【作者】 杨林；

【导师】 石晓琴； 张珽；

【作者基本信息】 南京理工大学 ， 材料与化工（专业学位）， 2023， 硕士

【摘要】 随着人工智能技术的快速发展,面向人机交互技术的新型柔性触觉传感器的需求与日俱增。柔性触觉传感器作为仿生智能系统获取外界信息的重要媒介,对实现仿生触觉感知能力以及提升系统智能化具有重要意义。通过材料创新与结构设计,新兴的柔性触觉传感器已经实现了压力感知等功能。然而,理想的柔性触觉传感器应具有多模态选择性响应能力,例如,温度、压力、材质和距离,以赋予机械手感知外界丰富信息的能力。但目前机械手所配备的柔性触觉传感器多以单参数感知为主,极易受到耦合参数的影响并难以实现对多参数信号的解耦与分析。针对上述问题,本论文首先通过浸涂烘干工艺制备了基于PEDOT:PSS@密胺海绵的柔性触觉传感器,实现了温度、压力和材质的选择性响应功能;随后,通过水热法制备了PEDOT:PSS@Te NWs复合热电材料,进一步提高了敏感材料的塞贝克系数,制备了基于PEDOT:PSS@Te NWs@密胺海绵的柔性触觉传感器,实现了温度、压力和距离的选择性响应功能。具体的研究工作如下:1.基于PEDOT:PSS@密胺海绵的柔性触觉传感器研究:基于针对目前触觉传感器感知功能单一的问题,设计制备了一种基于PEDOT:PSS和三维多孔微结构框架(密胺海绵)的柔性触觉传感器,基于压阻和热电两种独立传感机制,实现了压力和温度的高选择性响应(压力范围:0～5 N;温差范围:0～25 K);并结合机器学习算法(决策树算法)和非稳态热传导理论,实现了对10种不同材质(玻璃、PC、PVC、PMMA、松木、桐木、铁、铜、铝、不锈钢)物体的区分(准确率:94.7%),进一步地将该柔性触觉传感器与截肢患者的肌电假肢手相结合,对其在压力感知、温度感知和材质识别方面的应用性能进行了验证。相关研究结果为实现触觉传感器多模态无干扰响应提供了一种新的设计思路,未来有望丰富机械手的感知功能。2.基于PEDOT:PSS@Te NWs@密胺海绵的柔性触觉传感器研究:针对目前触觉传感器传感功能单一的问题,通过无机热电材料(Te NWs)和PEDOT:PSS的复合,有效提升了热电性能(其塞贝克系数可达～156μV/K),制备了基于PEDOT:PSS@Te NWs@密胺海绵的柔性触觉传感器;并通过浸涂-烘干工艺均匀涂覆聚乙烯醇(PVA)保护层,提高了器件稳定性(1.5 N,2000次),实现了压力、温度和距离的选择性响应(压力范围:0～3 N;温度范围:25～75℃);进一步地将该柔性触觉传感器与机械手集成,构建了具备感知反馈功能的传感微系统,并对其压力、温度和距离感知能力进行了验证。相关研究结果为实现触觉传感器压力、温度和距离的选择性响应提供了一种新的策略,未来有望丰富机械手非接触式人机交互功能。更多还原

【Abstract】 With the rapid development of artificial intelligence technology,the demand for new flexible tactile sensors for human-machine interaction technology is increasing strongly.As the important medium for a bionic intelligent system,the flexible tactile sensors are significant to realize the bionic tactile perception and improve system intelligence,which is able to obtain external information.Through material innovation and structural design,the emerging flexible tactile sensor has realized the functions of pressure sensing.However,the ideal flexible tactile sensor should have multi-modal selective response-ability,such as temperature,pressure,material,and distance,to give the manipulator the ability to sense abundant information from the outside world.However,the flexible tactile sensors equipped with manipulators are mainly single-parameter sensing,which is easily affected by coupling parameters and difficult to decouple and analyze multi-parameter signals.To solve the above problems,a flexible tactile sensor based on PEDOT:PSS @ melamine sponge is prepared through dip coating and drying process in this paper,which realizes the selective response function of temperature,pressure,and material;Subsequently,PEDOT:PSS @ Te NWs composite thermoelectric material was prepared by hydrothermal method,which further improved the Seebeck coefficient of sensitive material,and a flexible tactile sensor based on PEDOT:PSS @ Te NWs @ melamine sponge was prepared,which realized the selective response function of temperature,pressure,and distance.The specific research work is as follows :1.Research on flexible tactile sensor based on PEDOT: PSS @ melamine sponge: Aiming at the problem of the single sensing function of the tactile sensor at present,a flexible tactile sensor based on PEDOT:PSS and a three-dimensional porous microstructure framework(melamine sponge)is designed and prepared.Based on the two separate sensing mechanism(piezoresistance and thermoelectricity),this sensor has the ability to detect force and temperature selectively(pressure range: 0～5 N;temperature difference range: 0～25 K);Combining machine learning algorithm(decision tree algorithm)and unsteady heat conduction theory,ten types of substances(glass,PC,PVC,PMMA,pine,paulownia,iron,copper,aluminum and stainless steel)are distinguished(the accuracy rate is 94.7%).Furtherly,the flexible tactile sensor is combined with the EMG prosthetic hand of amputees,and its application performance in pressure sensing,temperature sensing,and material recognition is demonstrated.The related research results provide a new design idea for realizing multi-mode interference free response of tactile sensor,which is expected to enrich the sensing function of the manipulator in the future.2.Research on flexible tactile sensor based on PEDOT: PSS @ Te NWs @ melamine sponge: Aiming at the problem of the single sensing function of the tactile sensor at present,the thermoelectric performance(Seebeck coefficient can reach ～ 156 μV/K)is effectively improved by the combination of inorganic thermoelectric materials(Te NWs)and PEDOT:PSS @ Te NWs @ melamine sponge,and a flexible tactile sensor based on PEDOT:PSS @ Te NWs @melamine sponge is prepared.The protective layer of polyvinyl alcohol(PVA)is uniformly coated by a dip coating-drying process,which improves the stability of the device(1.5 N,2000cycles)and realizes the selective response of pressure,temperature,and distance(pressure range: 0 ～ 3 N;Temperature range: 25～75 °C);Furthermore,the flexible tactile sensor is integrated with the manipulator,and a sensing microsystem with sensing feedback function is constructed,and its sensing ability of pressure,temperature and distance is demonstrated.The related research results provide a new strategy for achieving the selective response of tactile sensor to pressure,temperature and distance,and are expected to enrich the non-contact humancomputer interaction function of the manipulator in the future.更多还原