A Study Of Resistive Capacity Series Flexible Tactile Sensor

At present,due to the development of intelligent robots and bionic skin technology,research in related technical fields has received more and more attention.Accurate and fast perception of the external environment is the basic ability of the intelligent robots.The sense of touch is an important part of the intelligent robot's perception of the outside world,including physical information such as temperature,force and humidity..In this process,the robot needs to sense the external physical environment through the tactile sensor,and identify the target to complete complex and detailed tasks.Therefore,the research and application of tactile sensors are of great significance for realizing the intelligence and automation of robots.In practical applications,the tactile sensor needs to have the flexibility of human skin and can cover the irregular contact surface in order to realize the perception of the external environment.At present,most of the researches on capacitive tactile sensors have a small range of output capacitance variation within a certain range.Therefore,it is of wide practical significance to develop a flexible sensor with higher measurement sensitivity.The current tactile sensor's overall fabrication material lacks flexibility,the current tactile sensor's overall fabrication material lacks flexibility,and most flexible capacitive sensors have a relatively small range of output capacitance variations.In view of this situation,this paper has developed a flexible capacitive resistor series tactile sensor based on the existing work.The sensor consists of a flexible material with good flexibility to ensure sensitivity over the range.In addition,the flexible sensor has the characteristics of simple process,simple structure and high reliability,which provides a new idea for the design of flexible tactile sensors in the future.The sensor utilizes the characteristics of a capacitor resistor series circuit,and then proposes a sensor structure scheme of a double capacitor series resistor.The structure of the sensor includes two equivalent capacitors and a conductive rubber plate which acts as a resistor being paced between the two capacitors.The force being measured gives rise to the changes of the two capacitor and the resistor values which contribute to the final change of an equivalent capacitor value of the entire sensor.The effectiveness of the scheme of series of resistor-capacitors is verified by both theoretical analysis and experimental results.A series of experiments were carried out to test output characteristics of the sensor.The test results show that the output sensitivity of the sensor increases from 0.03pf/N to 0.55pf/N when the scheme of series of resistorcapacitors is applied.The error of the sensor developed is significantly less than that if the sensor output is replaced with the resistance of the conductive rubber plate.