Electrical and Computer Engineering, Advanced Materials and Process Engineering Laboratory, University of British Columbia, Vancouver, V6T 1Z4, Canada.
Frontier Robotics, Innovative Research Excellence, Honda R&D Co., Ltd, 8-1 Honcho, Wako-shi, Saitama, 351-0188, Japan.
Sci Rep. 2023 Oct 25;13(1):17390. doi: 10.1038/s41598-023-43714-6.
Soft sensors that can discriminate shear and normal force could help provide machines the fine control desirable for safe and effective physical interactions with people. A capacitive sensor is made for this purpose, composed of patterned elastomer and containing both fixed and sliding pillars that allow the sensor to deform and buckle, much like skin itself. The sensor differentiates between simultaneously applied normal force and shear using summation and differences of signals from four deformable capacitors. Cross talk from shear to normal force is less than 2.5%, and between shear axes is less than 10%. Normal and shear stress sensitivity is 0.49 kPa and 0.31 kPa respectively, with a minimum displacement resolution of 40 μm. In addition, finger proximity is detectable at a range of up to 15 mm. The operation is demonstrated on a simple gripper holding a cup. The combination of features and the straightforward fabrication method make this sensor a candidate for implementation as a sensing skin for humanoid robotics applications.
能够区分切向力和法向力的软传感器可以帮助机器实现精细控制，从而实现与人类进行安全有效物理交互的目标。为此，设计了一种电容式传感器，它由图案化的弹性体组成，包含固定和滑动支柱，使传感器能够像皮肤一样变形和弯曲。该传感器通过四个可变形电容器的信号求和与差分来区分同时施加的法向力和切向力。切向力对法向力的串扰小于 2.5%，切向轴之间的串扰小于 10%。法向和切向应力灵敏度分别为 0.49 kPa 和 0.31 kPa，最小位移分辨率为 40 μm。此外，在 15 mm 的范围内可以检测到手指的接近程度。该传感器在一个简单的夹持杯子的夹具上进行了演示。该传感器具有多种功能，制造方法简单，因此非常适合作为仿人机器人应用的传感皮肤。
