Cutaneous Ionogel Mechanoreceptors for Soft Machines, Physiological Sensing, and Amputee Prostheses
Cutaneous Ionogel Mechanoreceptors for Soft Machines, Physiological Sensing, and Amputee Prostheses
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DOI：
10.1002/adma.202102069
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发表时间：
2021-08-01
影响因子：
29.4
通讯作者：
Gu, Guoying
中科院分区：
文献类型：
--
作者：
Shen, Zequn;Zhu, Xiangyang;Gu, Guoying
触摸传感在机器人抓取和机器人辅助假肢的新兴人机界面中起着核心作用。虽然软导电聚合物的进步促进了各种压力传感器的产生，但由于其有限的灵敏度、窄的压力范围以及复杂的结构和制造工艺，这些传感器难以用作机器人和假肢的触摸皮肤。在这里，一个高度敏感和强大的软触摸皮肤与超电容传感，结合离子水凝胶与市售导电织物。介绍了电容式传感器的原型设计，通过简单的制造方法，获得了高达1.5kPa（-1）的灵敏度。（比传统的平行板电容性对应物高约44倍），超过四个数量级的宽压力检测范围（约35 Pa ~ 330 kPa），电容基线宽，响应时间快（约18 ms），重复性好。进一步开发了由能够监测各种生理信号和形状检测的皮肤机械感受器阵列组成的离子凝胶皮肤。触摸皮肤可以集成在柔软的仿生手中，并在处理精细物体时为工业机器人和截肢者提供强大的触觉反馈，说明其在下一代具有触觉传感的人在环机器人系统中的潜在应用。
Touch sensing has a central role in robotic grasping and emerging human-machine interfaces for robot-assisted prosthetics. Although advancements in soft conductive polymers have promoted the creation of diverse pressure sensors, these sensors are difficult to be employed as touch skins for robotics and prostheses due to their limited sensitivity, narrow pressure range, and complex structure and fabrication process. Here, a highly sensitive and robust soft touch skin is presented with ultracapacitive sensing that combines ionic hydrogels with commercially available conductive fabrics. Prototypical designs of the capacitive sensors through facile manufacturing methods are introduced and a high sensitivity up to 1.5 kPa(-1) (approximate to 44 times higher than conventional parallel-plate capacitive counterparts), a broad pressure detection range of over four orders of magnitudes (approximate to 35 Pa to 330 kPa), ultrahigh baseline of capacitance, fast response time (approximate to 18 ms), and good repeatability are demonstrated. Ionogel skins composed of an array of cutaneous mechanoreceptors capable of monitoring various physiological signals and shape detection are further developed. The touch skin can be integrated within a soft bionic hand and provide an industrial robot and an amputee with robust tactile feedback when handling delicate objects, illustrating its potential applications in next-generation human-in-the-loop robotic systems with tactile sensing.