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中南大学学报(自然科学版)

Journal of Central South University

第50卷    第5期    总第297期    2019年5月

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文章编号:1672-7207(2019)05-1065-10
机器人柔弹性仿生电子皮肤研究进展
邱澜1,2,3,曹建国1,2,3,周建辉1,2,4,江军1,2,3,王晓玲1,缪存孝1,3

(1. 北京科技大学 机械工程学院,北京,100083;
2. 北京科技大学 智能机器人创新研究院,北京,100083;
3. 北京科技大学 人工智能研究院,北京,100083;
4. 华北理工大学 迁安学院,河北 唐山,064400
)

摘 要: 仿生电子皮肤触觉传感器是实现机器人智能化发展的先决条件,机器人等复杂的三维载体表面或活动关节部位接触压力感知的可延展的柔弹性电子皮肤高柔性、高弹性和灵活可调等适形性要求高且具有广阔的应用前景。由于常用的无机半导体材料和金属材料及其化合物断裂极限应变较低,难以满足可延展的柔弹性电子皮肤的要求,因此,具有可延展性的二维纳米膜、纳米带或一维纳米线等电极或互联导体得到广泛应用;基于力学屈曲的薄膜-基板结构和纳米级导电元件的结构设计可有效改善无机材料的受力情况,明显提高材料整体的可拉伸性;采用纳米制造等新型技术制备的新型材料和结构一体化使得可延展的柔性电子皮肤的柔弹性显著提高。高柔弹性仿生电子皮肤触觉传感器可提高机器人的环境适应性,有利于机器人与人类之间建立起一种新型的人机共融模式。

 

关键字: 机器人;压力感知;电子皮肤;柔性;柔弹性

Research progress of flexible and elastic bionic e-skin for robot
QIU Lan1,2,3, CAO Jianguo1,2,3, ZHOU Jianhui1,2,4, JIANG Jun1,2,3, WANG Xiaolin1, MIAO Cunxiao1,3

1. School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China;
2. Innovation Institute for Intelligent Robot, University of Science and Technology Beijing, Beijing 100083, China;
3. Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing 100083, China;
4. Qian’an College, North China University of Science and Technology, Tangshan 064400, China

Abstract:Biomimetic e-skin(electronic skin) tactile sensor is the prerequisite for realization of intelligent robot, especially for the complex three-dimensional carrier surface such as robots or the movable joints, the pressure-sensing extensible flexible elastic e-skin, which requires high flexibility, elasticity and conformity, has wide application prospects. The fracture limit strains of commonly used inorganic semiconductor materials and metal materials and their compounds are so low that they hardly meet the requirements of the stretchable soft skin. Thus, the extensible two-dimensional nano-membrane, nano-belt or one-dimensional nanowire electrodes or interconnection conductors are internationally used. The thin film-substrate based on the mechanical buckling and the structural design of the conductive element in nanometer-scale can effectively improve the stress situation of inorganic material, and its overall stretchability increases significantly. The integration of new materials and structures using new manufacturing technologies such as nano-manufacturing remarkably enhance the flexibility and elasticity of stretchable soft e-skin. Bionic e-skin tactile sensors with high flexibility and high elasticity can improve the environment adaptability of robot, and is beneficial for establishing a new type of coexisting-cooperative- cognitive mode between human and robot.

 

Key words: robot; pressure sensing; e-skin; flexibility; flexibility and elasticity

中南大学学报(自然科学版)
  ISSN 1672-7207
CN 43-1426/N
ZDXZAC
中南大学学报(英文版)
  ISSN 2095-2899
CN 43-1516/TB
JCSTFT
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