Research Of Signal Acquisition And Processing System For Multi-dimensional Skin Sensors

With the development of robot technology,the design of flexible multi-dimensional tactile sensor is very important to intelligent robots. The flexible multi-dimensional tactile sensor that has the same flexibility as human skin and can obtain multi-dimensional contact force information on the surface of objects.It can help the robot recognize objects by tactile perception to complete a variety of relatively complex tasks.In recent years,research on the tactile sensor technology has made great progress.But it Is still a need to solve that the problem can not simultaneously meet the requirement of flexibility and obtaining multi-dimensional force information.This paper is supported by the National Natural Science Foundation (NO. 60672024;NO.61072032) and National High Technology Research and Development Program (863 Program NO.2007AA042220).In view of the fact that most current tactile sensors can not simultaneously meet the requirement of flexibility and obtaining multi-dimensional force information,this dissertation makes an innovative research on a novel flexible three-dimensional force tactile sensor.This sensor broke through the traditional armor combination of sensor arrays,used Multi-layer mesh with the overall structure.This is expected to achieve the flexible of true "class skin "and the function of Testing three-dimensional force information.In this paper, we description a flexible tactile sensor that can detect the three-dimensional force information and design a signal acquisition and processing system for this flexible three-dimension force sensor.This acquisition system can complete the data acquisition for flexible three-dimension force sensor in high-speed and real-time,in addition, Sending collected data to the host computer display and processing,meanwhile,the static calibration system design for the flexible three-dimension force sensor can complete the calibration for sensor.The main contents of the paper are as follows:1.Brief introduce the design of flexible three-dimension force sensor,design of a data acquisition system For Structural characteristics of the sensor.The design of data acquisition system including device selection and the hardware circuit design of function modules etc.2.Research of calibration on flexible three-dimension force sensor.Introduced the design of Three-dimensional force calibration platform and the experimental procedure of calibration in detail.Discuss the basic method of sensor calibration and Focuses on the calibration method of BP neural network.