期刊
MEASUREMENT
卷 223, 期 -, 页码 -出版社
ELSEVIER SCI LTD
DOI: 10.1016/j.measurement.2023.113785
关键词
Flexible tactile sensor; Micro-cylindrical structure dielectric layer; Force coupling analysis; Decoupling research; Sensing applications
This study proposes a capacitive flexible tactile sensor that utilizes a dielectric layer with a microcylindrical structure. A decoupling model is presented based on the analysis of sensor coupling. The sensor has been validated in applications such as tangential detection and object grasping, laying the foundation for future self-aware operations.
With the advancement of robotics, flexible sensors have undergone significant development. Extensive research has been conducted on the sensor structure to enhance its sensing capabilities. However, due to the absence of a definitive theory on the relationship between input force and output signal, and the unclear mechanism of force and deformation, decoupling the force remains challenging. To address this, we propose a capacitive flexible tactile sensor that utilizes a dielectric layer with a microcylindrical structure for detecting external loads. The micro-cylindrical structure of the dielectric layer enhances the strain capacity, thereby improving the sensor's performance. We also present a decoupling model based on the deformation mechanism by analyzing the sensor coupling. Furthermore, we validate the sensor's application in tangential detection and object grasping by integrating it into a soft rehabilitation glove and a soft gripper. This research lays the foundation for future selfaware operations.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据