Capacitive flexible haptic sensor based on micro-cylindrical structure dielectric layer and its decoupling study

• Published in: Measurement : journal of the International Measurement Confederation 2023-12, Vol.223, p.113785, Article 113785
• Main Authors: Gong, Weizhuang, Lian, Jinhong, Zhu, Yinlong
• Format: Article
• Language: English
• Subjects: Decoupling research; Flexible tactile sensor; Force coupling analysis; Micro-cylindrical structure dielectric layer; Sensing applications
• ISSN: 0263-2241
• DOI: 10.1016/j.measurement.2023.113785

•The introduction of a microcylindrical structure as a dielectric layer enhances the sensing characteristics of the sensor. This study also analyzes the theoretical expression resulting from the sensor deformation mechanism;•This study aims to analyze the coupling of the output signal of the sensor with respect to changes in the sensor number. We propose a decoupling model based on the deformation mechanism of the sensor.•The application of sensors to soft actuators demonstrates their suitability and establishes the groundwork for future adaptive operation and control. With the advancement of robotics, flexible sensors have undergone significant development. Extensive research has been conducted on the sensor structure to enhance its sensing capabilities. However, due to the absence of a definitive theory on the relationship between input force and output signal, and the unclear mechanism of force and deformation, decoupling the force remains challenging. To address this, we propose a capacitive flexible tactile sensor that utilizes a dielectric layer with a microcylindrical structure for detecting external loads. The micro-cylindrical structure of the dielectric layer enhances the strain capacity, thereby improving the sensor's performance. We also present a decoupling model based on the deformation mechanism by analyzing the sensor coupling. Furthermore, we validate the sensor's application in tangential detection and object grasping by integrating it into a soft rehabilitation glove and a soft gripper. This research lays the foundation for future self-aware operations.