一种具有接近-压力双传感功能的机器人皮肤

doi:10.16731/j.cnki.1671-3133.2025.12.006

现代制造工程 ›› 2025, Vol. 543 ›› Issue (12): 43-48.doi: 10.16731/j.cnki.1671-3133.2025.12.006

一种具有接近-压力双传感功能的机器人皮肤

刘增辉¹, 刘平², 周烁¹, 李春园², 马渊明², 黄英²

1 中国航发商用航空发动机有限责任公司,上海 201100;
2 合肥工业大学微电子学院,合肥 230009

收稿日期:2024-11-06 出版日期:2025-12-18 发布日期:2026-01-06
通讯作者: 刘平,博士,副教授,主要研究方向为柔性传感技术及其应用,包含敏感材料体系设计、传感器结构设计、嵌入式系统及应用研究等。E-mail:liuping@hfut.edu.cn
作者简介:刘增辉,博士,高级工程师,主要研究方向为智能机器人应用。E-mail:liuping@hfut.edu.cn
基金资助:
*安徽省高校协同创新项目(GXXT-2023-075);浙江省科学技术厅领雁计划项目(2024C01150)

A robot skin with proximity-pressure dual sensing function

LIU Zenghui¹, LIU Ping², ZHOU Shuo¹, LI Chunyuan², MA Yuanming², HUANG Ying²

1 AECC Commercial Aircraft Engine Co.,Ltd.,Shanghai 201100,China;
2 School of Microelectronics,Hefei University of Technology,Hefei 230009,China

Received:2024-11-06 Online:2025-12-18 Published:2026-01-06

摘要/Abstract

摘要： 伴随机器人触觉应用需求,机器人皮肤引起了广泛关注。基于1-乙基-3-甲基咪唑双三氟甲磺酰亚胺有机离子液体与仿磨砂玻璃的介电层微结构,研制了一种电容式柔性压力传感器,在0~40 kPa压强传感范围内,所设计传感器的灵敏度高达34.4 kPa^-1。结合电容式接近觉传感器(最大测量距离可达25 mm,测量分辨力约0.2 mm),设计了一种具有接近-压力双传感功能的机器人皮肤,并将其应用于机械臂对面板式开关和自锁式按钮开关按压操作,结果表明,引入机器人皮肤后,可有效提升机械臂在开关作业过程的安全性。

关键词: 机器人皮肤, 电容式传感器, 压力传感器, 接近觉传感器

Abstract: To meet the rapid growth of robot haptics,the robot skin has attracted extensive attention. Based on the microstructure of 1-ethyl-3-methylimidazolium bis[(trifluoromethyl) sulfonyl]imide organic ionic liquid and the imitation frosted glass,a flexible capacitive pressure sensor was developed. The sensor has a high sensitivity of 34.4 kPa^-1 and wide working pressure range (0~40 kPa). Combining the capacitive proximity sensor (the maximum measuring distance can reach 25 mm,and the measuring resolution is about 0.2 mm),a robot skin with proximity-pressure dual sensing function was designed,and it was applied to the pressing operation of the face-plate switch and self-locking push-button switch of the robot arm. It is shown that robot skin can effectively improve the safety of the robot arm during the switching operation of switch.

Key words: robot skin, capacitive sensor, pressure sensor, proximity sensor

中图分类号:

TP212.1

刘增辉, 刘平, 周烁, 李春园, 马渊明, 黄英. 一种具有接近-压力双传感功能的机器人皮肤[J]. 现代制造工程, 2025, 543(12): 43-48.

LIU Zenghui, LIU Ping, ZHOU Shuo, LI Chunyuan, MA Yuanming, HUANG Ying. A robot skin with proximity-pressure dual sensing function[J]. Modern Manufacturing Engineering, 2025, 543(12): 43-48.

参考文献

[1] 马洪波,邱凯义,刘洁.基于机器视觉的变电站一体化安防管控系统设计[J].计算机测量与控制,2024,32(2):149-155.
[2] LI Q,KROEMER O,SU Z,et al.A review of tactile information:perception and action through touch[J].IEEE Transactions on Robotics,2020,36(6):1619-1634.
[3] 邓刘刘,邓勇,张磊.智能机器人用触觉传感器应用现状[J].现代制造工程,2018(2):18-23.
[4] 李文望,张贺,杨雨程,等.基于PDMS微结构介质层的柔性电容式压力传感器[J].厦门大学学报(自然科学版),2023,62(4):525-532.
[5] YANG C,LIN M,HUANG C,et al.Highly sensitive and wearable capacitive pressure sensors based on PVDF/BaTiO₃ composite fibers on PDMS microcylindrical structures[J].Measurement,2022,202:111817.
[6] HUANG J,TANG X,WANG F,et al.Multi-hierarchical microstructures boosted linearity of flexible capacitive pressure sensor[J].Advanced Engineering Materials,2022,24(9):2101767.
[7] 田合雷,刘平,高峰,等.纳米SiO₂对压力敏感导电橡胶静态特性和动态特性的影响[J].功能材料,2015,46(17):17022-17026,17032.
[8] FENG H,LIU P,GUO X,et al.PSS modified by 3-aminopropyltrimethoxysilane linking large-area GNPs/PSS to silicone rubber with stable interface combination for high sensitivity flexible resistive sensor[J].Chemical Engineering Journal,2023,465:143009.
[9] 熊鹏文,尹一凡,童小宝,等.基于新型多模态触觉传感器的机器人交互物体分类[J].测控技术,2023,42(4):82-87.
[10] 郎博,张雪慧,武晓刚,等.各向异性导电性能的柔性应变传感电子皮肤[J].中国生物医学工程学报,2023,42(5):594-602.
[11] 李瑞青,李思明,陈天骄,等.基于可膨胀微球/聚二甲基硅氧烷复合介电层的柔性电容式压力传感器[J].复合材料学报,2021,38(7):2152-2161.
[12] LI J,CHEN S,ZHOU J,et al.Flexible BaTiO₃-PDMS capacitive pressure sensor of high sensitivity with gradient micro-structure by laser engraving and molding[J].Polymers,2023,15(15):3292.
[13] XIA P,LIU P,WU S,et al.Highly stretchable and sensitive flexible resistive strain sensor based on waterborne polyurethane polymer for wearable electronics[J].Composites Science and Technology,2022,221:109355.
[14] LI R,ZHOU Q,BI Y,et al.Research progress of flexible capacitive pressure sensor for sensitivity enhancement approaches[J].Sensors and Actuators A:Physical,2021,321:112425.
[15] LIAN C,LIU K,VANAKEN K L,et al.Enhancing the capacitive performance of electric double-layer capacitors with ionic liquid mixtures[J].ACS Energy Letters,2016,1(1):21-26.
[16] 宗泽,张磊,贾志煦,等.一种具有良好灵巧性和触觉估计的三指机械手[J].现代制造工程,2023(7):54-62.

一种具有接近-压力双传感功能的机器人皮肤

A robot skin with proximity-pressure dual sensing function

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 1

编辑推荐

Metrics