Department of Electronic Engineering, Hanyang University, 222 Wangsimni-ro, Seongdong-gu, Seoul 04763, Korea.
Institute of Nano Science and Technology, Hanyang University, 222 Wangsimni-ro, Seongdong-gu, Seoul 04763, Korea.
Sensors (Basel). 2019 Mar 15;19(6):1300. doi: 10.3390/s19061300.
In this article, we report on a highly sensitive tactile shear sensor that was able to detect minute levels of shear and surface slip. The sensor consists of a suspended elastomer diaphragm with a top ridge structure, a graphene layer underneath, and a bottom substrate with multiple spatially digitized contact electrodes. When shear is applied to the top ridge structure, it creates torque and deflects the elastomer downwards. Then, the graphene electrode makes contact with the bottom spatially digitized electrodes completing a circuit producing output currents depending on the number of electrodes making contact. The tactile shear sensor was able to detect shear forces as small as 6 μN, detect shear direction, and also distinguish surface friction and roughness differences of shearing objects. We also succeeded in detecting the contact slip motion of a single thread demonstrating possible applications in future robotic fingers and remote surgical tools.
在本文中，我们报告了一种高灵敏度的触觉剪切传感器，该传感器能够检测到微小的剪切和表面滑移水平。该传感器由一个带有顶部脊结构的悬浮弹性体膜片、一个在其下面的石墨烯层以及一个带有多个空间数字化接触电极的底部基底组成。当剪切力施加到顶部脊结构上时，它会产生扭矩并使弹性体向下弯曲。然后，石墨烯电极与底部空间数字化电极接触，形成一个电路，产生的输出电流取决于接触的电极数量。触觉剪切传感器能够检测到小至 6μN 的剪切力，能够检测剪切方向，还能够区分剪切物体的表面摩擦和粗糙度差异。我们还成功地检测到了单根线的接触滑动运动，这表明该传感器可能在未来的机器人手指和远程手术工具中有应用潜力。
