针对现有力触觉传感器价格昂贵、制作工艺复杂等缺点,提出了一种以导电硅橡胶材料为测量单元,结合电阻层析成像(ERT)技术的可视化压力测量方法。分析了导电硅橡胶材料的导电机理和导电硅橡胶材料所受压力与电阻之间的关系;对导电硅橡胶材料在不同激励方式下敏感场的电势分布进行了仿真,对比了材料电导率不同时测量电压的变化;搭建了可视化压力测量平台,对测量单元在不同区域、不同压力作用下的测量结果进行了验证。试验结果表明:压力为0～10 N时,可视化测量效果明显,并且能够实现整个测量区域的实时压力测量。相比于传统的触觉传感器,该压力测量方法无需多个传感器阵列,具有结构简单、结果可靠、成本低、可视化等特点。

Aiming at the shortcomings of existing force tactile sensors such as expensive prices and complex manufacturing processes, a visual pressure measurement method using conductive silicone rubber as a measurement unit and electrical resistance tomography (ERT) technology was proposed. The conductive mechanism of conductive silicone rubber material and the relationship between pressure and resistance of conductive silicone rubber material were analyzed. The potential distribution of the sensitive field of the conductive silicone rubber material under different excitation modes was simulated, and the variation of the measured voltage with different electrical conductivity was compared. A visual pressure measurement platform was built to verify the measurement results of the measurement unit under different regions and pressures. The results showed that when the pressure is 0-10 N, the visual measurement effect was obvious, and real-time pressure measurement of the entire measurement area can be achieved. Compared to traditional tactile sensors, this pressure measurement method did not require multiple sensor arrays, and had the characteristics of simple structure, reliable results, low cost, and visualization.