柔性温度压力仿生皮肤的模块化设计与实现-机器人.PDFVIP

第37 卷第4 期 机器人 ROBOT Vol.37, No.4 2015 年7 月 Jul., 2015 DOI ：10.13973/ki.robot.2015.0493 柔性温度压力仿生皮肤的模块化设计与实现 郭小辉，黄 英，腾 珂，刘 平，刘彩霞，田合雷 （合肥工业大学电子科学与应用物理学院，安徽 合肥 230009 ） 摘 要：为实现电子仿生皮肤的模块化设计，以石墨烯纳米片制备薄膜温敏传感器，同时，以炭黑／硅橡胶复 合材料为弹性电介质、有机硅导电银胶为柔性上极板设计电容式力敏传感器，在此基础上，以聚酰亚胺为柔性基 体，提出一种可用作智能机器人仿生皮肤的全柔性温度／压力触觉传感器，并设计成具有可拼接特点的模块化阵 列结构．介绍柔性温度／压力触觉传感器的结构设计、检测机理以及信号采集与处理系统．通过温度、压力及温 度／压力复合感知实验表明，该柔性温度／压力复合式触觉传感阵列及信号提取系统可实现触觉感知功能，为可穿 戴式人工皮肤的研究提供了一种设计方案． 关键词：电子皮肤；模块化；全柔性；可拼接式阵列；传感信息处理；触觉传感器 中图分类号：TP212;TN79 文献标识码：A 文章编号：1002-0446(2015)-04-0493-06 Modular Design and Implementation of Flexible Artificial Skin with Temperature and Pressure Sensors GUO Xiaohui ，HUANG Ying ，TENG Ke ，LIU Ping ，LIU Caixia ，TIAN Helei (School of Electronic Science Applied Physics, Hefei University of Technology, Hefei 230009, China) Abstract: To achieve the modular design of electronic artificial skin, a fully compliant temperature and pressure tactile sensor is designed and used as artificial skin of intelligent robots, which is assembled into a modularized array structure with expandable characteristics. Taking graphene nanoplatelets (GNPs) as the temperature-sensitive material of the sensor, carbon black (CB) filled silicone rubber (SR) as the elastic dielectric, and the silver conductive silicone rubber as the flexible top plate, a capacitive pressure sensitive cell is designed, and the temperature and pressure sensor array is constructed with polyimide (PI) film as the flexible substrate. The structure design, working principle and the signal acquisition and processing system of the flexible te