基于机器学习的柔性触觉传感器设计
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摘要
提出了一种有效检测压力位置的柔性触觉传感器设计方案。以碳纳米管为导电填料,以聚氨酯为基体,制备了一种可大面积成型的柔性压敏材料。同时,采用微处理器STM32F103、多路模拟开关CD4051和阻抗测量芯片AD5933搭建了信号采集电路,通过放置在边界的电极采集柔性材料内部的阻抗信息,利用机器学习分类算法检测压力位置。实验结果表明:柔性传感器能有效检测压力位置,空间分辨率为2.5 cm,准确率为83.63%。此外,提出的传感器内部无导线分布,结构简单,成本较低,易于大规模生产和应用。
A flexible tactile sensor that can effectively detect the pressure position is proposed and designed. A pressure sensitive soft material with large area are fabricated by using carbon nanotubes as conductive filler and polyurethane as substrate. Meanwhile,the signal acquisition circuit is set up based on the microprocessor STM32 F103,multi-channel analog switch CD4051 and impedance detection chip AD5933. The internal resistance information of the flexible material is collected by the electrodes placed at the boundary,and the pressure position is detected by the machine learning classification algorithm. Experimental results indicate that the flexible sensor can detect the pressure position effectively,the spatial resolution is 2.5 cm,and the accuracy is 83.63%. In addition,the proposed flexible tactile sensor has no internal conductor,simple structure,and low cost that can be produced massively for practical applications.
A flexible tactile sensor that can effectively detect the pressure position is proposed and designed. A pressure sensitive soft material with large area are fabricated by using carbon nanotubes as conductive filler and polyurethane as substrate. Meanwhile,the signal acquisition circuit is set up based on the microprocessor STM32 F103,multi-channel analog switch CD4051 and impedance detection chip AD5933. The internal resistance information of the flexible material is collected by the electrodes placed at the boundary,and the pressure position is detected by the machine learning classification algorithm. Experimental results indicate that the flexible sensor can detect the pressure position effectively,the spatial resolution is 2.5 cm,and the accuracy is 83.63%. In addition,the proposed flexible tactile sensor has no internal conductor,simple structure,and low cost that can be produced massively for practical applications.
引文
[1] Han S T,Peng H,Sun Q,et al. An Overview of the Development of Flexible Sensors[J]. Advanced Materials,2017,29(33):1700375.
[2] Silvera-Tawil D,Rye D,Velonaki M. Artificial Skin and Tactile Sensing for Socially Interactive Robots:A Review[J]. Robotics and Autonomous Systems,2015,63(P3):230-243.
[3] 蔡依晨,黄维,董晓臣. 可穿戴式柔性电子应变传感器[J]. 科学通报,2017,7:635-649.
[4] 曹建国,周建辉,缪存孝,等. 电子皮肤触觉传感器研究进展与发展趋势[J]. 哈尔滨工业大学学报,2017,49(1):1-13.
[5] Khan S,Lorenzelli L,Dahiya R S. Technologies for Printing Sensors and Electronics over Large Flexible Substrates:A Review[J]. IEEE Sensors Journal,2015,15(6):3164-3185.
[6] Chang W Y,Fang T H,Yeh S H,et al. Flexible Electronics Sensors for Tactile Multi-Touching[J]. Sensors,2009,9(2):1188-1203.
[7] Tee B C,Chortos A,Berndt A,et al. A Skin-Inspired Organic Digital Mechanoreceptor[J]. Science,2015,350(6258):313-316.
[8] 黄振龙,张尚杰,潘泰松,等. 基于碳纳米材料的柔性薄膜器件研究[J]. 中国科学:物理学力学天文学,2016,46:044606.
[9] Dinh T,Phan H P,Nguyen T K,et al. Environment-Friendly Carbon Nanotube Based Flexible Electronics for Noninvasive and Wearable Healthcare[J]. Journal of Materials Chemistry C,2016,4(42):10061-10068.
[10] Guo F M,Cui X,Wang K L,et al. Stretchable and Compressible Strain Sensors Based on Carbon Nanotube Meshes[J]. Nanoscale,2016,8(46):19352-19358.
[11] Nela L,Tang J,Cao Q,et al. Large-Area High-Performance Flexible Pressure Sensor with Carbon Nanotube Active Matrix for Electronic Skin[J]. Nano letters,2018,18(3):2054-2059.
[12] 程文芳,王晓杰,董帅. 基于EIT技术的柔性触觉传感器的设计[J]. 传感技术学报,2016,29(2):155-160.
[13] 郭明玮,赵宇宙,项俊平,等. 基于支持向量机的目标检测算法综述[J]. 控制与决策,2014(2):193-200.郝志良(1993-),男,重庆邮电大学在读硕士,主要研究方向为柔性传感器与机器学习应用;王晓杰(1966-),男,通讯作者,1989 年于清华大学获得学士学位,1998 年于中国科学技术大学获得硕士学位,2002年于内华达大学雷诺分校获得博士学位,现为中国科学院合肥物质科学研究院先进制造技术研究所研究员、重庆邮电大学特聘教授,主要研究方向为智能材料及智能结构系统、机械结构强度、微纳系统力学,xjwang@iamt.ac.cn。
[2] Silvera-Tawil D,Rye D,Velonaki M. Artificial Skin and Tactile Sensing for Socially Interactive Robots:A Review[J]. Robotics and Autonomous Systems,2015,63(P3):230-243.
[3] 蔡依晨,黄维,董晓臣. 可穿戴式柔性电子应变传感器[J]. 科学通报,2017,7:635-649.
[4] 曹建国,周建辉,缪存孝,等. 电子皮肤触觉传感器研究进展与发展趋势[J]. 哈尔滨工业大学学报,2017,49(1):1-13.
[5] Khan S,Lorenzelli L,Dahiya R S. Technologies for Printing Sensors and Electronics over Large Flexible Substrates:A Review[J]. IEEE Sensors Journal,2015,15(6):3164-3185.
[6] Chang W Y,Fang T H,Yeh S H,et al. Flexible Electronics Sensors for Tactile Multi-Touching[J]. Sensors,2009,9(2):1188-1203.
[7] Tee B C,Chortos A,Berndt A,et al. A Skin-Inspired Organic Digital Mechanoreceptor[J]. Science,2015,350(6258):313-316.
[8] 黄振龙,张尚杰,潘泰松,等. 基于碳纳米材料的柔性薄膜器件研究[J]. 中国科学:物理学力学天文学,2016,46:044606.
[9] Dinh T,Phan H P,Nguyen T K,et al. Environment-Friendly Carbon Nanotube Based Flexible Electronics for Noninvasive and Wearable Healthcare[J]. Journal of Materials Chemistry C,2016,4(42):10061-10068.
[10] Guo F M,Cui X,Wang K L,et al. Stretchable and Compressible Strain Sensors Based on Carbon Nanotube Meshes[J]. Nanoscale,2016,8(46):19352-19358.
[11] Nela L,Tang J,Cao Q,et al. Large-Area High-Performance Flexible Pressure Sensor with Carbon Nanotube Active Matrix for Electronic Skin[J]. Nano letters,2018,18(3):2054-2059.
[12] 程文芳,王晓杰,董帅. 基于EIT技术的柔性触觉传感器的设计[J]. 传感技术学报,2016,29(2):155-160.
[13] 郭明玮,赵宇宙,项俊平,等. 基于支持向量机的目标检测算法综述[J]. 控制与决策,2014(2):193-200.郝志良(1993-),男,重庆邮电大学在读硕士,主要研究方向为柔性传感器与机器学习应用;王晓杰(1966-),男,通讯作者,1989 年于清华大学获得学士学位,1998 年于中国科学技术大学获得硕士学位,2002年于内华达大学雷诺分校获得博士学位,现为中国科学院合肥物质科学研究院先进制造技术研究所研究员、重庆邮电大学特聘教授,主要研究方向为智能材料及智能结构系统、机械结构强度、微纳系统力学,xjwang@iamt.ac.cn。