Study Of Flexible Capacitive Tactile Sensor Array And Signal Extraction Method

This paper is an applied basic study which is supported by the Nation Science Foundation Project "Research on a new type of flexible pressure/temperature multifunction tactile sensor array" (61072032) and "Study of artificial skin capable of whole-process sensing" (61471155).Electronic bionic skin is an important form that is used by intelligent robots to perceive external environment information and is one of the medium to interact with the outside world as well.A full flexible capacitive tactile sensor used for robot sensitive skin which is based on polyimide flexible substrate is proposed in this paper to solve the poor wearable and scalability, difficult maintenance and poor flexibility in the existing electronic bionic skin. The pressure-sensitive tactile sensing unit is constituted by the carbon black filled silicone rubber used as composite elastic dielectric and silicone conductive silver rubber used for flexible plates, and also it is designed as the array structure. The impact of the structural design, working principle and black-filled composite elastic dielectric of full flexible capacitive tactile sensor on capacitive tactile sensor performance is analyzed and introduced.Based on the structural characteristics of the capacitive tactile sensor unit, the determinant and bus of wearable, scalable, full flexible capacitive tactile sensing array are designed. Meanwhile, the determinant and bus of capacitive tactile sensing array information acquisition and processing system are proposed which are based on the CC2530 low-power microprocessors and capacitive digital converter AD7147-1. The system is used for the capacitive tactile information extraction and it eliminates the crosstalk among tactile sensitive units, also it improves the acquisition rate and accuracy of capacitive tactile sensing array. The tactile information extraction system includes the microprocessor used for capacitive touch sensing array acquisition and wireless transmission, and the PC realized for capacitive touch sensitive information in real-time processing and display based on Lab VIEW development platform.The good stability and sensitivity in the tactile perception of the full flexible capacitive tactile sensing array and signal extraction system described in the paper is shown in the single-module and multi-touch capacitive sensing module experimental results and it can be used as intelligent robots electronic bionic skin to achieve tactile perception.