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阻抗调制的软应变传感器,为人形机器人提供高稳定性

Yebo Tao¹, Tingting Yu², Cheng Jin³

¹College of Intelligent Manufacturing, Jiaxing Vocational & Technical College, Jiaxing Zhejiang 314036, China.

ACS applied materials & interfaces

|September 12, 2025

概括

这项研究引入了一种用于人形机器人的新型阻抗调节软应变传感器. 它有效地抑制干扰,增强稳定性,并使复杂的机器人系统中可靠的应变测量.

科学领域:

机器人技术机器人技术机器人技术
材料科学材料科学材料科学
电气工程电气工程

背景情况:

软应变传感器对于人形机器人至关重要,但面临来自机器人内部电阻和电磁场的干扰.
现有的传感器由于内部机器人环境而难以保持信号完整性.

研究的目的:

为人类机器人开发一种高度稳定的,阻抗调节的软应变传感器.
为了克服线路电阻,接触电阻和电磁干扰 (EMI) 的干扰问题.

主要方法:

设计了一个使用液体金属 (LM) 电阻,电容器和电感器作为软弹性体内的被动带停止波器的传感器.
分析了传感器稳定性,灵敏度和测量可行性,使用过器理论和组件选择.
实现了基于现场可编程门阵列 (FPGA) 的系统用于信号采集.

主要成果:

传感器将因应应变的电阻变化转换为阻抗调制信号.
电阻和电感的一系列连接在共振时实现了高阻抗,抑制了干扰.
传感器证明了人形机器人电机驱动器对EMI的免疫力.

结论:

拟议的阻抗调节软应变传感器为人形机器人提供高稳定性和EMI免疫力.
这项技术适用于人形机器人和可穿戴设备,改善了人机交互.

关键词:

过器过器过器灵活的传感器灵活的传感器液体金属是一种流动金属.电阻传感器电阻传感器这是一个共振共振.

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