用于仿生皮肤的电容式三维力触觉感知系统  

Capacitive Three-Dimensional Force Tactile Perception System for Artificial Skin

作　　者：许德成[1] 郭小辉[2] 

机构地区：[1]吉林师范大学信息技术学院,吉林四平136000 [2]合肥工业大学电子科学与应用物理学院,合肥230009

出　　处：《吉林大学学报（信息科学版）》2015年第6期652-657,共6页Journal of Jilin University（Information Science Edition）

基　　金：吉林省教育厅"十二五"科学技术研究基金资助项目(吉教科合字第2013023号)

摘　　要：为解决可穿戴传感器触觉感知信息单一,不具备柔性以及可穿戴性差的问题,研究了一种兼备法向力与切向力感知功能的电容式三维力柔性触觉传感器。阐述了传感器的结构设计、触觉感知机理,并借助ANSYS传感器有限元仿真软件进行触觉感知机理验证。基于CC2530低功耗微处理器与AD7147-1型电容数字转换器构建便携式电容触觉信息感知系统。可分别满足法向力0~5 N范围检测灵敏度为6.87 f F/N以及剪切力0~3 N时灵敏度为10.96 f F/N的触觉感知,动态响应时间为226 ms。实验结果表明,该电容式三维力触觉传感器具备良好的工作稳定性与灵敏度,为可穿戴式人工皮肤的研究提供了一种设计方案。A capacitive three-dimensional force flexible tactile sensor is proposed,which is capable of measuring normal and shear force. The structure design of capacitive three-dimensional force tactile sensor and the working principle are introduced. The tactile perception mechanism is verified by using ANSYS finite element simulation software,and a portable capacitive tactile information perception system was designed based on low power microprocessor CC2530 and AD 7147-1 capacitance-to-digital converter. The sensor has achieved dynamic response time of 226 ms,the normal load measurement is from 0 to 5 N,shear load measurement is from 0 to 3N and the measured sensitivities are 6. 87 f F / N and 10. 96 f F / N. The experiment results indicate that the flexible capacitive sensors array and the capacitive signal extraction system have good stability and sensitivity,providing a design proposal for wearable artificial skin.

关 键 词：电容式传感器 全柔性 传感信息处理 仿生皮肤 触觉传感器 三维力 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]