuran，et al. A high-resolution，ultrabroad-range and sensitive capacitive tactile sensor based on a CNT/PDMS composite for robotic hands[J]. Nanoscale，2021，13(44)：18780-18788.
[16] CHEN Zefeng，WANG Zhao，LI Xinming，et al. Flexible piezoelectric-induced pressure sensors for static measurements based on nanowires/graphene heterostructures[J]. ACS nano，2017，11(5)：4507-4513.
[17] PENG Xiao，DONG Kai，NING Chuan，et al. All-nanofiber self-powered skin-interfaced real-time respiratory monitoring system for obstructive sleep apnea-hypopnea syndrome diagnosing[J]. Advanced Functional Materials，2021，31(34)：2103559.
[18] LEE Y，LIM S，SONG W J，et al. Triboresistive touch sensing：Grid-free touch-point recognition based on monolayered ionic power generators[J]. Advanced Materials，2022，34(19)：2108586.
[19] PAN L，CHORTOS A，YU Guihua，et al. An ultra-sensitive resistive pressure sensor based on hollow-sphere microstructure induced elasticity in conducting polymer film[J]. Nature Communications，2014，5(1)：3002.
[20] LUO Yiyue，LI Yunzhu，SHARMA P，et al. Learning human-environment interactions using conformal tactile textiles[J]. Nature Electronics，2021，4(3)：193-201.
[21] LEE H，KWON D，CHO H，et al. Soft nanocomposite based multi-point，multi-directional strain mapping sensor using anisotropic electrical impedance tomography[J]. Scientific Reports，2017，7(1)：39837.
[22] XU Qian，YANG Zhiwei，WANG Zhengjun，et al. Sandwich Miura-Ori enabled large area，super resolution tactile skin for human-machine interactions[J]. Advanced Science，2025，12(18)：2414580.

面向智能机器人的大面积电子皮肤感知系统

Large-area Electronic Skin Sensing Systems for Intelligent Robots

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 6

编辑推荐

Metrics

本文评价

[1]	董元发, 黄继涛, 黎海凡, 周彬, 彭巍, 安友军. 面向紧耦合协作空间的人-机点云快速重建与碰撞检测方法研究[J]. 机械工程学报, 2025, 61(16): 57-69.
[2]	谢峰, 李红杨, 甄圣超, 魏华伟. 基于带通滤波二阶动量观测器的机器人碰撞检测[J]. 机械工程学报, 2024, 60(21): 99-111.
[3]	张建华, 任宝珍, 赵岩, 徐永强, 刘璇. 基于二分试探的平面冗余机械臂碰撞检测与避障[J]. 机械工程学报, 2023, 59(1): 113-122.
[4]	李锦龙, 刘传耙, 孙涛, 张弢, 连宾宾, 宋轶民. 面向并联骨折手术机器人的复位轨迹自动式规划方法[J]. 机械工程学报, 2022, 58(5): 26-33.
[5]	贾计东, 张明路. 人机安全交互技术研究进展及发展趋势[J]. 机械工程学报, 2020, 56(3): 16-30.
[6]	王志斌;刘检华;刘佳顺;宁汝新. 面向电缆虚拟装配仿真的多分支弹簧质点模型[J]. , 2014, 50(3): 174-183.