Abstract
Advances in flexible and multifunctional electronic devices have enabled the realization of sophisticated skin for robotics applications. In this paper, a large-scale, flexible and self-powered tactile sensing array (TSA) for sensitive robot skin is demonstrated based on the triboelectric effect. The device, with 4 × 4 sensing units, was composed of a top triboelectric polyethylene terephthalate (PET) layer, a bottom triboelectric copper (Cu) layer and a bottom PET substrate. A low-cost roll-to-roll ultraviolet embossing fabrication process was induced to pattern the large-scale top PET film with microstructures for high-output performance. The working mechanism and output performance of the triboelectric TSA were demonstrated and characterized, exhibiting good stability and high sensitivity. By integrating a tactile feedback system, the large-scale TSA, acting as intelligent skin for an industrial robot, was able to realize emergency avoidance and safety stop for various unknown obstacles under various working conditions. The system also has good real-time performance. By using a large-scale roll-to-roll fabrication method, this work pushes forward a significant step to self-powered triboelectric TSA and its potential applications in intelligent robot skin.
Highlights
Tactile sensing is a key technology for intelligent robotics able to operate in unstructured environments and conduct safe interactions with humans and objects
We introduce a high-performance self-powered tactile sensing array (TSA) based on a triboelectric mechanism
We demonstrated a process flow of roll-to-roll UV embossing for patterning large-sized polyethylene terephthalate (PET) film with mass replicate microstructures
Summary
Tactile sensing is a key technology for intelligent robotics able to operate in unstructured environments and conduct safe interactions with humans and objects. A flexible robot skin capable of tactile sensing over a large area is expected to broaden the cognitive capability of robots, and to enhance the autonomous movement capability within an unknown environment. In comparison to tactile sensors, non-contact sensors are more susceptible to the ambient environment. The complicated fabrication process and low scalability of these methods still remain critical obstacles to the mass production of large-scale robot skin. Most of these sensors rely on an external power supply to work, potentially making the electrical wiring of a large number of sensor arrays on existing industrial robots more complicated
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