Abstract:

A capacitive three-dimensional force flexible tactile sensor is proposed, which is capable of measuring normal and shear force. The structure design of capacitive three-dimensional force tactile sensor and the working principle are introduced. The tactile perception mechanism is verified by using ANSYS finite element simulation software, and a portable capacitive tactile information perception system was designed based on low power microprocessor CC2530 and AD 7147-1 capacitance-to-digital converter. The sensor has achieved dynamic response time of 226 ms, the normal load measurement is from 0 to 5 N, shear load measurement is from 0 to 3 N and the measured sensitivities are 6. 87 fF/ N and 10. 96 fF/ N. The experiment results indicate that the flexible capacitive sensors array and the capacitive signal extraction system have good stability and sensitivity, providing a design proposal for wearable artificial skin.

Key words: capacitive sensor, fully compliant, sensing information processing, artificial skin, tactile sensor, three-dimensional force