Research On The Whole-Process Perception Methods Of Robot Flexible Electronic Skin With Master-Slave Hand Mapping

With the people's understanding of the essence of robot technology intelligence and the wide application of service robots in people's daily lives,human-robot interaction is becoming more frequent.Focusing on the user and accomplishing the specified operation under user guidance and instruction,and achieving the high precision operation and human-robot harmony have become the development trend of human-robot interaction.Human-robot cooperation with master-slave hand mapping is a typical interaction model of human-robot harmony,and the master-slave hand mapping,proximity and tactile whole-process perception are the core of human-robot cooperation with master-slave hand mapping.Therefore,it is very important to research on the whole-process perception methods of robot flexible electronic skin with master-slave hand mapping.This research stems from the project of the study of artificial skin capable of whole-process sensing supported by the Natural Science Foundation of China(Grant No:61471155).The main works and creations are as the following:(1)Efficient and precise mapping of master-slave hand based on stretchable strain sensor.The stretchable strain sensing conductive composite material system with the good mechanical properties and electrical properties was established,and the flexible stretchable strain sensing unit was proposed and the properties of stretchable strain sensor in the terms of stability,sensitivity,stretchability and response time were optimized.Additionally,the application of stretchable strain sensor in joint position monitoring was researched,and the functional relationship between the bending attitude of joints and the output of the stretchable strain sensor was analyzed in detail.The effects of output characteristics of the stretchable strain sensor and the array topological structure on the master-slave hand mapping were revealed,and the master-slave hand mapping model based on stretchable strain sensor was proposed and optimized during the master-slave interaction.Master-slave hand mapping layer was constructed and the efficient and precise mapping of master-slave interactive gesture was achieved.(2)Sensitive mechanism and synergistic mechanism of the dual-mode cooperative proximity sensing unit.The effects of electrode structure and size,shielding electrode on the performance of the capacitive mode proximity sensing unit based on fringe field effect were analyzed,and the structure of the proximity sensing unit was optimized.The effects of thermal expansion effect and phonon scattering effect on the conductive networks of composite were illustrated,and the design of thermo-sensitive composite was improved.The resistive mode proximity sensing unit was subsequently built.In addition,the relativity between temperature distribution and heat source distance was obtained.A vertical integrated capacitive-resistive combination proximity sensor was proposed in this thesis,and the sensitive mechanism was demonstrated combined with theoretical analysis and ANSYS finite element simulation.Meanwhile,the cooperative proximity sensing mechanism of the electric field and temperature field was researched.To improve the proximity sensing robustness and adaptability of the dual-mode proximity sensor in the complicated circumstances and wide sensing range,the proximity sensing layer was constructed and further used as robot flexible electronic skin for proximity sensing.(3)Design of high performance capacitive tactile sensor based on composite dielectric layer.The methods for improving the sensitivity of the tactile sensor were analyzed,and highly sensitive capacitive tactile sensing unit with carbon conductive materials filled with silicone rubber as the composite dielectric layer were achieved combined with viscoelastic and percolation theory.For the tactile perception need of the robot flexible electronic skin,the methods for improving the anti-interference ability and wearing comfort of the tactile sensor were analyzed.And,the high performance wearable capacitive tactile sensor based on textile flexible substrate was proposed.Furthermore,the effects of filler content and the structure parameters on the performance of the capacitive tactile sensing unit were further analyzed,and the unit structure of the tactile sensing unit was optimized.The tactile sensing layer was also constructed for achieving the tactile perception of robot flexible electronic skin with master-slave hand mapping.(4)Whole-process perception of robot flexible electronic skin with master-slave hand mapping.The effects of the array topological structure of flexible dual-mode proximity sensor and tactile sensor on the whole-process perception of robot flexible electronic skin with master-slave hand mapping were discussed and the characteristics of signal type and sensing array structure of the master-slave mapping layer,proximity sensing layer and tactile sensing layer were further analyzed,meanwhile,the whole-process perception information acquiring and processing circuit with rational structure and compact construction was designed.The application experiments of proximity-tactile whole-process perception of robot flexible electronic skin with master-slave hand mapping were introduced,and the identification method of robot dexterous hand for grasping object stability with master-slave hand mapping was studied in this thesis.According to the contact force time-varying information of tactile sensing layer,the spatial matching of tactile distribution features was achieved based on block matching optical flow algorithm.Finally,the sliding vector was calculated and the stability state evaluation of robot dexterous hand for grasping object with master-slave hand mapping was realized.