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| Design of Soft-elastic Sensor Array for Detecting Pressure-stretch |
| LI Lei-ming,HUANG Ying,MA Yang-yang,WANG Wei-hua,LIU Ping,ZHANG Yu-gang |
| School of Electronic Science & Applied Physics, Hefei University of Technology, Hefei, Anhui 230009, China |
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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.
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2015, Vol. 36 
