Zhang Mingyao, Shi Yong, Ge Haitao, Sun Guopeng, Lian Zihan, Lu Yifei
School of Mechanical Engineering, Heilongjiang University, Harbin 150001, China.
Sensors (Basel). 2024 Apr 28;24(9):2808. doi: 10.3390/s24092808.
Flexible sensors have gained popularity in recent years. This study proposes a novel structure of a resistive four-channel tactile sensor capable of distinguishing the magnitude and direction of normal forces acting on its sensing surface. The sensor uses Ecoflex00-30 as the substrate and EGaIn alloy as the conductive filler, featuring four mutually perpendicular and curved channels to enhance the sensor's dynamic responsiveness. Experiments and simulations show that the sensor has a large dynamic range (31.25-100 mΩ), high precision (deviation of repeated pressing below 0.1%), linearity (R2 above 0.97), fast response/recovery time (0.2 s/0.15 s), and robust stability (with fluctuations below 0.9%). This work uses an underactuated robotic hand equipped with a four-channel tactile sensor to grasp various objects. The sensor data collected effectively predicts the shapes of the objects grasped. Furthermore, the four-channel tactile sensor proposed in this work may be employed in smart wearables, medical diagnostics, and other industries.
近年来，柔性传感器越来越受欢迎。本研究提出了一种新型结构的电阻式四通道触觉传感器，该传感器能够区分作用在其传感表面上的法向力的大小和方向。该传感器使用Ecoflex00-30作为基底，以铟镓合金作为导电填料，具有四个相互垂直的弯曲通道，以增强传感器的动态响应能力。实验和模拟表明，该传感器具有较大的动态范围（31.25-100mΩ）、高精度（重复按压偏差低于0.1%）、线性度（R2高于0.97）、快速响应/恢复时间（0.2s/0.15s）以及强大的稳定性（波动低于0.9%）。这项工作使用配备有四通道触觉传感器的欠驱动机械手来抓取各种物体。收集到的传感器数据有效地预测了所抓取物体的形状。此外，本工作中提出的四通道触觉传感器可应用于智能可穿戴设备、医学诊断及其他行业。
