A resonant Flexible Two-Dimension Force Sensor for Robotic Grasping
The force inputs of the most existing flexible multi-dimensional force sensors are generally monitored by the combination of multiple elements,which makes the signal acquisition and analysis more difficult.A resonant flexible force sensor which can monitor the normal force and tangential force wirelessly is proposed.The sensor is composed of a packaging layer,a dielectric layer,an inductance layer and a resistance layer,wherein the dielectric layer material is a flexible composite material composed of silicone rubber( SR) and graphene( GR),and the resistance layer material is modulated carbon black( CB) ink.The encapsulated sensor shows good mechanical and electrical performance in the wired test.The sensitivity to the normal force and tangential force in the wireless test is 2.78 MHz/N (0-20 N)and 0.43 dB/N(0-5 N)respectively.The sensor is installed on the manipulator to monitor the change of normal force and tangential force in the process of grasping.The results of research show that the resonant flexible force sensor has a broad application prospect in the field of robot touch.
robotictactile sensingmulti-dimensional force sensorresonant mechanismrobotic gripping