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用于安全人机交互的基于海绵的柔性电子皮肤的实现。

Implementation of a Sponge-Based Flexible Electronic Skin for Safe Human-Robot Interaction.

作者信息

Yang Kun, Xia Xinkai, Zhang Fan, Ma Huanzhou, Sang Shengbo, Zhang Qiang, Ji Jianlong

机构信息

Shanxi Key Laboratory of Micro Nano Sensor & Artificial Intelligence Perception, College of Information and Computer, Taiyuan University of Technology, Taiyuan 030024, China.

Key Lab of Advanced Transducers and Intelligent Control System of the Ministry of Education, Taiyuan University of Technology, Taiyuan 030024, China.

出版信息

Micromachines (Basel). 2022 Aug 19;13(8):1344. doi: 10.3390/mi13081344.

DOI:10.3390/mi13081344
PMID:36014266
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC9414897/
Abstract

In current industrial production, robots have increasingly been taking the place of manual workers. With the improvements in production efficiency, accidents that involve operators occur frequently. In this study, a flexible sensor system was designed to promote the security performance of a collaborative robot. The flexible sensors, which was made by adsorbing graphene into a sponge, could accurately convert the pressure on a contact surface into a numerical signal. Ecoflex was selected as the substrate material for our sensing array so as to enable the sensors to better adapt to the sensing application scenario of the robot arm. A 3D printing mold was used to prepare the flexible substrate of the sensors, which made the positioning of each part within the sensors more accurate and ensured the unity of the sensing array. The sensing unit showed a correspondence between the input force and the output resistance that was in the range of 0-5 N. Our stability and reproducibility experiments indicated that the sensors had a good stability. In addition, a tactile acquisition system was designed to sample the tactile data from the sensor array. Our interaction experiment results showed that the proposed electronic skin could provide an efficient approach for secure human-robot interaction.

摘要

在当前的工业生产中，机器人越来越多地取代了体力劳动者。随着生产效率的提高，涉及操作人员的事故频繁发生。在本研究中，设计了一种柔性传感器系统以提高协作机器人的安全性能。通过将石墨烯吸附到海绵中制成的柔性传感器，能够将接触表面上的压力准确地转换为数字信号。选择Ecoflex作为传感阵列的基底材料，以便使传感器能够更好地适应机器人手臂的传感应用场景。使用3D打印模具制备传感器的柔性基底，这使得传感器内各部分的定位更加准确，并确保了传感阵列的一致性。传感单元显示输入力与输出电阻之间的对应关系在0-5N范围内。我们的稳定性和再现性实验表明，这些传感器具有良好的稳定性。此外，设计了一种触觉采集系统来采集来自传感器阵列的触觉数据。我们的交互实验结果表明，所提出的电子皮肤可为安全的人机交互提供一种有效的方法。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a07f/9414897/05811bfa75c4/micromachines-13-01344-g013.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a07f/9414897/7fc411a1c0da/micromachines-13-01344-g001.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a07f/9414897/7c2057e1da35/micromachines-13-01344-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a07f/9414897/84a714303c1a/micromachines-13-01344-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a07f/9414897/35f09e934a9a/micromachines-13-01344-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a07f/9414897/5ff99c7ee75a/micromachines-13-01344-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a07f/9414897/419dc79b24f8/micromachines-13-01344-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a07f/9414897/231eb0a6b638/micromachines-13-01344-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a07f/9414897/999b9ab48890/micromachines-13-01344-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a07f/9414897/29e9c22d186a/micromachines-13-01344-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a07f/9414897/05811bfa75c4/micromachines-13-01344-g013.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a07f/9414897/7fc411a1c0da/micromachines-13-01344-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a07f/9414897/2b5faebb2f92/micromachines-13-01344-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a07f/9414897/585e3e756db0/micromachines-13-01344-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a07f/9414897/31affe34102d/micromachines-13-01344-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a07f/9414897/7c2057e1da35/micromachines-13-01344-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a07f/9414897/84a714303c1a/micromachines-13-01344-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a07f/9414897/35f09e934a9a/micromachines-13-01344-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a07f/9414897/5ff99c7ee75a/micromachines-13-01344-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a07f/9414897/419dc79b24f8/micromachines-13-01344-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a07f/9414897/231eb0a6b638/micromachines-13-01344-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a07f/9414897/999b9ab48890/micromachines-13-01344-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a07f/9414897/29e9c22d186a/micromachines-13-01344-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/a07f/9414897/05811bfa75c4/micromachines-13-01344-g013.jpg

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本文引用的文献

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Flexible Capacitive Pressure Sensor Based on Microstructured Composite Dielectric Layer for Broad Linear Range Pressure Sensing Applications.基于微结构复合介电层的柔性电容式压力传感器用于宽线性范围压力传感应用。
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用于超分辨率触觉传感且具有力自解耦功能的柔性磁性皮肤
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