Human-Robot Interface Oriented Supercapacitive Flexible Tactile Sensor

Tactile information is one of the important ways for robots to perceive the working environment,and it is also the key factor to ensure safety and comfort in human-robot collaboration.However,compared to the development of vision,hearing and olfactory sensors,the application and industrialization of robotic tactile sensors are still relatively lagging behind.Aiming at the shortcomings of the existing technology of tactile sensors,this paper proposes a supercapacitive flexible tactile sensor for human-machine interface.The pressure sensor has a simple structure,high sensitivity,large measurement range,high flexibility,high signal-to-noise ratio,preparation and Low cost and other advantages.This paper analyzes the overall structure and sensing principle of the tactile sensor.The sensor is composed of upper and lower electrodes and the fiber layer of the middle ion gel.Using the supercapacitor principle of ion fiber,when the external pressure acts on the sensor,the ion fiber layer is compressed The contact area between the electrode and the ion fiber layer increases,resulting in a larger sensor capacitance.This paper analyzes the material selection of the electrode layer,including the choice of electrode substrate and electrode material,and explains the manufacturing process and characteristics of the electrode layer;analyzes the selection of ion gel and fiber layer,studies the production method and characteristics of ion fiber,and introduces Its capacitance characteristics.Experimental research on the static and dynamic characteristics of each sensing unit of the flexible sensor array.Experiments show that pressure and capacitance have a good linear relationship,and the sensor has high sensitivity,which can reach 3.97 n F / k Pa.It reaches 500 k Pa;the maximum hysteresis error is 5.97%,and the dynamic response can better follow the external pressure stimulus.The consistency of the sensor array is tested,and the experimental results show that the sensor is in good consistency.The compatibility test experiments between the tactile sensor and the robot are performed.Through the hardware system and software system of information collection and processing,the pressure change of the sensor can be intuitively displayed in On the host computer.Through sensor test experiments,the performance of the tactile sensor is verified.The flexible tactile sensor can be widely used in robot sensing,human-computer interaction,and wearable devices,etc.It has a wide range of academic research significance and industrial promotion value.