一种新型机器人三维力柔性触觉传感器的设计

基于柔性力敏导电橡胶材料,设计了一种能测量三维力的新型机器人柔性触觉传感器。研究了力敏导电橡胶材料的压阻效应,阐述了触觉传感器的设计思想,分别进行了触觉传感器单元设计和阵列结构设计和研究。获得了计算三维力的数学模型,并通过实验进行了三维力的验证。结果表明,设计的机器人三维力柔性触觉传感器具有设计简单,造价低廉,柔顺性好等优点,而且布置成阵列结构可用于医疗、体育、机器人等领域中检测三维力信息。     

一种新型三维力柔性阵列触觉传感器研究

研究了一种基于压敏导电橡胶的新型三维力柔性阵列触觉传感器,突破了目前触觉传感器不能兼有柔韧性和检测三维力的局限性,实现了真正类皮肤.该传感器利用了压敏橡胶的压敏特性,通过检测橡胶的电阻变化来分析受力信息.介绍了该传感器的基本结构,分析了其工作原理,给出了导电橡胶受力时的有限元分析结果,并对传感器进行了初步的仿真研究,结果表明该传感器能够实现检测三维力信息,为三维力柔性阵列触觉传感器的设计研究提供了新思路.     

柔性温度压力仿生皮肤的模块化设计与实现

为实现电子仿生皮肤的模块化设计,以石墨烯纳米片制备薄膜温敏传感器,同时,以炭黑/硅橡胶复合材料为弹性电介质、有机硅导电银胶为柔性上极板设计电容式力敏传感器,在此基础上,以聚酰亚胺为柔性基体,提出一种可用作智能机器人仿生皮肤的全柔性温度/压力触觉传感器,并设计成具有可拼接特点的模块化阵列结构.介绍柔性温度/压力触觉传感器的结构设计、检测机理以及信号采集与处理系统.通过温度、压力及温度/压力复合感知实验表明,该柔性温度/压力复合式触觉传感阵列及信号提取系统可实现触觉感知功能,为可穿戴式人工皮肤的研究提供了一种设计方案.     

基于导电橡胶的一种新型类皮肤触觉传感器阵列的研究

本文设计了一种基于导电橡胶的类皮肤柔性触觉传感器阵列,传感器阵列采用交叉排列的两层节点的框架结构,用注射成型(LIMS)的方法进行导电橡胶的整体浇注,通过测量外力作用下导电橡胶的阻值变化,求解出加载在柔性传感器表面上的三维力位置和大小。该设计突破了当前基于盔甲的柔性触觉传感器的设计思路,具有优良力学特性、柔韧性好、抗干扰能力强、在传感器表面可以连续点测量的特性。实验仿真结果表明,在理想导电橡胶的条件下,设计的柔性触觉传感器阵列测量三维力有较高的分辨率和精度,可以满足当前用于作机器人皮肤的需要。     

三维柔性触觉/热觉传感器设计与仿真

针对目前触觉传感器研究中不能兼有柔韧性、多维力测量和热觉与触觉信号混杂等难题,设计了一种柔性多功能触觉/热觉传感器。介绍了该传感器的基本结构,并基于聚偏氟乙烯（ PVDF）薄膜的特性建立了三维力并行测量的数学模型。触觉检测基于PVDF的压电效应,热觉检测基于PVDF的热释电效应。通过对触觉和热觉信号做比例减法运算,从而彻底区分触觉和热觉信号。     

一种柔性三维力触觉传感器阵列的实现方法

介绍了一种可安装在曲面上,对三维力进行检测的柔性三维力触觉传感器阵列的实现方法.首先采用MEMS技术制备三维力触觉传感器阵列,再将多个三维力触觉传感器单元分别通过倒装焊技术集成在已加工好的柔性电路板基底上,实现了传感器与信号处理电路的互连和传感器阵列(4×4)的柔性化.采用信号选通的多路信号采集方法简化了传感器阵列的信号处理电路.测试结果表明,柔性触觉传感器阵列可弯曲变形90°以上,检测三维力的分辨率达到0.1 N.     

基于FBG的机器人柔性触觉传感器

为了满足机器人与外界环境、对象发生接触及交互作用时的触觉感知需求,提出了一种基于光纤布拉格光栅（FBG）的柔性触觉传感器．该传感器采用3×3 FBG阵列作为柔性传感元件,聚二甲基硅氧烷（PDMS）材料构成双层柔性基体．介绍了传感器的传感原理并采用有限元方法对其弹性体进行力学仿真分析,基于标定实验平台完成该传感器的静态标定实验．传感器的空间分辨率为25mm,在10mm×10mm载荷施加单元下,对力的感知范围为0～7N,且传感器具有较好的线性度和灵敏度,重复性和一致性良好,力灵敏度为0.16nm/N．实验结果和分析研究都证明了柔性触觉传感器的可行性．该传感器与人体皮肤触感及结构极为相似,且布线简单、抗干扰能力强．     

基于球面调和函数的柔性体力触觉建模研究

为了提高虚拟柔性体力触觉交互中物体形变与力的准确描述及计算效率,提出一种基于球面调和函数表达的柔性体力触觉建模方法。利用球面调和函数的多尺度性进行物体碰撞检测实现,在变形体的密度、杨氏模量、泊松比等参数已知的情况下,根据在力作用下的物体形变使用简化后的波动方程计算变形量和反馈力生成。实验结果表明,采用该方法可以准确描述柔性体的形变过程,其所需的计算成本在可接受的范围之内,可被应用到各种力交互辅助的医学应用中。     

可拼接式全柔性电容触觉阵列传感器设计与实验

针对现有机器人触觉传感器存在可穿戴性与可移植性差、不易维护及扩展等缺点,提出了一种可用于机器人仿生皮肤的全柔性电容式触觉传感器,并设计成12×12正方形触觉传感阵列和正六边形触觉模块两种可拼接式阵列结构.以炭黑填充硅橡胶作为电容式触觉传感器的弹性电介质,聚酰亚胺为柔性基体,有机硅导电银胶和金属膜为上下两柔性极板,共同构成压力敏感单元.介绍了电容式柔性触觉传感器的工作原理、结构设计及两种与之对应的电容触觉阵列无线数据采集与处理系统.实验结果表明,该全柔性电容式触觉阵列传感器及信号提取系统具有良好的稳定性与灵敏度,可用作人工皮肤实现全触觉感知.     

基于PVDF的三维力机器人触觉传感器的设计

当机器手抓取时物体受力信息检测是抓取过程顺利进行的基础,检测三维方向上的力便可充分反映物体的受力信息。当前用于抓取过程中三维力检测的触觉传感器还存在着一些不足,基于此,论文拟设计一种基于PVDF的三维力机器人触觉传感器。论文展示了传感器的结构设计,建立了压电薄膜及传感头结构的数学模型,设计了调理电路并对传感器进行测试和验证,结果表明该传感器能有效检测机器手抓取过程中的三维力信息。     

光波导加速度传感器中3dB耦合器设计

光波导加速度传感器是一种实用型加速度传感器,目前广泛应用制备光学加速度计的迈克尔逊、马赫—曾德等干涉仪的核心部件都包含3 dB耦合器。3 dB耦合器的设计对光波导加速度传感器的检测精度尤为重要。介绍了所设计的光波导加速度传感器的工作原理,设计了3 dB耦合器波导的结构和参数,并用光学模拟软件OptiBPM对3 dB耦合器进行模拟。结果表明:所设计的3dB耦合器具有良好性能,符合设计要求。     

Hysteresis compensation in a magnetostrictive linear position sensor

A new linear position sensor (Micrus) has been developed, based on the transmission of ultrasonic signals in a waveguide. Waves are generated at the cursor position by the magnetostrictive effect, and their times of flight to the ends of the waveguide are used to estimate the position of the mobile element. The choice of the generating/transmitting metal for this kind of sensor is discussed. We have found that the magnetic hysteresis inherent to the magnetostrictive phenomenon translates into measurement hysteresis, affecting the performance of the sensor. An explanation of the link between both effects is given, and a compensation technique based in focusing the ultrasonic generation is offered. This compensation technique is tested using an electromagnetic finite element method program and then empirically in the Micrus sensor, with satisfactory results.     

Dual-phase sensing for early detection of prepreg structural failures via etched cladding Bragg grating

A dual-phase optical fiber-based sensor for early detection against prepreg structural failures is proposed and successfully demonstrated. The sensor consists of an etched fiber Bragg grating (FBG) mounted onto an aluminium plate. The sensor is tested using a simple pressure and petrochemical test rig. By observing the shift of the reflected wavelength of the FBG sensor we can simultaneously detect two parameters: (i) pressure and (ii) petrochemical. The experimental results show the potential of using the FBG sensor for early detection of submarine oil pipe leaking.     

大位移磁致伸缩传感器的弹性波建模与分析

磁致伸缩位移传感器是一种测量精度高,测量位移大的新型位移传感器.传感器设计涉及多学科交叉,难以建立统一数学模型.以FeGa材料作为磁致伸缩位移传感器的核心波导丝,建立了波导丝材料磁致伸缩弹性波振动模型,波导丝磁机耦合模型和信号检测模型;同时分析了弹性波信号的受限因素,信号衰减特性.在数学模型基础上,搭建磁致伸缩位移传感器系统,设计了扭转波信号检测电路.实验结果表明信号的输出随着传感距离的增加而减小,该模型对大位移磁致伸缩传感器研究有积极意义.     

Free chlorine sensing using an interferometric sensor

A waveguide interferometer based free-chlorine sensing technique has been developed. A polymer film for a specific free chlorine binding was designed, synthesized and applied on the surface of a waveguide. The material is based on cyanuric acid moieties along each repeating unit covalently tethered to poly(norbornene)s. Chlorine sensing was accomplished by measuring the refractive index change of the polymer, as a result of the reaction between cyanuric acid and free chlorine, interferometrically by the evanescent field extended above the waveguide surface. The free chlorine binding to cyanuric acid is reversible and a linear calibration curve from 0.1 to 10 mg L⁻¹ of HOCl concentration was obtained with the level of detection (LOD) and level of quantification (LOQ) of 0.047 and 0.328 mg L⁻¹ of HOCl, respectively. A free chlorine measurement with less interference from combined chlorine than DPD based colorimetric method was developed as a result of the different sensing responses of free and combined chlorine. Free chlorine residual was measured in samples collected from tap water and poultry processing waters by both optical sensor and DPD-based colorimetric method. Good agreement between both methods was observed although the levels for free chlorine measured by the optical sensor are systematically lower than the readings obtained from the DPD method. The difference might be the result of the interference from combined chlorine during the DPD measurement.     

Constant-phase-mode operation of the light-addressable potentiometric sensor

The constant-phase-mode operation of the light-addressable potentiometric sensor (LAPS) is proposed and demonstrated. In this new operation mode, the temporal change and the spatial distribution of the analyte concentration are recorded in the form of the bias voltage applied to the LAPS sensor plate, which is servo-controlled to maintain the phase of the photocurrent at a constant value with respect to the light modulation. The constant-phase-mode LAPS is advantageous for its wider measurement range and reduction of artifacts.     

The development of a metal clad leaky waveguide sensor for the detection of particles

A novel leaky waveguide device for the detection of particles has been developed and shown to be more sensitive than the currently used waveguide sensors. These metal clad leaky waveguide (MCLW) devices have been used as preliminary study on the feasibility for the detection of soluble proteins but can also be used for the detection of large particles such as bacteria, bacterial spores, yeasts and latex beads. A MCLW device has been fabricated to increase the overlap of the evanescent field extension from the sensor surface with the particles in the bulk solution of a flowing system, to place most of the entire volume of the particles within the evanescent field. Increasing the overlap of the evanescent field with the particles and permitting mode propagation along the direction of a flow for a few millimetres provides an effective interrogation approach for multi-particle detection in a single flow channel.     

测量电场的铌酸锂光传感器综述

铌酸锂(LiNbO3)光传感器具有灵敏度高,不受外部电磁场干扰的特性,吸引了越来越多科研工作者的注意。对基于不同类型传感器的制作工艺、传感原理和适用范围,介绍了3种用于测量电场的铌酸锂光传感器,它们分别是:基于Mach-Zehnder波导调制器与微多环天线的集成方位角铌酸锂光传感器;铌酸锂介质波导光传感器;室温直接粘接的铌酸锂晶体层高电压光传感器。     

基于基片集成波导和消逝模谐振腔的压力传感器设计

提出一种新型的基于基片集成波导和消失模谐振腔的压力传感结构。设计了圆形空腔,当施加外界压力时,圆形空腔发生形变从而使谐振腔谐振频率变化。采用共面波导线对谐振腔进行耦合馈电并将频率信号传输出来。通过读取传感器的回波损耗参数( S11)来表征压力与频率的关系。利用高频仿真软件HFSS对谐振腔进行了仿真设计和优化,设计尺寸为30 mm×30 mm×1.93 mm,与传统谐振腔相比体积明显减小。传感器基底为Rogers 4003C板材,采用PCB技术进行加工。搭建压力测试平台对传感器进行测试,结果表明在0~3 N的压力范围内变化100 MHz,绝对灵敏度为25 MHz/N。仿真和实测结果比较吻合,验证了所设计压力结构的有效性。     

高灵敏光波导传感器检测H2S气体

将甲基绿-聚乙烯醇薄膜固定在钾离子(K )交换玻璃光波导表面,研制出一种光学硫化氢气体传感器.实验结果表明,本传感器对浓度在20×10-9 ～1.3×10-6范围内的硫化氢气体有良好的线性响应(R= 0.989 7)和快速响应(t0.9小于3 s).本传感器具有灵敏度高、可逆性好、重现性高、成本低,结构简单和易制作等特点.