用于人机交互的柔性三维力触觉传感器  

A Flexible Three-Axis Force Tactile Sensor for Human-Machine Interaction

作　　者：孟星佑 李寒阳 孙雨阳 刘会聪 王凤霞 孙立宁[1,2] Meng Xingyou;Li Hanyang;Sun Yuyang;Liu Huicong;Wang Fengxia;Sun Lining(School of Mechanical and Electrical Engineering Soochoxv University,Suzhou 215000,China;Jiangsu Provincial Key Laboratory of Advanced Robotics,Suzhou 215000,China)

机构地区：[1]苏州大学机电工程学院,江苏苏州215000 [2]江苏省先进机器人技术重点实验室,江苏苏州215000

出　　处：《微纳电子技术》2021年第12期1083-1087,1099,共6页Micronanoelectronic Technology

基　　金：国家重点研发计划资助项目(2018YFB1307700)。

摘　　要：研制了一种应用于人机交互的柔性三维力触觉传感器,将其与仿人灵巧手集成,具有仿人灵巧手实时感知法向力与切向力的能力。该传感器采用了碳纳米管和聚二甲基硅氧烷的纳米复合物作为敏感材料,具有2×2的传感单元,每个单元具有双敏感层堆叠结构。三维力解耦实验结果表明,基于上下敏感层的压阻效应,传感器具有较高的灵敏度,x轴和y轴方向灵敏度在0~0.4 N内均为1.8 V/N,z轴灵敏度在0~3 N内为3.1 V/N。将传感器安装集成在仿人灵巧手的手指上,成功实现了仿人灵巧手的稳定抓握、自适应抓取和传递水瓶,保证了仿人灵巧手在人机交互控制上的安全性。A flexible three-axis force tactile sensor applied in human-machine interaction was developed and integrated with the humanoid dexterous manipulator, thus having the ability of sensing normal and tangential forces in real time from the humanoid dexterous manipulator. The carbon nanotubes and polydimethylsiloxane nanocomposites were used as sensing materials in the sensor. The sensor has 2×2 sensing units, and each unit has a stacked structure of double sen-sing layers. The result of three-axis force decoupling experiment shows that based on the piezoresistive effect between the upper and lower sensing layers, the sensor has a high sensitivity. The sensitivities of the x-axis and y-axis are both 1.8 V/N in the range of 0-0.4 N, and the sensitivity of the z-axis is 3.1 V/N in the range of 0-3 N. The sensor is integrated on the fingers of the humanoid dexterous manipulator, successfully realizing the stable gripping, adaptive grasping and the transfer of the bottle to ensure the safety of the humanoid dexterous manipulator in human-computer interaction control.

关 键 词：柔性三维力触觉传感器 纳米复合物 触觉感知 人机交互 仿人灵巧手 自适应抓取 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]