可穿戴式电子织物仿生皮肤设计与应用研究

为满足电子仿生皮肤的穿戴舒适度,提出了一种电容式柔性织物压力传感器,采用丝网印刷工艺,以织物为柔性基体,炭黑填充型复合弹性电介质和有机硅导电银胶制备柔性压敏触觉单元。介绍了压敏单元的结构设计与感知机理,研究了炭黑含量与温度对织物触觉单元性能的影响,改善了该电子织物的输出线性度与重复性,实现了0~700 k Pa量程范围迟滞误差为5.6%,动态响应时间为89 ms,灵敏度为0.025 36%/KPa,同时,引入温度补偿以提升触觉感知准确性。通过将织物压敏单元应用于足底压力信息的时空分布研究和机械手的软抓取实验,其足底压力分布及触觉感知实验结果表明,该电容式柔性织物压力传感器具有良好的工作稳定性与触觉感知功能,为可穿戴式人工皮肤的研究提供了一种设计方案。

Research on the design and application of wearable electronic fabric bionic skin

To achieve the wearing comfort of electronic bionic skin, a flexible capacitive textile pressure sensor is proposed in this paper. The capacitive tactile pressure sensitive sensor is constituted by carbon black (CB) filled composite elastic dielectric silicone rubber (SR) and organic silicone silver conductive adhesive using silk screen technology and taking the textile as the flexible substrate. The structure design and working principle of the capacitive textile pressure sensitive sensor are introduced; the influences of carbon content and temperature on the performance of the textile pressure sensor were studied. The output linearity and repeatability of the electronic fabric are improved. The textile tactile sensor achieves the device hysteresis error of 5.6%, dynamic response time of 89ms and sensitivity of 0.02536%/KPa within the range of 0~700KPa. Meanwhile, the temperature compensation is introduced to enhance the accuracy of tactile perception. The textile pressure sensor was applied in the time and space distribution research of plantar pressure information and the manipulator soft grabbing experiment; the experimental results of plantar pressure distribution and tactile perception indicate that the capacitive flexible textile pressure sensor has good operation stability and tactile perception capacity. This study provides a design proposal for wearable bionic skin study.