柔性触觉传感技术及其在医疗康复机器人的应用  

Flexible tactile sensing technology and its application in medical rehabilitation robots

作　　者：程龙[1] 刘泽宇 CHENG Long;LIU Ze-yu(State Key Laboratory of Management and Control for Complex Systems,Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China;University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院自动化研究所复杂系统管理与控制国家重点实验室,北京100190 [2]中国科学院大学,北京100049

出　　处：《控制与决策》2022年第6期1409-1432,共24页Control and Decision

基　　金：国家自然科学基金项目(62025307,U1913209);北京市自然科学基金项目(JQ19020)。

摘　　要：柔性触觉传感器易于贴合皮肤等不规则表面,相比刚性传感器具有更强的信号感知能力、更高的精度和更佳的穿戴舒适性,在人机交互、医疗设备、可穿戴设备、健康监测等领域发挥着重要作用.鉴于此,从传感器不同工作原理出发,对柔性触觉传感器进行系统地介绍和对比,从结构优化的角度分析传感器性能优化方法,整理出微结构、结构疏松化、多模态测量等3种电磁原理中的共性设计方法.同时总结柔性触觉传感器在医疗康复机器人领域中的应用,整理机器人控制、人机交互、医疗器械和生理信息监测等4种具体应用场景,分析不同应用场景对传感器性能的不同需求,如机器人控制需要高精度、短响应时间;人机交互需要大面积、多模态等,并给出部分结构优化设计与应用之间的关联.最后简要介绍柔性触觉传感器信息提取和信息融合等智能信息处理方法,并对柔性触觉传感器的发展趋势进行展望.Flexible tactile sensors are easy to fit irregular surfaces such as the skin.Compared with the rigid sensors,they have better signal perception ability,higher accuracy and better wearing comfort.Therefore,they play an important role in human-computer interaction,medical equipment,wearable devices,health monitoring and other fields.This review systematically introduces and compares fiexible tactile sensors that categorized by different principles,analyzes sensor performance optimization methods from the perspective of structural optimization,and sorts out three common methods in electromagnetic-based principles:microstructure,structure loosening and multi-modal measurement.This review also summarizes applications in the field of medical rehabilitation robots,sorts out four specific application scenarios of robot control,human-computer interaction,medical equipment and physiological information monitoring,analyzes the different performance requirements of different application scenarios.For example,robot control requires high precision and short response time,human-computer interaction requires large area,multi-modality,etc.The relationship between structural optimization design and application is also given.Finally,this review briefiy introduces the fiexible tactile sensor information extraction,information fusion and other intelligent information processing methods,and prospects the development trend of the fiexible tactile sensor.

关 键 词：柔性触觉传感 传感器结构设计 医疗机器人 康复机器人 传感数据处理 多传感融合 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]