开发带有软铰链的桐木图案可伸缩触觉传感器阵列,实现高灵敏度力检测

Chenhao Mao, Jie Jin, Deqing Mei, Yancheng Wang
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摘要

柔性和可拉伸触觉传感器在软机器人、可穿戴电子设备和医疗保健监测领域备受青睐。触觉传感器的传感性能通常会受到拉伸、弯曲和扭曲等外部变形的影响,因此可能无法在可变形物体表面发挥作用。本文介绍了一种可拉伸的触觉传感器阵列,该阵列采用了叽里呱啦图案结构设计和软铰链,以减少变形的影响。本文对传感器阵列的 "叽里格米 "图案进行了参数化研究,以获得所需的伸缩图案。采用激光雕刻技术修改力敏橡胶表面的微柱,以提高灵敏度。特性测试表明,传感器阵列具有很高的力传感灵敏度(≈1.49 × 10-1 kPa-1),拉伸和弯曲变形对传感性能的影响几乎可以忽略不计。在拉伸 40% 或弯曲 180° 的条件下,测得的电阻变化(ΔR/R0)分别≈0.03 和 0.06。为证明所开发传感器阵列的能力,将其安装在可膨胀气球表面进行力检测。在膨胀过程中,记录到的信号变化小于 1.5%,而在外力作用下则迅速上升,这表明传感器阵列具有在复杂变形表面上有效发挥作用的潜力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Development of Kirigami-Patterned Stretchable Tactile Sensor Array with Soft Hinges for Highly Sensitive Force Detection

Development of Kirigami-Patterned Stretchable Tactile Sensor Array with Soft Hinges for Highly Sensitive Force Detection

Flexible and stretchable tactile sensors are attracted in the fields of soft robotics, wearable electronics, and healthcare monitoring. The sensing performance of tactile sensors is commonly affected by external deformations like stretching, bending, and twisting, thus they may fail to function on deformable object surfaces. This paper presents a stretchable tactile sensor array using kirigami-patterned structural design and soft hinges to reduce the influences of deformation. The kirigami pattern of sensor array is parametrically studied to achieve the required expansion patterns. Laser engraving is employed to modify the micropillars on the force-sensitive rubber surface to increase the sensitivity. Characterization tests show that the sensor array has high sensitivity (≈1.49 × 10−1 kPa−1) for force sensing, and the stretching and bending deformation have almost negligible effects on sensing performance. Under 40% stretching or 180° bending conditions, the measured resistance changes (ΔR/R0) is ≈0.03 and 0.06, respectively. To demonstrate the capability of developed sensor array, it is mounted on an expandable balloon surface for force detection. The recorded signals changed less than 1.5% during expanding process while rapidly rose under applied force, which indicated that the sensor array has the potential to effectively function on complex and deforming surfaces.

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