A self-powered sensor for detecting slip state and pressure of underwater actuators based on triboelectric nanogenerator

Abstract

In challenging underwater environments, mechanical actuators must conquer diverse hurdles and guarantee meticulous and steadfast command while engaging with delicate and pliant targets. To address these issues, a novel pressure and slip state monitoring sensor (PS-TENG) based on the triboelectric nanogenerator principle was proposed to establish a haptic sensing system for underwater actuators. This sensor can detect pressure at the actuator during gripping and the relative slipping speed between the actuator and the target, allowing for precise control based on feedback signals from the perception system. In this study, we established a theoretical framework connecting pressure and electrical signals, explored material preparation methods and manufacturing steps, conducted performance optimization experiments after producing the prototype. Furthermore, we presented a signal processing technique for the sensor's output. Results demonstrated that the sensor can generate an open-circuit voltage signal of up to 45 V at a maximum operating pressure of 13 N. Moreover, within the operating pressure range, the sensor exhibited high sensitivity, reaching up to 4.5 V/N. By analyzing and processing the sensor signals, the actuator can obtain both pressure and relative slipping speed information simultaneously, essential for addressing complex underwater grasping tasks. Our research indicates that the PS-TENG sensor can serve as a reliable and efficient solution for establishing haptic sensing systems in underwater applications. With its excellent performance, this sensor holds broad potential for use in underwater robotics and electronic devices, thereby facilitating the advent of more versatile and dependable equipment in the days to come.