基于形状记忆聚合物模板的曲面共形柔性触觉传感阵列的研究

触觉传感器是机器人与外界交互的重要前端。如何通过结构设计与优化来提高机器人触觉传感性能是当下前沿热点。其中，解决传感阵列与机器人复杂曲面的界面共形是重点关注问题。采用传统平面工艺制备的触觉传感阵列在与机器人复杂曲面贴附时难以形成无缝共形贴合，也无法消除共形过程由于弯曲和延展产生的应力。本项目拟利用形状记忆聚合物复制机器人特定曲面的形貌，以此为模板制备离-电型高灵敏的触觉传感阵列，既可以与机器人曲面形成良好共形，又可消除共形应力的干扰，从而提高传感的准确性，有效解决上述问题。本项目预期阐明界面共形和共形应力的影响机制，并建立曲率-压力-电容之间的定量关系，实现机器人对外界压力的精准传感，为解决传感阵列与机器人的界面共形问题提供一种新的原理和方法，并有望扩展至其他应用。

Tactile sensor is an important front end for the interaction between robot and external environment. Nowadays, how to improve the tactile sensing property for robots through structural design and optimization has been a research hotspot in recent years. Among all issues included, to ensure the interfacial fusion between the tactile sensing array and the complex curved surface of robots has been focused. The tactile sensing array prepared on traditional planar substrate can hardly form conformal contact with the curved surface of robot, and there is stress remained when they come into contact because of elastic bending and stretching of the sensing array. In this project, we plan to replicate the curved surface of robots by shape memory polymers (SMP), and further construct iontronic tactile sensing array based on the SMP template. The as-prepared tactile sensing array could conformally contact with the curved surface of robots, as well as eliminate the stress during contact. In this way, the accuracy for tactile sensing could be improved and the as-mentioned problem could be solved. This project is expected to clarify the mechanism for the influence of interface conformality and conformality stress, establish the quantitative relationship between curvature, pressure and capacitance in robot-sensor system, as well as realize the accurate sensing of the external world for the robots. This project will provide a new principle and methodology to tackle the issue for the conformal contact between tactile sensing array and robot, which could also be extended to other applications.