Study On Some Problems Of A Kind Of 3-D Flexible Tactile Sensor Arrays Based On Ideal Flow-forming Conductive Rubber

Intelligent robot can not only reliably capture the target object, a series of physical properties of the target object such as light/heavy, soft/hard, shape, temperature can also be perceived by skinned tactile array sensor. In recent year, 3-D flexible tactile array sensor is a hot research in robotics field, and array sensor with flexible and multi-dimensional force detection is important in sport, and also has important application in medicine and human biomechanics research.This paper uses the knowledge of the mechanics of materials, intelligent sensor and signal processing, artificial intelligence and pattern recognition. The paper studies a number of key theoretical and technical issues of the 3-D flexible tactile array sensor based on ideal flow-forming conductive rubber from the perspective of structure design and information processing. The research improves new method and new technology of multi-dimension, flexibility, expansibility for artificial skin-like tactile sensor. The main contents and innovation results of this research are as follows:1) The paper studies the ideal measurement principle of 3-D flexible tactile sensor based on conductive rubber from the conducting mechanism of it. The paper sets up one kind of idealized mathematics model of the piezoresistive properties of conductive rubber, which provides theoretical basis for the structure design and tactile information extraction of 3-D flexible tactile sensor arrays based on conductive rubber;2) A sensor based on the structure of symmetric cross-distribution two layers nodes is proposed in this paper, and the mathematical model of the sensor is proposed. The force position is determined by the graphic method, and the method for the tactile information extraction when the force is loaded at the point of node is anlyzed.3) A array sensor based on the structure of non-symmetrical two layers nodes is proposed. The mathematics model and the decoupling algorithm of the multi-dimensional flexible tactile array sensor based on the homotopy theory are analyzed based on the anlysis of decoupling with different artifical intelligent algorithm. The algorithm based on homotopy theory changes traditional static decoupling into dynamic decoupling by introducing the parameter time into the decoupling processing, which can be used for information decoupling of large-scale flexible tactile array sensor. This method solves the information acquisition problem of high-dimensional, multi-parameter sensor accurately in real time. Simulation results show that the increase of the sensor size will not lead to the exponential growth of computational complexity, and the algorithm can be used to measure force information of large-scale tactile sensor arrays in real time. The sensor based on homotopy algorithm can be used to decouple the 3-D tactile information at case of any force in real time, which provides theoretical support for the 3-D flexible tactile sensor based on actual conductive rubber material.4) The calibration platform and the calibration method for multi-dimensional flexible tactile sensor arrays are designed. In this paper, we propose a calibration platform system with a set of position system, 3-D force loading system, acquisition system and the display system of host computer for calibration, which can be used for 3-D flexible tactile array sensor calibration experiments with intelligent and high degree of automation.Above achieved result may help us measure tactile informaiton on the surface of the sensor based on ideal conductive rubber with high resolution, which can measure 3-D force information on the continuous surface of the sensor. This work will lay a foundation for further study on the popularization and application of flexible tactile sensor array based on conductive rubber with actual property.