| Tactile sensors and pressure sensors play an important role in the study of robot skin, and the robot relies on tactile sensors and pressure sensors to accurately sense the information of the object being touched. In this paper, we proposed a flexible capacitance-resistance compound touch-pressure sensor,which not only can measure large pressure, but also has a high resolution in the small range so that it can feel slight touch and larger pressure. The touch-pressure sensing unit is designed as a composite structure. The parallel plate capacitive sensor with silicone rubber as the dielectric constitutes the upper tactile sensing unit, and the piezoresistive sensor which is prepared from carbon nanotubes/carbon black filled with silicone rubber constitutes the lower pressure sensing unit. The sensing mechanism and sensing characteristics of the flexible capacitance-resistance compound touch-pressure sensing unit are analyzed. And the sensor array is designed and fabricated.We designed a signal processing system to suit the structural characteristics of the flexible capacitance - resistance compound touch-pressure sensor array proposed in this paper. The hardware system uses CC2530 as the microprocessor to construct the capacitive signal and the resistive signal acquisition channel. The software system builds the ZigBee network based on the Z-Stack protocol stack and realizes the wireless transmission of the data, and through the Lab VIEW platform the touch-pressure sensing information is displayed graphically in real time. The experimental results show that the flexible capacitance-resistance compound touch-pressure sensor array and its signal processing system have good stability and sensitivity, and can provide timely and accurate external touch and pressure information for intelligent robots. |
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