Abstract：Based on the pressure and tension characteristics of carbon black-silicone rubber composite, a new type of sensor array is designed for detecting pressure and tension of the robot skin. Flexible electrode overcomes the shortcomings of traditional sensors for it can not be stretched, makes the sensor array flexible. The array 9 pressure sensor units are designed to detect pressure and 2 tension sensor units are designed to detect tension, the interference problem of detecting pressure and tension simultaneously is solved by sensor structure design and compensating algorithm, and mathematical model is also built for solving pressure and tension. The experimental results demonstrate that the sensor array can detect pressure and tension simultaneously, and can be used in robot flexible skin on joints.
［1］Liu Y C, Sun C M, Lin L Y,et al. Development of a CMOS-based capacitive tactile sensor with adjustable sensing range and sensitivity using polymer fill-in［J］.Journal of Microelectromechanical Systems, 2011, 20(1): 119-127.
［2］Takahashi T, Takei K, Gillies A G, et al. Carbon nanotube active-matrix backplanes for conformal electronics and sensors［J］. Nano Letters, 2011, 11(12): 5408-5413.
［3］黄英, 陆伟, 赵小文, 等. 基于碳纤维复合材料的柔性复合式触觉传感器［J］. 计量学报, 2012, 33(3): 221-226.
［4］黄英, 陆伟, 赵小文, 等. 用于机器人关节的柔性压力触觉传感器设计［J］. 计量学报, 2012, 33(6): 523-527.
［5］Noda K, Iwase E, Matsumoto K, et al. Stretchable liquid tactile sensor for robot-joints［C］//IEEE International Conference on Robotics and Automation (ICRA ′10), Anchorage,Alaska,2010.
［6］Park Y L, Chen B R, Wood R J. Design and fabrication of soft artificial skin using embedded microchannels and liquid conductors［J］.IEEE Sensors Journal, 2012, 12(8): 2711-2718.
［7］黄英, 缪伟, 李雷鸣, 等. 三维力柔性触觉传感器电极研究与实验［J］. 电子测量与仪器学报, 2013, 27(1): 57-63.
［8］刘平, 黄英, 仇怀利, 等. 力敏导电橡胶中的应变和压阻效应及工作原理分析［J］. 高分子材料科学与工程, 2011, 27(5): 112-115.
［9］Yamada T, Hayamizu Y, Yamamoto Y,et al. A stretchable carbon nanotube strain sensor for human-motion detection［J］.Nature Nanotechnology, 2011, 6(5): 296-301.
2015, Vol. 36 
