Abstract
Sensors for detecting slippage are widely used in various types of end-effective devices, and the performance of these sensors is one of the most important indicators of a robot's "soft gripping" ability. At present, sliding detection is mainly based on piezoelectric materials, acousto-electric principles, photoelectric sensing, etc. But the above-mentioned sensors have complex structures and signal processing processes, and they all require external power supply during operation. This paper proposes a self-powered sliding tactile sensor based on triboelectric effect and electrostatic induction, which uses the electrical signal generated by the sliding of the object as the detection signal by the triboelectric nanogenerator, and the detection of sliding speed and sliding distance can be realized at the same time. In addition, it can also realize the judgment of the force loading and unloading of the object to be grasped. Furthermore, we developed a non-contact working mode of the sliding tactile sensor, which can realize sliding detection without direct contact with the object. This work provides a feasible solution for the intelligent detection of a new generation of end effector.
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