Design And Application Of Robot Bionic Tactile Sensor

Robot perception technology is the core support of intelligent decision-making and control of robots,including visual perception,force perception,tactile perception,auditory perception and so on.At present,robot perception mainly relies on visual perception technology,which has the defects of large amount of computation,low robustness,sensitive to environment and operating conditions,etc.Therefore,the bionic tactile sensor is of great significance to improve the robot's perceptual ability.Combined with the biological principle of biological tactile sensing,a capacitive flexible tactile sensor and a bionic tactile sensor which can accurately locate the position of the object,are designed.What's more,sensor structure design,circuit integration,data acquisition and calibration experiment are completed.The performance of the sensors meet the requirements of the indicators.Firstly,by using linear Hall element and sensitive contact sensor,based on the optimized design of the sensor structure and the analysis of the displacement of the whisker in x,y and z directions under different contact conditions,a new design method of the combined bionic whisker sensor is presented.The positioning method of the flexible bionic whisker sensor is deduced,and the accurate location of the three-dimensional position of the contact object is realized.The positioning accuracy is 1 mm.The bionic whisker sensor is installed on a small mobile robot,replacing the traditional infrared and visual perception methods.Only using tactile perception,the robot can achieve a series of autonomous movement in the labyrinth environment,such as obstacle avoidance,navigation,positioning and so on.Experiments show that it is feasible for robots to navigate and make obstacle avoidance in unknown environments only by using tactile sense.Secondly,a capacitive flexible tactile sensor is designed by using polyurethane as the elastic insulating medium between electrodes and conductive film as electrode plate,which can realize the measurement of tactile pressure.In order to measure the capacitance changes in fF level,two kinds of capacitance detection circuits with different principles are compared.By analyzing their data changes,one with high precision and high sensitivity is selected to complete the design of capacitive tactile sensor.The results show that the flexible tactile sensor can detect the change of tactile pressure sensitively.At the same time,the combination of tactile pressure sensor and traditional orthopaedic vest is creatively completed,including circuit design,structure modification and software algorithm.Tests show that the device can monitor human posture in real time and effectively distinguish normal,hunchback,left-leaning and right-leaning postures,making vibration feedback reminders in non-healthy posture.