关键词: PVDF压电薄膜, 触觉智能, 触觉信息采集, BP神经网络, ADAM算法

Abstract: In order to make bionic machine simulate human sense of touch to perceive the surface information of objects, according to the piezoelectric effect and pyroelectric effect of PVDF ( Polyvinylidene Fluoride) piezoelectric film, a set of multi-tactile information acquisition system is designed and built, realizing the collection and recognition of various tactile information such as hardness, viscosity, humidity, roughness and temperature of objects. The PVDF piezoelectric film is pasted on the surface of the rubber hemisphere to make a tactile sensor, a single-chip microcomputer is used to control the lifting table and the lead screw slide table to drive the object to press and friction the tactile sensor, effectively collecting the tactile information of the object, and establisheing a mathematical model of viscosity and temperature by using the eigenvalues of the collected signal for analysis. The viscosity and temperature sensitivity are-2 730 V/ m2 and 0. 984 mV/ °C respectively, the hardness of the object is effectively characterized by variance, and the success rate of predicting humidity and roughness of more than 90% is achieved by establishing a BP(Back Propagation) neural network.

Key words: polyvinylidene fluoride ( PVDF) piezoelectric film, tactile intelligence, tactile information acquisition, back propagation (BP) neural network, adaptive moment estimation