Design And Realization Of Robotic Finger Remote Control System Based On Flexible Electronic Skin

The skin plays an important role in people’s lives.We perceive the world through the skin,understand the world,and give some feedback to the stimulation of the external world through the skin.The realization of skin-sensing capabilities in wearable devices,soft robots and medical detection systems is one of the current development directions of flexible biosensors as sensors.Nowadays,many skin-like wearable or implantable devices have been developed.This device is also called electronic skin because of its similar appearance to human skin,excellent sensing performance and excellent human compatibility.However,because most of them are made of rigid or brittle electronic materials,they don’t have enough tensile properties,so they cann’t adapt to some practical situations,and will cause some discomfort to the human body.The development of a soft,stretchable,highly sensitive,thin,transparent and flexible electronic skin with diverse functions is the most worthy research direction in the current wearable device field.It has the advantage of being more flexible and adaptable than rigid electronic skins.In this paper,a gesture recognition system based on flexible electronic skin is designed based on these angles,and the remote control of mechanical fingers is realized.The main research contents are as follows:(1)A polymer ionic hydrogel is used as the electrode material of the flexible sensor,each sensor unit adopts a sandwich structure,and a resistive stretched flexible electronic skin(thickness about 0.16mm)is developed.,measured its electrical and mechanical properties,verified the dynamic and static characteristics of the flexible biosensor,and verified the feasibility of the flexible electronic skin in gesture recognition by introducing a sine wave from a signal generator sex.This chapter mainly introduces the whole signal processing process through three modules,including: 1.Peripheral circuit.2.Gesture feature extraction.3.Gesture recognition.For the peripheral circuit,we will install the signal acquisition module and Bluetooth module on the prepared electronic skin,and design a suitable op amp circuit to de-noise the signal.(2)Design and implement the gesture data processing flow,including: 1.Peripheral circuit.2.Gesture feature extraction.3.Gesture recognition.The prepared electronic skin is equipped with a signal acquisition module and a Bluetooth module,and a suitable op amp circuit is designed to denoise the signal.The gesture recognition system uses a template matching algorithm that conforms to its own application characteristics to classify the collected gestures.,the average recognition rate of four kinds of finger bending angle action recognition reached 91.8%.The classification result is transmitted to the upper computer to guide the steering gear to remotely control the mechanical finger.(3)In the process of human-computer interaction,the PID algorithm is combined to control the mechanical finger,and an experimental platform is built to verify the humancomputer interaction function of the electronic skin.