Gao Weihua, Yao Jiantao, Yu Xianhe, Ma Guoliang, Wang Dakai, Yu Hongnian, Han Zhiwu, Ren Luquan
Parallel Robot and Mechatronic System Laboratory of Hebei Province, School of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066000, China.
Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun, Jilin, 130022, China.
Adv Sci (Weinh). 2025 Aug;12(32):e06783. doi: 10.1002/advs.202506783. Epub 2025 Jun 29.
The synergistic enhancement of both linear range and response speed is crucial for simplifying the signal processing/conversion of tactile sensors and improving real-time perception. However, traditional tactile sensors face challenges in quantitatively controlling force-electrical response and viscoelastic hysteresis, limiting their linear sensing range and response speed. Inspired by parallel structures, Composite Parallel Tactile Sensors (CPTS-W and CPTS-S) is proposed, employing parallel elastomers to regulate deformation precisely. These sensors exhibit a wide sensing range up to 450 kPa, with three linear response regions: 0-50 kPa (sensitivity of 0.0080 kPa¹), 50-98 kPa (sensitivity of 0.0022 kPa¹), and 98-423 kPa (sensitivity of 0.0012 kPa¹), significantly reduce dynamic recovery hysteresis of conductive composites, and enhance rapid response capability (48 ms response time and 39 ms recovery time). With excellent dynamic response characteristics across a wide linear sensing range, the results demonstrate broad applicability in areas such as physiological signal monitoring, complex object shape recognition, and multi-axis torque decoupling perception in robotics.
线性范围和响应速度的协同增强对于简化触觉传感器的信号处理/转换以及改善实时感知至关重要。然而，传统触觉传感器在定量控制力电响应和粘弹性滞后方面面临挑战，限制了它们的线性传感范围和响应速度。受并联结构的启发，提出了复合并联触觉传感器（CPTS-W和CPTS-S），采用并联弹性体精确调节变形。这些传感器具有高达450 kPa的宽传感范围，具有三个线性响应区域：0-50 kPa（灵敏度为0.0080 kPa⁻¹）、50-98 kPa（灵敏度为0.0022 kPa⁻¹）和98-423 kPa（灵敏度为0.0012 kPa⁻¹），显著降低了导电复合材料的动态恢复滞后，并增强了快速响应能力（响应时间为48 ms，恢复时间为39 ms）。结果表明，该传感器在生理信号监测、复杂物体形状识别和机器人多轴扭矩解耦感知等领域具有广泛的适用性，具有出色的动态响应特性和宽线性传感范围。
