关键词: 触觉传感器, 接触位置检测, 接触压力检测, 机器学习

Abstract: In order to improve the safe interaction between the robot and the external environment, a tactile sensor model for the curved surface of the robot was proposed based on the theory of electric potential distribution on the conductive surface and the closed gas compression law. The sensor might detect contact positions and contact pressures. Three-layer structure was adopted, including conductive layer, compressed gas isolation layer and signal extraction layer. In order to adapt to arbitrary surface shapes and reduce the influences of nonlinear electric potential distribution of conductive layer, a machine learning algorithm was used to reconstruct the electric potential distribution model. The conductive layer of the sensor was modeled and simulated by COMSOL software, and the sensor sample was prepared. Simulation and experimental results show that the proposed tactile sensor may be customized to the curved surfaces of the robot, and may realize the real-time detection of contact positions and contact pressures, which may be used for human-machine information interaction.

Key words: tactile sensor, contact position detection, contact pressure detection, machine learning