三维力温触觉传感器设计及基于边缘磁场的力解耦方法

IF 5.6 2区工程技术 Q1 ENGINEERING, MULTIDISCIPLINARY

Measurement Pub Date : 2025-07-23 DOI:10.1016/j.measurement.2025.118534

Shichao Zuo, Ling Weng, Xiaopeng Ji, Lanyang Hao, Xiaotao Du, Bowen Cui

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引用次数: 0

摘要

传感器作为机器人中人机交互的重要组成部分，其研究方向正逐渐向多信息检测方向发展。三维力-温度双峰传感器的研究对于在抓取过程中获取更多的维度信息具有重要意义。利用磁膜、热电偶和石墨烯-硅弹性体设计了一种能同时检测三维力和外界温度的磁触觉传感器，并提出了一种基于方形磁膜边缘磁场的三维力解耦方法。分析了传感器在应力作用下的结构变化和空间磁场分布特征，并进一步建立了输出电压与三维力之间的数学模型。实验结果表明，该传感器在0 ~ 1.5 N的法向力和0 ~ 0.16 N的最大剪切力作用下具有良好的线性输出，法向力的测量灵敏度为98.51 mV/N，剪切力的测量灵敏度最高为880.52 mV/N。测量三维力时，传感器温度测量范围为25-55℃。进行了基于该传感器的滑动与抓取实验。触觉传感器可用于与机器人物体抓取和物体信息识别相关的应用。

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Design of 3-D force-temperature tactile sensor and force decoupling method based on edge magnetic field

As an important part of human-robot interaction in robotics, the research direction of sensors is gradually moving towards multi-information detection. Research on three-dimensional (3-D) force-temperature bimodal sensors is important to obtain more dimensional information while grasping. A magnetic tactile sensor that can detect 3-D force and external temperature simultaneously is designed with the magnetic film, thermocouple, and graphene-silicone elastomer, as well as a 3-D force decoupling method based on the magnetic field at the edges of the square magnetic film is presented. We analyzed the sensor’s structural changes and spatial magnetic field distribution characteristics under stress, then further developed a mathematical model between the output voltage and the 3-D force. The experimental results show that the sensor has a highly linear output under the action of normal force in the range of 0–1.5 N and shear force in the range of maximum 0–0.16 N. The measurement sensitivity is 98.51 mV/N for normal force and a maximum of 880.52 mV/N for shear force. The sensor temperature measurement range is 25–55 °C while measuring 3-D force. The experiment of sliding and grasping based on this sensor was carried out. The tactile sensor can be used in applications relevant to robotic object grasping and object information recognition.

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来源期刊

Measurement 工程技术-工程：综合

CiteScore

10.20

自引率

12.50%

发文量

1589

审稿时长

12.1 months

期刊介绍： Contributions are invited on novel achievements in all fields of measurement and instrumentation science and technology. Authors are encouraged to submit novel material, whose ultimate goal is an advancement in the state of the art of: measurement and metrology fundamentals, sensors, measurement instruments, measurement and estimation techniques, measurement data processing and fusion algorithms, evaluation procedures and methodologies for plants and industrial processes, performance analysis of systems, processes and algorithms, mathematical models for measurement-oriented purposes, distributed measurement systems in a connected world.