技术领域technical field
本发明属于传感器领域，具体涉及一种基于导电织物的三维力柔性触觉传感器。The invention belongs to the field of sensors, in particular to a three-dimensional force flexible touch sensor based on conductive fabric.
技术背景technical background
电子皮肤(e-skin)作为一种具备高柔韧度和拉伸性、和人类皮肤的一样可实现外界环境信息感知功能的人造柔性电子器件成为智能机器人、人机交互等领域的研究热点。三维力触觉传感器能够同时测量两个方向以上的力或力矩分量，是智能机器人最重要的传感器之一。随着柔性仿生触觉传感器的发展、智能机器人技术的进步，对触觉传感器提出了更高要求，要求其既要具备人类触觉感知的能力，又要精确地获悉空间三维力信息。传感器的柔性表面能使其跟物体轮廓相吻合的稳定地抓握，这对精确获取物体的性质以及试验性的提升有重要的作用。同时，柔性表面的缓冲作用还可减小手指表面和被抓物体的磨损。三维信息的获取，有助于准确的获悉作用对象的信息，提升智能机器人的操作精度。因此，兼具良好柔韧性和三维力检测的触觉传感器在机器人研究领域的需求日益迫切，此外，这类传感器在体育运动、康复医疗和人体生物力学等研究领域中也具有广泛的应用前景。Electronic skin (e-skin), as an artificial flexible electronic device with high flexibility and stretchability, which can realize the external environment information perception function like human skin, has become a research hotspot in the fields of intelligent robots and human-computer interaction. The three-dimensional force tactile sensor can simultaneously measure force or moment components in more than two directions, and is one of the most important sensors for intelligent robots. With the development of flexible bionic tactile sensors and the advancement of intelligent robot technology, higher requirements have been put forward for tactile sensors, requiring them to not only have the ability of human tactile perception, but also accurately obtain three-dimensional force information in space. The flexible surface of the sensor enables a stable grip that conforms to the contour of the object, which plays an important role in the accurate acquisition of the properties of the object and the improvement of experimentation. At the same time, the cushioning effect of the flexible surface can also reduce the wear of the finger surface and the grasped object. The acquisition of three-dimensional information helps to accurately learn the information of the action object and improve the operation accuracy of the intelligent robot. Therefore, the demand for tactile sensors with good flexibility and three-dimensional force detection is increasingly urgent in the field of robotics research. In addition, such sensors also have broad application prospects in research fields such as sports, rehabilitation medicine, and human biomechanics.
关于三维力触觉传感器的研究按其传感机理主要分为电阻式三维力触觉传感器和电容式三维力触觉传感器两类。其中，电容式三维力触觉传感器通常设计为变极板间隙、极板面积型的平行电极结构，或基于同面多电极原理设计为变有效介电常数的同面多电极结构。电容式传感器因温度稳定性好、结构简单、动态响应好以及可实现非接触测量等优势得到广泛应用，平行板结构的电容式三维力触觉传感器在法向力或切向力作用下其极板间距或极板面积发生相应的变化，从而实现触觉力感知。然而，电容式触觉传感器在用作电子皮肤时易受寄生电容的干扰，往往需要额外设计屏蔽措施。电阻式三维力触觉传感器通常设计为类似应变片工作原理或压敏型，多选用碳系敏感材料制备力敏单元。电阻式三维力触觉传感器通常将电极设计在同一面，通过触觉力传递触头联动力敏材料形变导致输出电阻发生变化，这类三维力触觉传感器集成性、灵敏度以及动态响应特性受传感器结构和敏感材料限制较大。According to the sensing mechanism, researches on 3D force tactile sensors are mainly divided into resistive 3D force tactile sensors and capacitive 3D force tactile sensors. Among them, the capacitive three-dimensional force tactile sensor is usually designed as a parallel electrode structure with variable plate gap and plate area, or as a same-plane multi-electrode structure with variable effective dielectric constant based on the same-plane multi-electrode principle. Capacitive sensors are widely used due to the advantages of good temperature stability, simple structure, good dynamic response and non-contact measurement. A corresponding change in pitch or plate area enables tactile force perception. However, capacitive tactile sensors are susceptible to interference from parasitic capacitance when used as electronic skin, and additional design shielding measures are often required. Resistive three-dimensional force tactile sensors are usually designed to work similar to strain gauges or pressure-sensitive types, and carbon-based sensitive materials are often used to prepare force-sensitive units. Resistive three-dimensional force tactile sensors usually design the electrodes on the same surface, and the output resistance changes through the transmission of tactile force and the deformation of the force-sensitive material. The integration, sensitivity and dynamic response characteristics of this type of three-dimensional force tactile sensor are affected by the sensor structure and sensitivity Material restrictions are large.
传统三维力触觉传感器存在弹性体结构复杂、机械加工和贴片困难、很难实现全方位机械过载保护以及动态性能较差等弊端。合肥工业大学黄英等基于柔性印刷电路板(FPCB)工艺，在聚酰亚胺柔性基体上设计同面多电极，并以空气和PDMS为复合介质，提出了一种复合多介质的电容式三维力触觉传感器。Soonjae Pyo等人在聚酰亚胺柔性基本上设置同面叉指电极，采用碳纳米管/硅橡胶并用制备复合弹性电介质设计三维力触觉传感器。法国巴黎综合理工学院Dobrzynska等人采用金制备而成的上下叉指电极结构，上下电极之间填充硅胶为介质层，制作了一种高灵敏度的电容式三维力触觉传感器。Lucie Viry等人制作了一种以PDMS为基体、导电织物为电极，空气层和氟硅酮为复合介质层的全柔性电容式三维力触觉传感器，在0-2KPa范围，空气层作为主要形变层，实现了最小分辨率为10mg及最小位移8μm的检测。The traditional three-dimensional force tactile sensor has disadvantages such as complex structure of elastic body, difficulty in machining and patching, difficulty in achieving all-round mechanical overload protection, and poor dynamic performance. Based on the flexible printed circuit board (FPCB) process, Huang Ying of Hefei University of Technology designed multiple electrodes on the same surface on the polyimide flexible substrate, and used air and PDMS as the composite medium to propose a composite multi-media capacitive three-dimensional Force tactile sensor. Soonjae Pyo et al. set interdigitated electrodes in the same plane on the flexible basis of polyimide, and used carbon nanotubes/silicone rubber to prepare a composite elastic dielectric to design a three-dimensional force tactile sensor. Dobrzynska et al. made a capacitive three-dimensional force tactile sensor with high sensitivity by using the upper and lower interdigitated electrode structure prepared by gold, and filling the upper and lower electrodes with silica gel as the medium layer. Lucie Viry et al. have produced a fully flexible capacitive three-dimensional force tactile sensor with PDMS as the substrate, conductive fabric as the electrode, and air layer and fluorosilicone as the composite medium layer. In the range of 0-2KPa, the air layer is the main deformation layer. , the detection with a minimum resolution of 10 mg and a minimum displacement of 8 μm has been realized.
针对传统硅基、光电、压电类三维力触觉传感器不具备柔性、易于共形等弊端，以及同面电极结构型三维力触觉传感器易出现在力作用下压敏材料与电极脱离，影响传感器稳定性以及灵敏度低等问题，国内外研究人员围绕柔性三维力触觉传感器开展了广泛研究，如何提升三维力触觉传感器的灵敏度成为研究热点之一。In view of the disadvantages of traditional silicon-based, photoelectric, and piezoelectric 3D force tactile sensors that are not flexible and easy to conform, and the 3D force tactile sensor with the same surface electrode structure is prone to detachment of the pressure-sensitive material from the electrode under force, affecting the stability of the sensor In order to solve the problems of low sensitivity and low sensitivity, researchers at home and abroad have carried out extensive research on flexible three-dimensional force tactile sensors, and how to improve the sensitivity of three-dimensional force tactile sensors has become one of the research hotspots.
发明内容Contents of the invention
为提升电子皮肤对三维力触觉信息的感知性能，本发明提出了一种结构简单、高灵敏度的三维力柔性触觉传感器结构，所要解决的问题在于在半球形腔体内壁等间隔布置若干个由拉伸敏感导电织物制成的柔性触觉敏感单元，并以此构建差动式三维力柔性触觉传感器。In order to improve the perception performance of the electronic skin on the three-dimensional force-tactile information, the present invention proposes a structure of a three-dimensional force-flexible tactile sensor with simple structure and high sensitivity. A flexible tactile sensor unit made of stretch-sensitive conductive fabric is used to construct a differential three-dimensional force flexible tactile sensor.
本发明为解决技术问题采用如下技术方案：The present invention adopts following technical scheme for solving technical problems:
基于导电织物的三维力柔性触觉传感器，其特征在于：包括一无底的半球形柔性腔体和4N个相同的矩形状柔性触觉敏感单元，N为不小于1的整数；各柔性触觉敏感单元经沿长度方向的相同拉伸率的预拉伸后，等间隔的贴合固定在所述半球形柔性腔体的内壁上，以所述半球形柔性腔体的中轴线为对称线两两对称，且各柔性触觉敏感单元皆互不接触；在所述半球形柔性腔体的底部固定有圆柱形柔性基体作为支撑基底，所述圆柱形柔性基体的半径与所述半球形柔性腔体的外径相同；The three-dimensional force flexible tactile sensor based on conductive fabric is characterized in that: it includes a bottomless hemispherical flexible cavity and 4N identical rectangular flexible tactile sensing units, where N is an integer not less than 1; each flexible tactile sensing unit is passed through After pre-stretching with the same stretching ratio along the length direction, the equal intervals are attached and fixed on the inner wall of the hemispherical flexible cavity, and the central axis of the hemispherical flexible cavity is used as the symmetry line. And each flexible touch-sensitive unit is not in contact with each other; a cylindrical flexible substrate is fixed as a support base at the bottom of the hemispherical flexible cavity, and the radius of the cylindrical flexible substrate is the same as the outer diameter of the hemispherical flexible cavity. same;
所述的柔性触觉敏感单元由拉伸敏感导电织物制成。The flexible touch sensitive unit is made of stretch sensitive conductive fabric.
优选的，所述的基于导电织物的三维力柔性触觉传感器，其特征在于：所述的拉伸敏感导电织物是在莱卡织物基体表面涂覆有石墨烯/聚苯胺/硅橡胶复合导电材料，在所述复合导电材料上涂覆有PDMS封装层；所述的石墨烯/聚苯胺/硅橡胶复合导电材料是以硅橡胶为母体，在其中加入有由石墨烯和聚苯胺按质量比3:1构成的导电填料，所述导电填料占所述复合导电材料总质量的25～30％。Preferably, the three-dimensional force flexible tactile sensor based on conductive fabric is characterized in that: the stretch-sensitive conductive fabric is coated with graphene/polyaniline/silicone rubber composite conductive material on the surface of Lycra fabric substrate, The composite conductive material is coated with a PDMS encapsulation layer; the graphene/polyaniline/silicone rubber composite conductive material is based on silicone rubber, in which graphene and polyaniline are added in a mass ratio of 3:1 A conductive filler is formed, and the conductive filler accounts for 25-30% of the total mass of the composite conductive material.
优选的，所述的基于导电织物的三维力柔性触觉传感器，其特征在于：所述的拉伸率在10～30％。Preferably, the three-dimensional force flexible tactile sensor based on conductive fabric is characterized in that: the stretch rate is 10-30%.
优选的，所述的基于导电织物的三维力柔性触觉传感器，其特征在于：各柔性触觉敏感单元的底边缘与所述半球形柔性腔体的底面对齐。Preferably, the three-dimensional force flexible tactile sensor based on conductive fabric is characterized in that: the bottom edge of each flexible tactile sensitive unit is aligned with the bottom surface of the hemispherical flexible cavity.
优选的，所述的基于导电织物的三维力柔性触觉传感器，其特征在于：所述的半球型柔性腔体和所述的圆柱形柔性基体均以硅橡胶为材质。Preferably, the conductive fabric-based three-dimensional force flexible tactile sensor is characterized in that: the hemispherical flexible cavity and the cylindrical flexible base are both made of silicone rubber.
与已有技术相比，本发明的有益效果体现在：Compared with the prior art, the beneficial effects of the present invention are reflected in:
1、与传统硅基、光电、压电类三维力触觉传感器相比，本发明基于导电织物的三维力柔性触觉传感器克服了刚性三维力触觉传感器体积笨重、不易共形以及穿戴舒适性差等弊端；1. Compared with traditional silicon-based, photoelectric, and piezoelectric three-dimensional force tactile sensors, the three-dimensional force flexible tactile sensor based on conductive fabric of the present invention overcomes the disadvantages of rigid three-dimensional force tactile sensors, such as bulky volume, difficulty in conformal shape, and poor wearing comfort;
2、与传统同面电极结构的电容式、电阻式三维力触觉传感器相比，本发明基于导电织物的三维力柔性触觉传感器将4N个拉伸敏感导电织物制成的柔性触觉敏感单元设置在半球形腔体内壁，形成空间立体结构，更有利于三维力的触觉感知。同时，4N个柔性触觉敏感单元构成差动模式，进一步提升了三维力触觉感知的灵敏度；2. Compared with the traditional capacitive and resistive three-dimensional force tactile sensors with the same surface electrode structure, the three-dimensional force flexible tactile sensor based on conductive fabric of the present invention arranges 4N flexible tactile sensitive units made of stretch-sensitive conductive fabrics in the hemisphere The inner wall of the shaped cavity forms a three-dimensional structure, which is more conducive to the tactile perception of three-dimensional force. At the same time, 4N flexible tactile sensing units form a differential mode, which further improves the sensitivity of three-dimensional force tactile perception;
3、与已有电容式三维力触觉传感器相比，本发明基于导电织物的三维力柔性触觉传感器属于电阻式，通过三维力作用下4N个导电织物输出电阻变化解析三维力信息，克服了电容式三维力触觉传感器作为电子皮肤使用时易受外界环境(如人体、金属物质等)干扰的问题；3. Compared with the existing capacitive three-dimensional force tactile sensor, the three-dimensional force flexible tactile sensor based on the conductive fabric of the present invention belongs to the resistive type, and analyzes the three-dimensional force information through the output resistance change of 4N conductive fabrics under the action of three-dimensional force, which overcomes the capacitive type. The problem that the three-dimensional force tactile sensor is easily disturbed by the external environment (such as human body, metal substances, etc.) when used as an electronic skin;
4、本发明基于导电织物的三维力柔性触觉传感器中4N个拉伸敏感导电织物构成的柔性触觉敏感单元通过PDMS附着在半球形腔体内壁，且四个柔性触觉敏感单元均处于一定预拉伸应变状态，有利于提升三维力触觉感知灵敏度。4. In the three-dimensional force flexible tactile sensor based on conductive fabric of the present invention, the flexible tactile sensitive unit composed of 4N stretch-sensitive conductive fabrics is attached to the inner wall of the hemispherical cavity through PDMS, and the four flexible tactile sensitive units are all in a certain pre-stretched state. The strain state is conducive to improving the sensitivity of three-dimensional force tactile perception.
附图说明Description of drawings
图1是本发明基于导电织物的三维力柔性触觉传感器的整体结构图；Fig. 1 is the overall structural diagram of the three-dimensional force flexible tactile sensor based on conductive fabric of the present invention;
图2是本发明基于导电织物的三维力柔性触觉传感器的拆分结构图；Fig. 2 is the split structure diagram of the three-dimensional force flexible tactile sensor based on the conductive fabric of the present invention;
图3是本发明基于导电织物的三维力柔性触觉传感器的剖面结构图；Fig. 3 is the cross-sectional structure diagram of the three-dimensional force flexible tactile sensor based on the conductive fabric of the present invention;
图4是本发明基于导电织物的三维力柔性触觉传感器的侧面结构图；Fig. 4 is the side structural view of the three-dimensional force flexible tactile sensor based on the conductive fabric of the present invention;
图5是本发明基于导电织物的三维力柔性触觉传感器的俯视结构图；Fig. 5 is a top view structure diagram of a three-dimensional force flexible tactile sensor based on conductive fabric of the present invention;
图6是本发明基于导电织物的三维力柔性触觉传感器在法向力作用下的示意图；Fig. 6 is a schematic diagram of the three-dimensional force flexible tactile sensor based on conductive fabric of the present invention under the action of normal force;
图7是本发明基于导电织物的三维力柔性触觉传感器在切向力作用下的示意图；Fig. 7 is a schematic diagram of the three-dimensional force flexible tactile sensor based on conductive fabric of the present invention under the action of tangential force;
图8是本发明基于导电织物的三维力柔性触觉传感器实施例中的尺寸参数；Fig. 8 is the size parameter in the embodiment of the three-dimensional force flexible tactile sensor based on the conductive fabric of the present invention;
图9是本发明基于导电织物的三维力柔性触觉传感器实施例中法向力作用下的测试结果；Fig. 9 is the test result under the action of normal force in the embodiment of the three-dimensional force flexible tactile sensor based on the conductive fabric of the present invention;
图10是本发明基于导电织物的三维力柔性触觉传感器实施例中切向力作用下的测试结果；Fig. 10 is the test result under the action of tangential force in the embodiment of the three-dimensional force flexible tactile sensor based on the conductive fabric of the present invention;
图中标号：1半球型柔性腔体；2柔性触觉敏感单元；3圆柱形柔性基体。Reference numerals in the figure: 1 hemispherical flexible cavity; 2 flexible touch sensitive unit; 3 cylindrical flexible base.
具体实施方式detailed description
如图1和图2所示，本发明基于导电织物的三维力柔性触觉传感器实的结构为：包括一无底的半球形柔性腔体1和4N个相同的矩形状柔性触觉敏感单元(2)，在实施例及附图中以N＝1为例；各柔性触觉敏感单元2经沿长度方向的相同拉伸率的预拉伸后，等间隔的贴合固定在半球形柔性腔体1的内壁上，以半球形柔性腔体1的中轴线为对称线两两对称，且各柔性触觉敏感单元2皆互不接触；在半球形柔性腔体1的底部固定有圆柱形柔性基体3作为支撑基底，圆柱形柔性基体3的半径与半球形柔性腔体1的外径相同；图中所示，4各柔性触觉敏感单元在圆柱形柔性基体上表面的垂直投影呈“十”字型。As shown in Fig. 1 and Fig. 2, the real structure of the three-dimensional force flexible tactile sensor based on conductive fabric of the present invention is: comprise a bottomless hemispherical flexible cavity 1 and 4N identical rectangular flexible tactile sensitive units (2) , taking N=1 as an example in the embodiment and accompanying drawings; each flexible touch-sensitive unit 2 is pre-stretched at the same stretch rate along the length direction, and is fitted and fixed on the hemispherical flexible cavity 1 at equal intervals. On the inner wall, the central axis of the hemispherical flexible cavity 1 is symmetrical in pairs, and the flexible touch-sensitive units 2 are not in contact with each other; the bottom of the hemispherical flexible cavity 1 is fixed with a cylindrical flexible substrate 3 as a support Base, the radius of the cylindrical flexible base 3 is the same as the outer diameter of the hemispherical flexible cavity 1; as shown in the figure, the vertical projection of the 4 flexible touch-sensitive units on the upper surface of the cylindrical flexible base is in the shape of a "cross".
如图3和图4所示，各柔性触觉敏感单元2的底边缘与半球形柔性腔体1的底面对齐。As shown in FIG. 3 and FIG. 4 , the bottom edge of each flexible touch sensitive unit 2 is aligned with the bottom surface of the hemispherical flexible cavity 1 .
柔性触觉敏感单元2在固定于半球型柔性腔体1时施加一定预拉伸，其拉伸率在10～30％；The flexible tactile sensitive unit 2 is pre-stretched when it is fixed in the hemispherical flexible cavity 1, and its stretching rate is 10-30%;
柔性触觉敏感单元由拉伸敏感导电织物制成。拉伸敏感导电织物是在莱卡织物基体表面涂覆有石墨烯/聚苯胺/硅橡胶复合导电材料，在复合导电材料上涂覆有PDMS封装层；复合导电材料是以硅橡胶为母体，在其中加入有由石墨烯和聚苯胺按质量比3:1构成的导电填料，所述导电填料占所述复合导电材料总质量的25～30％。The flexible tactile-sensitive unit is made of stretch-sensitive conductive fabric. The stretch-sensitive conductive fabric is coated with graphene/polyaniline/silicone rubber composite conductive material on the surface of the Lycra fabric substrate, and PDMS encapsulation layer is coated on the composite conductive material; the composite conductive material is based on silicone rubber. A conductive filler composed of graphene and polyaniline at a mass ratio of 3:1 is added, and the conductive filler accounts for 25-30% of the total mass of the composite conductive material.
半球型柔性腔体1和圆柱形柔性基体3均以硅橡胶为材质。Both the hemispherical flexible cavity 1 and the cylindrical flexible base 3 are made of silicone rubber.
本发明基于导电织物的三维力柔性触觉传感器的工作原理如下：The working principle of the three-dimensional force flexible tactile sensor based on the conductive fabric of the present invention is as follows:
如图5所示，假设四个拉伸敏感导电织物构成的柔性触觉敏感单元分别用R1、R2、R3和R4表示，触觉传感器在未受力是初始电阻为和(理论上四个初始电阻值是相等的)。As shown in Figure 5, assuming that four flexible tactile sensitive units composed of stretch-sensitive conductive fabrics are denoted by R1 , R2 , R3 and R4 respectively, the initial resistance of the tactile sensor is with (Theoretically the four initial resistance values are equal).
如图6所示，在法向力F作用下，半球型柔性腔体1受力被压缩，附着在半球型柔性腔体1内壁上的四个柔性触觉敏感单元2随之被压缩，由于施加在柔性触觉敏感单元2预拉伸应变减小，输出电阻变小。As shown in Figure 6, under the action of the normal force F, the hemispherical flexible cavity 1 is compressed, and the four flexible touch-sensitive units 2 attached to the inner wall of the hemispherical flexible cavity 1 are compressed accordingly. The pre-stretching strain of the flexible tactile sensitive unit 2 decreases, and the output resistance becomes smaller.
如图7所示，在切向力F作用下，半球型柔性腔体1受力沿切向力方向发生形变(以沿R1、R3方向施加切向力为例)，等效为R1发生拉伸应变，R3发生压缩应变，表现在输出电阻R1增加、R3减小，由于对称性，R2和R4发生应变相同，经差动运算后无输出变化。As shown in Figure 7, under the action of the tangential force F, the hemispherical flexible cavity 1 is deformed along the direction of the tangential force (taking the application of tangential force along the R1 and R3 directions as an example), which is equivalent to R Tensile strain occurs in1 , and compressive strain occurs in R3 , which is manifested in the increase of output resistance R1 and the decrease of R3. Due to symmetry, R2 and R4 have the same strain, and there is no output change after differential operation.
在三维力作用下，四个电阻的输出变化量为△R1、△R2、△R3和△R4，则三维力F作用下各个分量力引起对应电阻传感器输出电阻值(和)满足公式(1-3)中关系：in three dimensions Under the action, the output changes of the four resistors are △R1 , △R2 , △R3 and △R4 , and each component force under the action of the three-dimensional force F causes the output resistance value of the corresponding resistance sensor ( with ) satisfies the relationship in formula (1-3):
通过标定和与三维力分量FX、FY和FZ之间的关系，即可反演出三维力信息，从而实现三维力触觉感知功能。Pass calibration with The relationship between the three-dimensional force components FX , FY and FZ can be used to invert the three-dimensional force information, thereby realizing the three-dimensional force tactile perception function.
为验证本发明基于导电织物的三维力柔性触觉传感器的可行性，做实例如下：In order to verify the feasibility of the three-dimensional force flexible tactile sensor based on conductive fabric of the present invention, an example is as follows:
拟定实施例中本发明基于导电织物的三维力柔性触觉传感器的尺寸参数如图8所示，半球型柔性腔体1的内外半径分别为9mm和10mm，圆柱形柔性基体3的半径为10mm，厚度为1mm。基于3D打印技术及流体成型技术，设计半球型柔性腔体1和圆柱形柔性基体3所需模具，将硅橡胶注入各自模具，并放置在真空干燥箱中室温固化，脱模后即可获得所需半球型柔性腔体1和圆柱形柔性基体3。In the proposed embodiment, the size parameters of the three-dimensional force flexible tactile sensor based on conductive fabric of the present invention are shown in Figure 8, the inner and outer radii of the hemispherical flexible cavity 1 are 9mm and 10mm respectively, the radius of the cylindrical flexible substrate 3 is 10mm, and the thickness 1mm. Based on 3D printing technology and fluid forming technology, the molds required for the hemispherical flexible cavity 1 and the cylindrical flexible matrix 3 are designed, silicone rubber is injected into the respective molds, and placed in a vacuum drying oven to cure at room temperature. A hemispherical flexible cavity 1 and a cylindrical flexible base 3 are required.
其次，制备拉伸敏感导电织物用作柔性触觉敏感单元2。选择石墨烯的纯度不低于99.5％，直径为5-10μm，厚度为4-20nm，层数小于30层。导电聚合物聚苯胺电导率7.5S/cm，直径3～5μm，纯度不低于99.5％。制备流程如下：Secondly, a stretch-sensitive conductive fabric was prepared as the flexible tactile sensitive unit 2 . The purity of selected graphene is not lower than 99.5%, the diameter is 5-10 μm, the thickness is 4-20 nm, and the number of layers is less than 30 layers. Conductive polymer polyaniline has a conductivity of 7.5S/cm, a diameter of 3-5μm, and a purity of not less than 99.5%. The preparation process is as follows:
步骤1、制备石墨烯/聚苯胺的融溶液Step 1, prepare the melt solution of graphene/polyaniline
称取0.3g石墨烯和和0.1g导电聚合物聚苯胺，加入15mL的乙醇溶液混合并搅拌均匀，得到混合溶液；将混合溶液超声分散30分钟后再机械搅拌30分钟，再加入1.2g硅橡胶机械搅拌60分钟得到分散均匀的石墨烯/聚苯胺融溶液。Weigh 0.3g of graphene and 0.1g of conductive polymer polyaniline, add 15mL of ethanol solution to mix and stir evenly to obtain a mixed solution; ultrasonically disperse the mixed solution for 30 minutes, then mechanically stir for 30 minutes, then add 1.2g of silicone rubber Mechanically stirred for 60 minutes to obtain a uniformly dispersed graphene/polyaniline melt solution.
步骤2、制备可拉伸基底Step 2. Preparation of Stretchable Base
将莱卡织物清洗(将莱卡织物在去离子水溶液浸泡30分钟，然后烘干)，以去除表面杂质。Wash the Lycra fabric (soak the Lycra fabric in a deionized water solution for 30 minutes, then dry it) to remove surface impurities.
步骤3、制备可拉伸应变传感器Step 3. Preparation of stretchable strain sensor
将步骤1制备的石墨烯/聚苯胺融溶液旋涂在处理后的莱卡织物基底上，旋涂多次，转数为2000rpm，得到厚度为300μm的导电薄膜。再将导电薄膜放入温度箱中进行干燥，在50℃恒温干燥2h，获得初步的可拉伸传感器。传感器两端放置柔性可拉伸电极作为电极，最后将PDMS(PDMS基体和固化剂10:1进行混合)旋涂在可拉伸传感器的上层，作为封装层，即获得可拉伸应变传感器。The graphene/polyaniline melt solution prepared in step 1 was spin-coated on the treated Lycra fabric substrate, spin-coated several times, and the number of revolutions was 2000 rpm to obtain a conductive film with a thickness of 300 μm. Then put the conductive film into a temperature box for drying, and dry it at a constant temperature of 50°C for 2 hours to obtain a preliminary stretchable sensor. Flexible stretchable electrodes are placed at both ends of the sensor as electrodes, and finally PDMS (mixed with PDMS matrix and curing agent 10:1) is spin-coated on the upper layer of the stretchable sensor as an encapsulation layer to obtain a stretchable strain sensor.
经上述制备流程后，获得拉伸应变敏感的导电织物，并按照图8中柔性触觉敏感单元2的尺寸参数裁剪成长宽为10.5mm×3mm，一端与半球型腔体底端对齐并通过硅橡胶固定粘接。对导电织物施加20％预拉伸，将可拉伸应变传感器未涂复合导电材料的一面通过硅橡胶与半球型腔体内壁粘接，构成柔性触觉敏感单元。同理，安装其余三个柔性触觉敏感单元，且保证四个柔性触觉敏感单元在圆柱形柔性基体3垂直投影呈“十”字形排列。四个柔性触觉敏感单元2中垂直投影处于“十”字形一边的两个柔性触觉敏感单元2组成一对差动结构。完成传感器制备后，进行测试验证本发明基于导电织物的三维力柔性触觉传感器性能特点，首先，施加法向力，其测试结果如图9所示，可以看出，四个柔性触觉敏感单元2在法向力作用下其输出电阻均减小，且表现较高的一致性。当施加切向力时(以沿R1、R3方向施加切向力为例)，其测试结果如图10所，可以看出，R1、R3构成的差动单元输出增加，R2、R4构成的差动单元因受力一致其输出接近零，测试结果验证了上述论证。上述法向力和切向力测试结果验证了本发明基于导电织物的三维力柔性触觉传感器用作电子皮肤实现三维力触觉感知的可行性。After the above preparation process, a stretch-strain-sensitive conductive fabric is obtained, which is cut into a length and width of 10.5mm×3mm according to the size parameters of the flexible touch-sensitive unit 2 in Figure 8, and one end is aligned with the bottom of the hemispherical cavity and passed through the silicone rubber Fixed bonding. 20% pre-stretching is applied to the conductive fabric, and the side of the stretchable strain sensor that is not coated with the composite conductive material is bonded to the inner wall of the hemispherical cavity through silicone rubber to form a flexible tactile sensitive unit. Similarly, the remaining three flexible touch-sensitive units are installed, and the vertical projection of the four flexible touch-sensitive units on the cylindrical flexible base 3 is arranged in a "cross" shape. Among the four flexible tactile sensitive units 2 , the two flexible tactile sensitive units 2 whose vertical projection is on one side of the “cross” form a pair of differential structures. After the sensor is prepared, tests are performed to verify the performance characteristics of the three-dimensional force flexible tactile sensor based on the conductive fabric of the present invention. First, a normal force is applied, and the test results are shown in Figure 9. It can be seen that the four flexible tactile sensitive units 2 Under the action of normal force, the output resistance decreases, and shows a high consistency. When a tangential force is applied (take the tangential force applied along the R1 and R3 directions as an example), the test results are shown in Figure 10. It can be seen that the output of the differential unit composed of R1 and R3 increases, and R2 The output of the differential unit composed of , R4 is close to zero because of the consistent stress, and the test results verify the above argument. The above test results of normal force and tangential force verify the feasibility of using the conductive fabric-based three-dimensional force flexible tactile sensor of the present invention as an electronic skin to realize three-dimensional force tactile perception.
| Application Number | Priority Date | Filing Date | Title |
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| CN201710883282.8ACN107588872B (en) | 2017-09-26 | 2017-09-26 | Three-dimensional force-flexible tactile sensor based on conductive fabric |
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| CN201710883282.8ACN107588872B (en) | 2017-09-26 | 2017-09-26 | Three-dimensional force-flexible tactile sensor based on conductive fabric |
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| CN107588872Atrue CN107588872A (en) | 2018-01-16 |
| CN107588872B CN107588872B (en) | 2020-03-06 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201710883282.8AActiveCN107588872B (en) | 2017-09-26 | 2017-09-26 | Three-dimensional force-flexible tactile sensor based on conductive fabric |
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