Abstract
Flexible sensing tends to be widely exploited in the process of human–computer interactions of intelligent robots for its contact compliance and environmental adaptability. A novel flexible capacitive tactile sensor was proposed for multi-directional force sensing, which is based on carbon black/polydimethylsiloxane (PDMS) composite dielectric layer and upper and lower electrodes of carbon nanotubes/polydimethylsiloxane (CNTs/PDMS) composite layer. By changing the ratio of carbon black, the resolution of carbon black/PDMS composite layer increases at 4 wt%, and then decreases, which was explained according to the percolation theory of the conductive particles in the polymer matrix. Mathematical model of force and capacitance variance was established, which can be used to predict the value of the applied force. Then, the prototype with carbon black/PDMS composite dielectric layer was fabricated and characterized. SEM observation was conducted and a ratio was introduced in the composites material design. It was concluded that the resolution of carbon sensor can reach 0.1 N within 50 N in normal direction and 0.2 N in 0–10 N in tangential direction with good stability. Finally, the multi-directional force results were obtained. Compared with the individual directional force results, the output capacitance value of multi-directional force was lower, which indicated the amplitude decrease in capacity change in the normal and tangential direction. This might be caused by the deformation distribution in the normal and tangential direction under multi-directional force.
Highlights
Multi-directional force sensors, especially the flexible ones, play an important role in wearable devices [1,2,3,4,5,6], human-related medical sensing [7,8,9,10], and human–machine interfaces [11,12]
The results show that the dielectric properties of carbon black/PDMS composite layer are of carbon black/PDMS
The dielectric properties the composite materials reaches a critical value, the carbon black/PDMS composite will change from unconnected are improved, which can be used as the dielectric layer of the sensor to optimize the perto connective gradually, which puts the carbon black/PDMS composite in a transition formance of the sensor.and
Summary
Multi-directional force sensors, especially the flexible ones, play an important role in wearable devices [1,2,3,4,5,6], human-related medical sensing [7,8,9,10], and human–machine interfaces [11,12]. The principle of capacitive tactile sensor is to convert the measured force information into the variation of capacitance, so as to measure the force by detecting the change of capacitance. Capacitive sensors have high sensitivity and spatial resolution, large pressure range, good dynamic response and simple structure [23,24,25]. For multi-directional force measurement, sensitivity and measurement range are important factors that should be taken into consideration [26,27,28,29]. Research on the details of the flexible 3D capacitive sensor has been attracting a lot of attention due to its various potential applications [30]
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