Design,Fabrication And Application Of Electronic Skin Flexible Tactile Sensor

Since the 1970s,tactile sensing has been paid attention to and invested a lot of research.Over the past few decades,scholars at home and abroad have made important progress in the research of tactile sensors.However,the current tactile sensors have more or less certain deficiencies in terms of manufacturing process,cost,flexibility,and other aspects,and need to be further improved.This subject adopts the principle of bionics and imitates the structure of the tactile receptors in human skin,designs and prepares a bionic cell tactile sensor,and uses this bionic cell to design and prepare an electronic skin flexible tactile sensor.The specific research content is as follows:(1)Based on the theory of large elasticity,the theoretical model of the force and deformation of the bionic cell is established,and then the sensing model of bionic cell tactile sensor is established by using the first kind of piezoelectric equation.According to the sensing model,the output signal generated by the electronic skin can reflect the relevant parameters of the load.(2)Using organic piezoelectric materials,the bionic cell embryo was prepared by mold blowing method,after packaging and polarization,the bionic cell tactile sensor was prepared.the bionic cell tactile sensor was embedded in silicon rubber to prepare the electronic skin flexible tactile sensor.On the basis of testing the sensing performance of bionic cell tactile sensor,the two parameters of polarization voltage and polarization temperature during the preparation process were optimized.(3)The experimental system was built to test the sensing performance of the electronic skin flexible tactile sensor.The experimental results show that when the surface is subjected to the vibration load,the output signal of the electronic skin flexible tactile sensor and the load have the same waveform,frequency and phase,and the amplitude has a linear relationship with the load amplitude.The experimental results verify the theoretical model.Due to the unique structure of liquid core,the electronic skin flexible tactile sensor prepared in this project has excellent tactile sensing capabilities,which can sense the minimum surface impact load of 0.6Pa and the minimum surface vibration pressure of 0.04Hz.Surface sensing experiments were carried out on electronic skins containing three types of bionic cells with different diameters.The experimental results showed that the larger the diameter of the bionic cells,the higher the sensitivity.(4)The experimental system was built to test the sensing performance of the electronic skin for objects falling on the surface.The results show that the sensor signal of the electronic skin to objects falling on the surface is an impact signal.When an object falls directly above the bionic cell,the amplitude of the electronic skin output signal has a linear relationship with the object's falling height;when the object deviates from directly above the bionic cell and falls,the amplitude of the electronic skin output signal is in a non-linear decreasing relationship with the distance of the falling point,the response time and distance are linearly increasing.The finger model with electronic skin can accurately perceive the pulse waveform of human wrist,including frequency,phase and amplitude.When the insect crawls over the bionic cell,the electronic skin can sense the insect's crawling signal according to the output impact signal.Through theoretical analysis and sensing performance test,the results show that the electronic skin flexible tactile sensor designed and prepared in this paper has the characteristics of simple preparation process,high sensitivity,wide measurement range,etc.,which is a kind of flexible bionic tactile sensor with excellent sensing performance.