一种可实现全程感知的机器人皮肤研究

项目名称： 一种可实现全程感知的机器人皮肤研究

项目编号： No.61471155

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 无线电电子学、电信技术

项目作者： 黄英

作者单位： 合肥工业大学

项目金额： 83万元

中文摘要： 机器人应用领域的拓展对机器人皮肤的研究提出了更高要求，项目针对当前机器人皮肤研究中的关键理论和技术问题，着眼交互过程智能性、安全性的提升，从实现交互信息的全过程监测出发，在前期研究基础上创新敏感材料体系，研究双模式接近觉传感器传感机理与构效关系，提高接近感知的适应性；以实现软抓取为目标，研究影响滑-触觉力学灵敏度和响应特性的相关因素，构建全方向滑-触觉传感器微结构单元，量化滑动过程力的大小和方向；在此基础上，构建新型多信息复合感知阵列结构，研究复合信息的智能化提取及融合路径。解决复杂环境下温度场与电场获取接近感知的协同机制、微结构单元敏感特征参数与剪切力有效获取的相关性、复合多传感器系统信息的关联性和特征抽取等关键科学问题。实现接近/滑-触/温度信息复合感知的机器人皮肤系统，提供机器人交互所需的全过程、多维度信息。预期研究成果将为机器人皮肤的相关研究提供理论支撑，提升交互机器人应用水平。

中文关键词： 多功能传感；柔性敏感材料；传感器阵列；全程感知；机器人皮肤

英文摘要： The extended applications of robots have put forward higher-level requirements in the field of robot-skin study. In light of key theories and technical issues involved in the investigation of robot-skin and the associated sensors, in order to improve intelligent interaction and security, the project seeks to develop novel material systems based on whole-process monitoring of interaction information, study the sensitive mechanism and structure-property relationships of dual-mode proximity sensor, and improve the adaptability of proximity sensing. With the purpose of realizing soft-grasp, the factors - that may affect the sensitivity and response behavior of slip-tactile mechanics - will be investigated, the omnidirectional microstructure unit for slip-tactile sensor will be constructed, and the sliding-process force will be quantitively analyzed in terms of direction and numerical value. Accordingly, new multi-information-combined sensing array structure will be built, and the intelligent extraction and integration path of the complex information will be studied. The key scientific issues, including the proximity-sensing coordination mechanism between temperature and electric field, the correlation between micro-structural unit sensitive characteristic parameters and slip-tactile information, the relevance and feature extraction of complex multi-sensor system information and other issues in complex environment, will be solved. The robot skin system capable of proximity, slip-tactile and sensing of temperature information will be achieved. Meanwhile, the whole-process and multi-dimensional information as required for robots interaction, will be supplied. The project may promise to support the related theory research of robot skin and at the same time promote the application level of interactive robot.

英文关键词： Multi-Function sensor;Flexible sensitive materials;Sensor array;Whole-process sensing;Robot-skin