Soft capacitive tactile sensor using displacement of air?water interface
Soft capacitive tactile sensor using displacement of air?water interface
复制标题
利用气水界面位移的软电容式触觉传感器
DOI：
10.1016/j.sna.2021.113133
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发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Oshiro Osamu
中科院分区：
文献类型：
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作者：
Usui Tatsuya;Ishizuka Hiroki;Kawasetsu Takumi;Hosoda Koh;Ikeda Sei;Oshiro Osamu
我们提出了一种利用空气-水界面位移的软电容式触觉传感器。这种软触觉传感器由一个带有充满水的腔室和通道的软接触部分和一个用于检测界面位置的夹形传感部分组成。当施加接触力时，这种触觉传感器会改变通道中空气-水界面的位移。位移的变化被检测为感测部分的电容的变化。这种传感器结构不需要将坚硬的电气元件嵌入柔软的硅橡胶体中，从而提高了传感器的灵活性和耐用性。因此，所提出的触觉传感器表现出高灵活性和抵抗弯曲和外部应力的耐久性。此外，所提出的触觉传感器不仅可以检测压力，还可以检测拉力。这会导致检测到机器人皮肤受到挤压或挤压。实验结果表明，所提出的传感器可以成功检测压力和拉力静态力。根据静态传感器特性的评估结果，所提出的传感器的灵敏度对于按压方向上的作用力为 0.169 pF/N，对于拉力方向上的力为 -0.152 pF/N。此外，动态传感器特性的评估表明，所提出的触觉传感器具有高重复性和对外力的快速响应。此外，所提出的触觉传感器的滞后很小，特别是在按压方向上。
We propose a soft capacitive tactile sensor using the displacement of an air–water interface. This soft tactile sensor is composed of a soft contact part with a chamber and channel filled with water and a clip-shaped sensing part to detect the position of the interface. This tactile sensor changes the displacement of the air–water interface in the channel when a contact force is applied. The change in displacement is detected as a change in the capacitance at the sensing part. This sensor structure does not require stiff electrical elements to be embedded in the soft silicone rubber body, which improves the flexibility and durability of the sensor. Therefore, the proposed tactile sensor exhibits high flexibility and durability against bending and external stresses. Additionally, the proposed tactile sensor can detect not only press force but also pull force. This results in the detection of a press or pinch in a robot skin. The experimental results show that the proposed sensor can successfully detect both press and pull static forces. The sensitivity of the proposed sensor was 0.169 pF/N for an applied force in the press direction and −0.152 pF/N for a force in the pull direction based on the results of an evaluation of the static sensor characteristics. Furthermore, an evaluation of the dynamic sensor characteristics revealed that the proposed tactile sensor has high repeatability and a quick response to an external force. Additionally, the hysteresis of the proposed tactile sensor is small, especially in the press direction.