Design And Tactile Perception Behavior Of Flexible Dual-Mode Skin Sensor With Self-Healing Properties

In recent years,with the continuous development of artificial intelligence technology and wearable devices,flexible sensors have gained popularity,and flexible skin sensors that mimic human skin have been widely used in object detection,human motion monitoring and artificial skin.However,under different external environments,such as temperature,humidity and pressure,these flexible sensors may be affected by aging,damage and failure,which may reduce the accuracy of data acquisition,transmission and classification and lead to errors in sensing results,and thus disrupt the normal operation and use of the whole sensor.Therefore,it is necessary to prepare sensors with self-healing properties.In addition,different materials are usually used for the conductive network and the flexible substrate network of flexible sensors.Even if the conductive network is self-healing,it often needs the help of the flexible matrix network to achieve self-healing.This may lead to a degradation of the conductivity and thus affect the lifetime of the sensor,especially after repeated damage.In addition,as the demand for sensor functionality increases,single-mode sensors have gradually failed to meet the design requirements,so designing flexible skin sensors with dualmode,high durability,stability and easy self-healing remains a great challenge.In order to further solve this problem and make the flexible sensors have better practical applications,this paper uses self-healing flexible piezoresistive sensors and self-healing flexible piezoelectric sensors from self-healing flexible sensor matrix materials,and combines the two to construct flexible dual-mode skin sensors with self-healing properties and conduct The research of this paper is to explore the application of flexible dual-mode skin sensors with self-healing properties.The research of this paper mainly includes:1.preparing H-PDMS with self-healing function by one-pot method,which has two kinds of hydrogen bonds with different strengths inside,which can provide selfhealing ability for H-PDMS while increasing its mechanical strength and flexibility.By testing the mechanical properties of the material,the results of the study showed that the maximum fracture strength of the material was 0.83 MPa,and the self-healing efficiency reached 87.5% after 24 h of self-healing at room temperature.In addition,the performance of the material under different use temperatures was investigated,and the results showed that H-PDMS can maintain the performance stability below 60°C.2.Liquid metal ink was prepared using liquid metal and assembled with H-PDMS to form a self-healing piezoresistive sensor with sandwich structure.The sensor shows a segmented linearity in the strain range below 60%,and the sensitivity factors before and after 32% strain are 0.34 and 0.81,respectively,with good linearity.The sensor also has a self-healing property,which can restore the conductivity by self-healing instantly after being cut and damaged by contact.The self-healing efficiency of the conductivity reaches 97.7% after self-healing at room temperature for 24 h,and maintains excellent stability in 200 cycles.The piezoresistive sensor can also monitor human motion signals and identify the size of objects,and can detect changes in the bending of fingers as well as wrists,and accurately identify small balls of different diameters.3.The self-healing piezoelectric sensor was prepared by using lead zirconate titanate(PZT)particles compounded with H-PDMS,and the sensor generates piezoelectric voltage under the action of external force,and shows a good positive correlation between piezoelectric voltage and external force with a sensitivity factor of21.6.The piezoelectric sensor can still work after being damaged and self-healing,and the self-healing efficiency reaches 92.7% after 24 h of self-healing at room temperature.The relationship between output voltage and bending curvature of the sensor was modeled and analyzed,and based on this,a tactile sensor that can recognize the surface shape of objects was prepared,which can distinguish the small balls with different surface shapes.4.Combining piezoresistive and piezoelectric sensors,a flexible dual-mode sensor is prepared and used for the recognition of object surface contours.By building an object recognition platform,analyzing the sensing signals with PC devices,grasping the object and recognizing the size and surface shape of the object with the help of a robot,it shows its potential application prospects and high application value in the field of robot intelligent recognition.