Structural Design And Fabrication Of The Wearable Piezoresistive Flexible Tactile Sensor For Robotic Hands

Flexible tactile sensors are of great significance to the intelligentization of robotic hands.However,at present,flexible tactile sensors are still unable to achieve high-sensitivity tactile force detection requirements and cannot be stably and reliably worn on intelligent robotic hands.Therefore,this dissertation designs a wearable piezoresistive tactile sensor based on a truncated boss.The chapters of this article are arranged as follows:In chapter 1,the research background of topic selection is introduced,and the research content and overall framework are explained.In chapter 2,an interlocking truncated zigzag microstructure is designed in the structure of the flexible tactile sensor to enhance the sensitivity of the flexible tactile sensor.And a snap structure is designed to allow the flexible tactile sensor to be worn stably and reliably on the smart robot hand.In chapter 3,the material selection of the flexible tactile sensor is described.The relationship between the resistance change and the strain of the pressure-sensitive components is determined through experiments.The relationship between the load and the strain of the pressure-sensitive components is determined by finite element simulation analysis.So as to obtain the relationship between the resistance change and the load of the pressure-sensitive components.Finally,the parameters of the sensing unit are optimized,and the effect of the optimized structure is verified by finite element simulation.In chapter 4,elaborated the manufacturing process of the flexible tactile sensor.And the manufacturing process of layered manufacturing and overall packaging is adopted.The manufacturing process of the pressure-sensitive element of the flexible tactile sensor,the manufacturing process of the stretchable electrode,the manufacturing process of the packaging material,and the overall packaging process are explained in turn.In chapter 5,test the repeatability,dynamic response,hysteresis and other properties of the flexible tactile sensor.Determine the relationship between the resistance change of the flexible tactile sensor and the load.And the flexible tactile sensors are worn on the intelligent robot handto conduct contact force test experiments in the process of grasping different objects.In chapter 6,summarize the full text and point out the deficiencies in the research for further improvement in the future.