小型仿生人工手指触觉感知系统设计  

Design of Miniature Bionic Artificial Finger Tactile Sensing System

作　　者：余婉婷 孙勇智[1] 陈萌 张文奇 陈晓[1] YU Wanting;SUN Yongzhi;CHEN Meng;ZHANG Wenqi;CHEN Xiao(School of Automation and Electrical Engineering, Zhejiang University of Science and Technology, Hangzhou 310023;Shanghai Institute of Astronautical Systems Engineering, Shanghai 201109)

机构地区：[1]浙江科技学院自动化与电气工程学院,杭州310023 [2]上海宇航系统工程研究所,上海201109

出　　处：《飞控与探测》2021年第4期7-14,共8页Flight Control & Detection

基　　金：国家自然科学基金面上项目(61773265)。

摘　　要：针对目前触觉传感器电路复杂、体积大等问题,设计了一套基于导电液的小型仿生手指感知系统,实现了同时测量温度、三维力、压力等物理信息的功能。系统由单片机数据采集电路、触觉电极阵列电路、温度传感电路和压力传感电路等组成。针对被采集信号的特征,设计了信号调理电路,对信号进行了转换及滤波;设计了FPC接口和板对板接口,将各硬件模块进行了有效的衔接,使得电路结构实现了高度一体化;为了实现数据处理和传感器融合,将由手指传感器测量的触觉感知信息通过USB传输给了上位机,并设计了上位机软件,以显示和存储采集到的数据。实验结果表明,该系统能够实现对温度、压力、三维力数据的快速采集、传输和处理。In order to reduce the complexity and volume of tactile sensors circuit for bionic finger,a novel sensing system based on conductive liquid is designed to measure physical information such as temperature,three-dimensional force and pressure simultaneously.The system is composed of MCU data acquisition circuit,tactile electrode array circuit,temperature sensing circuit and pressure sensing circuit.Based on the characteristics of the acquired signals,the signal conditioning circuit is designed.FPC interface and board-to-board interface are designed to connect all hardware modules together effectively,so that the circuit structure is highly integrated.The information acquired by the finger tactile sensing system is transmitted to personal computer through USB for further processing and sensor fusion.A graphic user interface to display and store the acquired data is also developed.Experimental results show that the system can realize rapid acquisition,transmission and processing of temperature,pressure and 3D force data.

关 键 词：仿生手指 触觉传感器 数据采集 信号调理 USB传输 

分 类 号：TN911.73[电子电信—通信与信息系统] TP391.9[电子电信—信息与通信工程]