用于机器人关节的柔性压力触觉传感器设计

分析了碳纤维/硅橡胶导电复合材料的拉伸、弯曲及压敏特性,基于上述特性设计了一种新型的应用于机器人关节等活动部位的柔性压力触觉传感器。通过解耦算法解决了拉伸、弯曲引起的干扰问题,构建了求解接触压力的数学模型。实验结果表明,该柔性触觉传感器具有拉伸和弯曲性,并消除了拉伸和弯曲对接触压力的检测的干扰,可应用于机器人关节。     

基于碳纤维复合材料的柔性复合式触觉传感器

分析了碳纤维复合材料的敏感特性,基于该种材料良好的压力/温度敏感特性,设计了一种具备压力和温度同时检测功能的新型柔性复合式触觉传感器。利用2种碳纤维复合材料各自具有的不同压力和温度敏感特性构建了求解压力和温度的数学模型,基于该模型设计并制作了柔性复合式触觉传感器。通过对传感器标定及实验结果的误差分析表明,该传感器设计解决了压力和温度同时检测时存在的交叉干扰问题,实现了传感器的复合式功能。     

二氧化钌／硅橡胶压阻性能和压敏导电阵列传感系统的设计

使用金红石相的二氧化钌做填充物的导电硅橡胶具有较好的压阻敏感性和可重复性,可作为一种潜在的压敏传感器材料。本文利用此种导电硅橡胶良好的线性压阻特性,制备了导电硅橡胶阵列,设计开发了压敏传感阵列信息采集分析系统。硬件电路以89C52单片机为核心,控制多路选通开关为导电硅胶阵列提供电压激励,并读取激助数据通过RS232串口发送给上位机。基于Matlab上位机程序用于控制整个系统工作,读取、分析处理单片机收集的数据,生成静态的三维柱状图像来反应硅胶阵列各传感单元受压阻值变化的情形。经实验检测该系统可以在低速率采样的情况下实现压敏传感阵列各传感单元非均匀压力分布成像的要求。     

基于关联信息的阵列气体传感器故障诊断研究

人工嗅觉系统的实际工作环境一般较为恶劣，因此对气体传感器进行故障诊断，提高系统可靠性是必须的．由于气体传感器的交叉敏特性，使得传感器阵列的输出信息具有冗余性，本文提出了利用气体传感器阵列的冗余关联特性来进行气体传感器故障检测与诊断的新方法．在该方法中．人工神经网络被用于气体传感器故障关联信息的检测与定位，实际使用表明该方法完全能够实现阵列气体传感器故障的在线诊断与定位，并可适用于其它类似的系统．     

基于拉压转换和变刚度斜坡结构的宽量程压缩传感结构（英文）

压力传感器仍然面临着将高灵敏度与宽检测范围相结合的挑战.基于此,我们设计了一种拉-压转换(TC)结构,并将其与变刚度策略相结合来制造压力传感器件.该结构能够将二维可拉伸材料的传感性能转换为三维可压缩设备的传感性能.传感和机械性能可以使用模拟和理论计算进行设计.斜面结构能够在24.3 N范围内提供线性传感.变刚度设计策略使传感器能够以高灵敏度(3.5 N^-1)感知较小载荷,并具有宽的检测范围(0.002–24.300 N,扩展范围82.6 N).此外,该传感结构可以在水下环境中稳定工作.这种使用二维可拉伸应变传感器作为传感单元来开发压缩传感装置的设计策略将为未来提供新的思路.     

基于机器学习的在轨航天器泄漏源实时定位方法研究

该文章针对航天器在轨泄漏问题，提出了一种基于机器学习的泄漏源实时定位方法。该方法通过合理特征化泄漏在器壁中激发的弹性波信号，结合有限元仿真技术获得有效的训练数据，设计并实现了一种多层感知机网络模型，从而准确完成泄漏源与传感器间的距离信息估计，同时结合计算弹性波数据时空相关性得到的相对角度信息，可以快速稳定的获得泄漏源的空间位置。该方法仅采用一个布放在器壁上的压电阵列式传感器采集泄漏激发的弹性波数据，结构相对简单。试验结果表明，基于该文章设计的多层感知机模型，在1 m²试验板范围内该方法对泄漏源与阵列式传感器距离估计准确率为100%,最大定位误差为1.2 cm。     

压电传感器频响及抗干扰特性多物理场分析研究

为了满足有效测试压气机内部脉动压力场的需求,拟开发、设计具备频响特性宽、灵敏度高、抗干扰性强的传感器阵列。首先建立基于机电耦合的多物理场传感器有限元模型,其次逐一探讨传感器各层材料力学参数与厚度对压电性能的影响,然后分析传感器在0至8×104Hz频率环境中的频响特性,最后分析传感器阵列相邻测点间的相互干扰影响,获得传感器压电电势随材料力学参数与结构尺寸的变化规律。结果表明:通过调整传感器各层材料的杨氏模量、厚度可以获得理想的频响带宽、灵敏度及测点间干扰特性。依此对压电传感器阵列进行优化设计,可满足脉动压力场的测试需求。     

基于Matlab/Simulink的机器人仿真平台分析

随着计算机的发展,仿真逐步成为当今重要研究工具,它为开发者提供强大的可视化功能。仿真技术也在机器人领域中发挥非常重要的作用,可用于运动学和动力学分析,离线编程,控制算法设计,机器人机械结构设计,机器人工作单元和生产线设计等。Matlab是目前应用最广泛的用于系统建模和仿真的开发平台。本文以一个三自由度机器人作为示例,在MATLAB/Simulink环境中进行建模和仿真分析,重点介绍了Matlab里有四类仿真工具的功能和特点,最后进行了对比分析。     

低温压力传感器自动检定/校准装置设计

设计研制了一套可在低温环境下检定/校准压力传感器的装置.该装置采用模块化设计方法,各模块可独立使用,从而提高了低温压力传感器自动检定/校准装置的使用效率.该装置的工作温度可以从室温到-196℃,期间温度可连续变化,压力范围为0～ 20MPa,检定/校准装置的扩展不确定度为0.1％(k=2).该检定/校准装置的建立,有效地保证了我国航天液体火箭发动机试车所用低温压力传感器液氧管路系统压力测量的准确性,也保证了发动机性能评估的可靠性及故障诊断的准确性.     

电子材料

<正>科学家研发厚度仅500nm的传感器近日,一则类皮肤材质的传感器的研究论文在《Soft Robotics》杂志上被刊登出来。该传感器采用了自感应柔性气动装置,拉伸弹性好,而它的厚度仅有500nm。这种特性的类皮肤材质能够利用充气膜带来压力,从而模拟触感,宣称效果比目前触觉反馈方案更真实,而且主要依靠振动技术模拟碰撞的感觉。该材质的     

Large‐Area Integrated Triboelectric Sensor Array for Wireless Static and Dynamic Pressure Detection and Mapping

Large‐area flexible pressure sensors are of paramount importance for various future applications, such as electronic skin, human–machine interfacing, and health‐monitoring devices. Here, a self‐powered and large‐area integrated triboelectric sensor array (ITSA) based on coupling a triboelectric sensor array and an array chip of CD4066 through a traditional connection is reported. Enabled by a simple and cost‐effective fabrication process, the size of the ITSA can be scaled up to 38 × 38 cm². In addition, unlike previously proposed triboelectric sensors arrays, which can only react to the dynamic interaction, this ITSA is able to detect static and dynamic pressure. Moreover, through integrating the ITSA with a signal processing circuit, a complete wireless sensing system is present. Diverse applications of the system are demonstrated in detail, including detecting pressure, identifying position, tracking trajectory, and recognizing the profile of external contact objects. Thus, the ITSA in this work opens a new route in the direction of large‐area, self‐powered, and wireless triboelectric sensing systems.     

Fingerprint‐Inspired Flexible Tactile Sensor for Accurately Discerning Surface Texture

Inspired by the epidermal–dermal and outer microstructures of the human fingerprint, a novel flexible sensor device is designed to improve haptic perception and surface texture recognition, which is consisted of single‐walled carbon nanotubes, polyethylene, and polydimethylsiloxane with interlocked and outer micropyramid arrays. The sensor shows high pressure sensitivity (?3.26 kPa^?1 in the pressure range of 0?300 Pa), and it can detect the shear force changes induced by the dynamic interaction between the outer micropyramid structure on the sensor and the tested material surface, and the minimum dimension of the microstripe that can be discerned is as low as 15 µm × 15 µm (interval × width). To demonstrate the texture discrimination capability, the sensors are tested for accurately discerning various surface textures, such as the textures of different fabrics, Braille characters, the inverted pyramid patterns, which will have great potential in robot skins and haptic perception, etc.     

Multiscale Hierarchical Design of a Flexible Piezoresistive Pressure Sensor with High Sensitivity and Wide Linearity Range

Flexible piezoresistive pressure sensors have been attracting wide attention for applications in health monitoring and human‐machine interfaces because of their simple device structure and easy‐readout signals. For practical applications, flexible pressure sensors with both high sensitivity and wide linearity range are highly desirable. Herein, a simple and low‐cost method for the fabrication of a flexible piezoresistive pressure sensor with a hierarchical structure over large areas is presented. The piezoresistive pressure sensor consists of arrays of microscale papillae with nanoscale roughness produced by replicating the lotus leaf's surface and spray‐coating of graphene ink. Finite element analysis (FEA) shows that the hierarchical structure governs the deformation behavior and pressure distribution at the contact interface, leading to a quick and steady increase in contact area with loads. As a result, the piezoresistive pressure sensor demonstrates a high sensitivity of 1.2 kPa⁻¹ and a wide linearity range from 0 to 25 kPa. The flexible pressure sensor is applied for sensitive monitoring of small vibrations, including wrist pulse and acoustic waves. Moreover, a piezoresistive pressure sensor array is fabricated for mapping the spatial distribution of pressure. These results highlight the potential applications of the flexible piezoresistive pressure sensor for health monitoring and electronic skin.     

电涡流传感器阵列测试技术

针对采用扁平柔性电涡流传感器阵列实现大面积金属曲面部件位置实时监测,对电涡流传感器的阵列测试技术进行了研究.采用一种基于时分多路的电涡流阵列测试的方法,通过对传感器探头和测试电路的合理设计,使系统电路得到简化,减小阵列单元之间的串扰,提高传感器系统的测试性能,实现了电涡流传感器阵列的快速、高精度测量.     

线阵光电无损检测装置设计

目的　研制一种用 X射线线阵光电传感器对焊缝质量进行无损检测的新装置 .方法　将 X射线透过焊件照在 X射线线阵光电传感器上采集焊件密度信息 ,经信号处理后送计算机进行图像处理 .结果　该装置在低能 X射线作用下能有效地对焊件的密度及气孔、夹渣等缺陷进行检测 .结论　实验结果表明 ,该装置检测的动态范围较宽 ,该方法也可用于对 X射线剂量检测 ,更换光电传感器后还可对其它物理量进行无损检测     

Enhancing the Matrix Addressing of Flexible Sensory Arrays by a Highly Nonlinear Threshold Switch

The increasing need for smart systems in healthcare, wearable, and soft robotics is creating demand for low‐power sensory circuits that can detect pressure, temperature, strain, and other local variables. Among the most critical requirements, the matrix circuitry to address the individual sensor device must be sensitive, immune to disturbances, and flexible within a high‐density sensory array. Here, a strategy is reported to enhance the matrix addressing of a fully integrated flexible sensory array with an improvement of 10⁸ fold in the maximum readout value of impedance by a bidirectional threshold switch. The threshold switch shows high flexibility (bendable to a radius of about 1 mm) and a high nonlinearity of ≈10¹⁰ by using a nanocontact structure strategy, which is revealed and validated by molecular dynamics simulations and experiments at variable mechanical stress. Such a flexible electronic switch enables a new generation of large‐scale flexible and stretchable electronic and optoelectronic systems.     

Dual-Mode Capacitive Proximity Sensor for Robot Application: Implementation of Tactile and Proximity Sensing Capability on a Single Polymer Platform Using Shared Electrodes

In this paper, we report a flexible dual-mode capacitive sensor for robot applications which has two sensing capabilities in a single platform; tactile and proximity sensing capability. The sensor consists of a mechanical structure based on PDMS (Polydimethylsiloxane) and a mesh of multiple copper electrode strips. The mesh is composed of 16 top and 16 bottom copper strips crossed each other to form a 16 $,times,$16 capacitor array. The proposed sensor is able to switch its function from tactile sensing to proximity sensing or vice versa by reconfiguring the connection of electrodes. The tactile sensing capability has been demonstrated already and reported in our previous paper (Lee , 2006); therefore, in this paper, we will demonstrate the feasibility of the proximity sensing capability and the dual-mode operation of the proposed sensor in detail. The capacitance change caused by an approaching object has been estimated through simulation of multiple two-dimensional models as an initial study. The measured data have shown similar trends with the simulation results. We tested various materials from conducting metals to a human hand for proximity measurement. The fabricated sensor could detect a human hand at a distance up to 17 cm away from the sensor. We also have successfully demonstrated the feasibility of dual-mode operation of the proposed sensor in real-time exploiting a custom designed PCB, a data acquisition pad, and Labview software.      

A Biodegradable and Stretchable Protein‐Based Sensor as Artificial Electronic Skin for Human Motion Detection

Due to the natural biodegradability and biocompatibility, silk fibroin (SF) is one of the ideal platforms for on‐skin and implantable electronic devices. However, the development of SF‐based electronics is still at a preliminary stage due to the SF film intrinsic brittleness as well as the solubility in water, which prevent the fabrication of SF‐based electronics through traditional techniques. In this article, a flexible and stretchable silver nanofibers (Ag NFs)/SF based electrode is synthesized through water‐free procedures, which demonstrates outstanding performance, i.e., low sheet resistance (10.5 Ω sq^?1), high transmittance (>90%), excellent stability even after bending cycles >2200 times, and good extensibility (>60% stretching). In addition, on the basis of such advanced (Ag NFs)/SF electrode, a flexible and tactile sensor is further fabricated, which can simultaneously detect pressure and strain signals with a large monitoring window (35 Pa–700 kPa). Besides, this sensor is air‐permeable and inflammation‐free, so that it can be directly laminated onto human skins for long‐term health monitoring. Considering the biodegradable and skin‐comfortable features, this sensor may become promising to find potential applications in on‐skin or implantable health‐monitoring devices.     

Carbon Dots-Based Ultrastretchable and Conductive Hydrogels for High-Performance Tactile Sensors and Self-Powered Electronic Skin

Smart tactile sensing materials have excellent development prospects, including wearable health-monitoring equipment and energy collection. Hydrogels have received extensive attention in tactile sensing owing to their transparency and high elasticity. In this study, highly crosslinked hydrogels are fabricated by chemically crosslinking polyacrylamide with lithium magnesium silicate and decorated with carbon quantum dots. Magnesium lithium silicate provides abundant covalent bonds and improves the mechanical properties of the hydrogels. The luminescent properties endowed by the carbon dots further broaden the application of hydrogels for realizing flexible electronics. The hydrogel-based strain sensor exhibits excellent sensitivity (gauge factor 2.6), a broad strain response range (0–2000%), good cyclicity, and durability (1250). Strain sensors can be used to detect human motions. More importantly, the hydrogel can also be used as a flexible self-supporting triboelectric electrode for effectively detecting pressure in the range of 1–25 N and delivering a short-circuit current (I_SC) of 2.6 µA, open-circuit voltage (V_OC) of 115 V, and short-circuit transfer charge (Q_SC) of 29 nC. The results reveal new possibilities for human–computer interactions and electronic robot skins.