A fully printed biomimetic super-sensing flexible robotic skin
A robot and flexible technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of low flexibility and limited improvement of robot perception ability, and achieve the effect of wide application range, suppress coupling, and reduce the number of layers
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Embodiment 1
[0077] The test conditions of the 0.3-1N reciprocating cyclic force loading experiment of the present invention are as follows: the present invention is fixed on the fixed table of the testing machine, a plastic cylinder is fixed on the mobile table, and the mobile table drives the plastic cylinder to squeeze the robot skin downward. a certain dielectric unit. When the detection amount of the force sensor connected to the mobile table exceeds 1N, the mobile table drives the plastic cylinder away from the robot skin until the detection amount of the force sensor is less than 0.3N. The above process is then repeated immediately for the next squeeze. The number of loop loads is about 2500 times.
[0078] The relative change of the varistor capacitance value during the cyclic pressurization process is as follows: Figure 5 Shown: The graph magnifies the output of 10 consecutive loadings at the initial and later stages of the experiment, respectively. The peaks and valleys of th...
Embodiment 2
[0081] In order to evaluate whether there is a crosstalk phenomenon in the pressure sensing of the present invention, the capacitance at a certain dielectric unit is measured by a capacitance measuring device in different scenarios: no weight is loaded, the weight is loaded at the position to be measured, and the weight is loaded at the position to be measured. The upper adjacent position, the weight is loaded in the right adjacent position of the position to be measured, and the weight is loaded in the diagonal adjacent position of the position to be measured. During the experiment, the robot skin was fixed on a hard tabletop, and the contact area between the weight and the robot skin was similar to that of the dielectric unit.
[0082] In different scenarios, the capacitance increment caused by weight loading is as follows: Image 6 Shown: It can be clearly seen from the figure that only when the weight is exactly at the position to be tested can the varistor grow significan...
Embodiment 3
[0085] The experimental conditions of the proximity perception experiment of the present invention are: fix the robot skin on a certain plane, place the wooden palm model on another plane parallel to it, and be located directly above the robot skin. The distance between the two planes was adjusted, and a capacitance measurement device was used to record the proximity sensing output at this distance with and without the palm model.
[0086] The temperature recorded during the experiment - the increase in capacitance to ground close to the composite sensitive layer 5 is as follows Figure 7 Shown: When the distances between the palm model and the robot skin are 7cm, 5.5cm, and 3cm, respectively, as the distance gets smaller and smaller, the capacitance increment caused by the palm model becomes larger and larger.
[0087] Therefore, it can be shown that the proximity sensing of the present invention can effectively sense the objects close to it in the external environment, which...
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