Recognition of Contact Force and Position of a Flexible Array-Less Capacitive Tactile Sensor

Abstract

As an important medium of human-computer interaction, flexible tactile sensors have a vital influence on the intelligence and safety of a system by accurately identifying the contact position and force. For now, most of the existing flexible capacitive pressure sensors adopt an array structure, which still cannot meet the requirements including simple manufacturing, simple wiring, and low cost. This paper innovatively proposes a flexible array-less capacitive tactile sensor, a 30 mm <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$\times30$ </tex-math></inline-formula> mm sensor prototype, consisting of flexible electrodes and a dielectric layer of a polydimethylsiloxane (PDMS) and multiwalled carbon nanotube (MWCNT) composite. Under the action of a contact force, the contact area is deformed, resulting in a capacitance change in the flexible sensor. First, Poisson’s equation is used to determine the relationship between the electric potential and position. Then, elastic contact mechanics is adopted to describe the relationship between the electric charges and force. Finally, the contact position and force are recognized by measuring the change in capacitance in real time, based on the classical principle of capacitance. Simulation and experimental results verified the effectiveness of the proposed recognition method, showing that the recognition resolution of contact position can reach <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$500\,\,\mu \text{m}\,\,\times 100\,\,\mu \text{m}$ </tex-math></inline-formula> , and the accuracy of contact force is 95.85%. Theoretically, the proposed flexible array-less sensor in this paper has infinite spatial resolution, and most importantly, it does not rely on complex manufacturing, redundant circuits, or sensor cell arrays. Therefore, it has broad application prospects in related fields such as electronic skin and wearable electronic devices.