A universal theoretical model for hybrid structure sensor with proximity and large-range contact force sensing

• Published in: Sensors and actuators. A. Physical. 2022-08, Vol.343, p.113676, Article 113676
• Main Authors: Ge, Chuanyang, Duan, Zhan, Li, Renzheng, Chen, Hang, Li, Tong, Hu, PingAn, Wang, Zhenlong, Zhao, Jie, Zhang, Jia
• Format: Article
• Language: English
• Subjects: Active control; Contact force; Dielectric properties; Equivalent relative dielectric constant; Human-computer interaction; Hybrid sensor; Hybrid structures; Numerical analysis; Numerical methods; Perception; Permittivity; Proximity; Proximity and contact force detection; Sensors; Theoretical model
• ISSN: 0924-4247; 1873-3069
• DOI: 10.1016/j.sna.2022.113676

Human-robot collaboration (HRC) is highly relied on the multi-information from the environment, especially for the external object approaching and large-range contact force perception. The information collected by the sensor with only a single-function will make the system complex and hard to achieve. Herein, we propose a universal theoretical model for hybrid structure sensor with multi-information perception capacity, which combines the capacitive and piezoresistive mechanisms for proximity and large-range contact force detection, respectively. The capacitor from the complex hybrid structure is decomposed into several ones with a single dielectric constant, which can simplify the model. The change of equivalent relative dielectric constant is response for the change of sensor output during the object approaching and contact in a tiny force. The bulk and interface resistance of the composite film will extend the sensitive range of contact force. Furthermore, the theoretical model is solved via numerical method and verified by experimental results. Finally, the maximum error is only 0.57%, 3.07% and 3.83% for object approaching, contacting force in 0–20 N and in 20–120 N, respectively. It indicates the accuracy and validity of the model, which can provide a promising method for designing integrated sensor for proximity and contact sensing and active safety control on HRC. [Display omitted] •A universal theoretical model for hybrid structure sensor is set up, which has dual- function of proximity and contact force sensing.•The change of bulk and interface resistances responses for a large-range force sensing capacity.•The good coincidence with a maximum error below 3.83% between experimental and simulation results proves the accuracy of the theoretical model.