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通过同步机电调节,具有宽线范围的自动仿真触觉

Tiantong Wang¹, Yewei Song², Yunbiao Zhao²

¹Key Laboratory of Biomimetic Robots and Systems of Ministry of Education, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China.

ACS applied materials & interfaces

|August 27, 2025

概括

研究人员使用一种新的固体电解质结构开发出一种新的自动供电的柔性压力传感器. 这种传感器提供了广泛的线性压力响应,

科学领域:

材料科学
机器人技术
传感器和转换器

背景情况:

机电传感器为静态机械刺激提供持续的电压,与压电和电压传感器不同.
现有的机械电位传感器面临着压力范围狭窄和线性差的挑战.
自动供电的灵活压力传感器对于机器人触觉和可穿戴应用至关重要.

研究的目的:

开发一个具有改进线性压力传感范围的机械电位计传感器.
解决电流传感器响应范围狭窄和线性差的局限性.
创建一个自动供电的传感器来实现先进的触觉和反控制.

主要方法:

使用内部腔/微半球结构的固体电解质制造机械电位传感器.
协同机电调节以实现广泛的线性传感范围.
用于空间压力映射和与机器人抓手集成的传感器的矩阵缩放.

主要成果:

达到广泛的 (0-350 kPa) 和高度线性的 (1.66 mV kPa^-1,R²=0.995) 压力传感范围.
反应迅速 (42. 3毫秒) 和恢复 (62. 6毫秒),可重复性优异 (> 10,000 个循环).
成功实现了样品的软度识别 (准确率为95.31%) 和基于水果软度的抓取控制.

结论:

新的固体电解质结构为高线性,宽范围的自动供电电位传感器提供了策略.
开发的传感器显著提高了机器人应用的触觉能力.
这项技术可以根据物体的柔软度和施加的力度来进行先进的反控制.

关键词:

在线性机械电位传感机器人触摸感应自动供电的传感器柔软感觉

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