Research On Real-time Acquisition And Processing Method Of Tactile Information Of Intelligent Robot Sensing Suit

Robot tactile sensing technology is one of the symbols of intelligence. Real-time information acquisition and processing system is the key technology in the developing of intelligent robot tactile sensing garment. This paper is mainly aimed at the current problems that no real-time scanning and no effectively preventing scanning crosstalk which the intelligent robot tactile sensing garment array encountered in data collection. After the analysis of the development situation in tactile sensing domestic and international, studying the design principles of intelligent robot garment and piezoresistive properties of conductive rubber, a real-time data acquisition system of intelligent robot tactile sensor clothing array based on conductive rubber is proposed. The materials science, tactile sensor technology, virtual instruments, electronic technology and other theories and disciplines are all used in the design of the data acquisition system.The system hardware consists of the following components: 8×8 tactile sensor array, improved line scan circuit, conditioning circuit, SCB-68 board connectors, shielded cable, PCI-6259 data acquisition card and computer. When placing a heavy object on the tactile sensor array, resistance of the conductive rubber will change with the pressure because of piezoresistive principle. Then the voltage signal which responses to external pressure characteristics will be obtained from the signal extraction circuit. The improved design of the scanning circuit in this project could scan the voltage of the pressure information produced by each contact element into the computer; then the profile of the contact surface and pressure distribution will be recovered after the data processing. The software of this system is based primarily on the modular design environment of the NI labVIEW. The visualization G language program is not only convenient to transplant and debug, but also improving the system efficiency of development. Finally, under the conditions of the existing experimental system, a data acquisition system is built, several sets of verification experiments which achieved good results are designed.Theoretical and experimental studies have shown that the design of information acquisition and processing system for the tactile sensor array which based on conductive rubber in this project is feasible, not only realizes real-time data acquisition, but also avoid the pseudo signal well, thereby the stability and reliability of this system is improved. Research of this paper makes contribution to the project "Intelligent robot suit based on conductive rubber ", and the way of the real-time data acquisition system designed provides a solution to the large-scale sensor array.