Design And Experimental Study Of Flexible Multidimensional Tactile Sensing Device

Tactile perception is an important perception function when people are in direct contact with the outside environment.It is also one of the key technologies in the development of intelligent robots.Aiming at the flexible,stretchable and flexible bending and folding characteristics of flexible sensors,as well as the diversity and complexity of tactile perception,this subject takes tactile perception as the research object,based on the design theory of fully flexible sensors and the application foundation of flexible sensors,through the pertinent research on the softness,friction and heat conduction of tactile system,establishes the basic theoretical model of tactile perception system.And by establishing the theoretical model systematically studied from the aspects of configuration design,simulation optimization,manufacturing process,prototype development and experimental research,which provides a new idea for the development of intelligent robots in tactile sensing.Firstly,the different tactile perceptions of different objects are analyzed systematically,and several tactile perceptions are extracted.By composing the extracted tactile perception into a multi-dimensional tactile perception system,and according to the unique characteristics of each tactile perception,theoretical analysis and research are carried out,and finally a measurement method of tactile perception is proposed.Secondly,the manufacturing process system of multi-dimensional tactile sensing device is constructed,from the design of forming die,the method of dispensing soft materials,the forming process of soft materials to the secondary forming of flexible matrix with full flexible sensors.It guarantees the manufacturing efficiency,economy,reliability and repeatability of multi-dimensional tactile sensing devices.And the experimental prototype has been developed.Thirdly,the hardware design of the tactile acquisition system is completed.According to the operation mode and acquisition principle of the tactile sensing system,the overall logical structure of the control system is designed.Based on the establishedhardware experimental system,the corresponding software program system is compiled in the form of upper computer and lower computer software programs.By comparing the characteristics of several machine learning algorithms,a simple and effective learning algorithm is selected to process and classify the data collected by tactile sensing system,and to complete the application in specific scenarios.Finally,the tactile perception system is tested.Firstly,the flexibility,roughness and temperature of different objects are tested respectively.Then,the tactile perception of different objects is tested as a whole.By comparing and analyzing the experimental results,the performance evaluation of tactile perception system is completed.