【摘要】 现有柔性多维力传感器普遍采用多单元结构组合来监测力输入，信号获取与分析难度大。提出了一种能够无线监测法向力与切向力的谐振式柔性力传感器。传感器由封装层、介质层、电感层以及电阻层构成，其中介质层材料为硅橡胶(Silicone Rubber, SR)与石墨烯(Graphene, GR)组成的柔性复合材料，电阻层材料为调制的炭黑(Carbon Black, CB)油墨。封装后的传感器在有线测试中表现出不错的力、电学性能，在无线测试中对法向力与切向力的灵敏度分别为2.78 MHz/N(0～20 N)与0.43 dB/N(0～5 N)。将传感器安装在机械手上以监测抓取过程中的法向力与切向力变化，研究结果表明该传感器在机器人触觉领域具有应用前景。更多还原

【Abstract】 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.更多还原