Research And Design Structure Of Three-dimensional Force Tactile Sensor Based On Pressure Sensitive Properties

Tactile sensor is a sensor used in robot to imitate tactile function.It is an indispensable part of robot perception system,and the detection of three-dimensional force is an important way for robot to perceive the external environment.The design structure of tactile sensor is a key issue that needs to be overcome.The sensitivity,accuracy and decoupling speed can be affected by the structure of the sensor.The proper structure has a positive effect on the detection of the sensor.A cell structure of tactile sensor was designed based on the pressure-sensitive characteristics of conductive rubber.The sensor unit consists of a raised layer,a piezoresistive layer and an electrode layer.Analyze the detection principle of the sensor and carry on emulation.The results show that the sensor's effective detection range of pressure and shear force are 0-1.3N and 0-0.7N respectively.Sensors are applied with different angles of force.When the angles of force are different,the sensitivity and effective range are different.Interdigitated electrodes are employed in the sensor.The use of interdigitated electrodes can reduces the body piezoresistive which can affect the measurement accuracy.Using neural network to decouple the sensor and the input layer,hidden layer,output layer are set.The errors in the X,Y,Z directions are obtained After decoupling.After comparison,the tactile sensor with interdigital electrode structure had smaller error.Tactile sensor unit structure is improved to make the measurements easier.When measuring normal force and shear force respectively,it can effectively reduce the interference between them and can also reduce the measurement error.After improving,the normal force detection range is 600pa~65kpa and the minimum shear force is 900 pa of the tactile sensor.