Zihan Lv,Lin Cheng,Guanzheng Chen,Xuanzi Luo,Hang Yu,Hanxiao Zhang,Huaping Wu,Aiping Liu
Accurate 3-D force sensing technology plays a crucial role in monitoring the electromechanical signals of the manipulator. Despite the design of various flexible capacitive 3-D force sensors, their sensitivity often fails to meet the requirements for monitoring manipulators effectively. To address this issue, this work has designed an ionic flexible capacitive 3-D force sensor with pyramidal microstructure. This sensor relies on the mechanical deformation of the pyramidal microstructure and the coupling of the capacitive effect of the electric double layer to output sensing information. The sensitivity of this sensor can reach 38.3 kPa $^{-{1}}$ , and it has a fast response time (62 ms), excellent hysteresis, and repeatability. With the application of backpropagation neural network (BPNN), the accuracy of decoupling can be optimized, resulting in the error being reduced to $10^{-{3}}$ . The sensors have the ability to monitor electromechanical signals that can help the manipulator identify the topographic features of a target object, as well as monitor the gripping force of the manipulator and whether the target object is sliding. This unique 3-D force sensor provides novel ideas for the design of new multidimensional force sensors, paving the way for the development of human-computer interaction and wearable devices.
Tao Lv,ZeWen Li,ChunYu Lv,XinYu Zhang,Ye Li,Mengying Xie
Flexible sensors with a single tactile sensing function have been extensively studied, however, the development of highly sensitive multifunctional sensors remains a significant challenge in the realm of wearable technology. In this paper, a multifunctional flexible capacitive sensor with integrated proximity, pressure and temperature perception is developed. The dielectric layer of the sensor is obtained by spontaneous polymerization of polyvinyl alcohol and the ionic liquid 1-ethyl-3-methylimidazolium bis(trifluoromethylsulfonyl)imide at room temperature. The electrode structure is optimized by leveraging the capacitive fringing field effect, and the designed hole-circle shaped 4 × 4 electrode array achieves optimal proximity sensitivity with a maximal capacitance drop of 0.54 pF to human hand and a detection distance of 30 mm. Besides, the prepared microcone structure sensor exhibits high pressure sensitivity of 4.822 kPa-1(0-5 kPa), rapid response time (<100 ms), a broad detection range (~200 kPa), and excellent stability over 3000 cycles of loading/unloading tests. By exploiting the temperature dependence of the ionic liquid, the sensor also exhibits high temperature sensitivity of 80.6%°C-1(25-80°C). Finally, we verified the successful application of this sensor in dynamic finger trajectory recognition, multi-touch and robotic grasping state detection, paving the way for its use in artificial intelligence, healthcare, and intelligent robotics.
危险品化学品经营许可证（带存储）