Multi-scale Measurement Model And Array Study Of Flexible Tactile-pressure Sensor

Electronic skin is a sensor array or electronic system that simulates human skin's perception,regulation and protection function.The electronic skin has the characteristics of sensitivity,flexibility and systematization.It has great application prospects in industrial robots and biomedical engineering.The current research on electronic skin mainly focuses on individual tactile sensors and individual pressure sensors.However,the response of human skin to external pressure stimulation includes haptic and pressure perception.Therefore,it is of great significance and practical value to study a sensor that can realize tactile and pressure function at the same time for the imitation of the electronic skin to the human body touch pressure.In order to solve this problem,a flexible touch pressure sensor based on the principle of flat plate capacitance is designed by the research group,which can imitate the touch pressure of human skin.However,the sensor has a complex input and output relationship with a single input and multiple output.Therefore,it is of great significance to study and establish a multi-scale measurement model based on the sensor.At the same time,the complex input and output relationship of the sensor,as well as the difference of the geometric resolution between the tactile and the pressure sensing in perceiving the external force,makes the sensor face a challenge in the direction of the array.The pressure on them can be measured at different scales and geometric resolutions to complete the imitation of the touch pressure perception function of human skin.In this paper,a multi-scale stress measurement model based on a touch pressure sensor based on a flat plate capacitance and a hyperelastic material is established,and the principle of a flexible touch piezoelectric sensor to achieve a large range and high precision is analyzed.Then a multi-scale sensor unit based on biomimetic structure is designed and manufactured.Then,the rationality and applicability of the multi-scale measurement model of the touch sensor are verified by experiments.The output results are fitted with the Potter figure for nonlinear fitting,and the range and span of the sensor are calculated and compared.Finally,the array design and implementation of sensor unit is carried out,and the experimental results show that the array flexible pressure sensor can detect external force.The research results show that the multi-scale measurement model of touch pressure sensor proposed in this paper is suitable for multi-scale sensors and can be a good mathematical representation of the input and output for multi-sense sensor.The sensor unit can detect the external pressure of the 0-30 N,with the mechanical resolution ratio of 0.005 N between0-0.5N,the full range span 4 orders of magnitude,and the spatial resolution of the sensor to 2mm.Through the array design method,the electrode lead problem of the multi-scale sensor with different geometric resolution can be solved.The sensor array can detect the shape and weight of the measured object.The study of this paper can enrich and improve the multi-scale measurement model of the tactile sensor,and can improve and optimize the basic theory of multi-scale sensor array with different resolution.The results can be applied to the intelligent robot and artificial limb machine hand to realize touch pressure function.It has important theoretical significance and practical value.