用多材料3D打印实现可快速制造的触觉传感器。
M3D-skin: Multi-material 3D-printed Tactile Sensor with Hierarchical Infill Structures for Pressure Sensing
- 利用多材料FDM打印机的填充结构设计，实现柔性传感
- 通过改变分层填充结构，电阻变化率达150%以上
- 适合机器人手部、足底运动监测等场景
触觉传感器在机械臂抓取和人体运动测量中应用广泛。本文提出一种名为M3D-skin的触觉传感器，借助多材料熔融沉积成型（FDM）3D打印的填充图案作为传感原理，可快速、灵活地制造。该方法使用导电与非导电柔性耗材构建分层结构，压力下结构形变导致电阻变化，从而获取触觉信息。我们研究了分层结构参数对传感器特性的影响，并实现了多模块传感器的制备与集成。在应用方面，验证了其在足底运动模式测量、机器人手部集成及基于触觉的机器人操作中的有效性。实验表明该传感器具备良好的灵敏度和可扩展性。
原文摘要 · Abstract (English)
Tactile sensors have a wide range of applications, from utilization in robotic grippers to human motion measurement. If tactile sensors could be fabricated and integrated more easily, their applicability would further expand. In this study, we propose a tactile sensor-M3D-skin-that can be easily fabricated with high versatility by leveraging the infill patterns of a multi-material fused deposition modeling (FDM) 3D printer as the sensing principle. This method employs conductive and non-conductive flexible filaments to create a hierarchical structure with a specific infill pattern. The flexible hierarchical structure deforms under pressure, leading to a change in electrical resistance, enabling the acquisition of tactile information. We measure the changes in characteristics of the proposed tactile sensor caused by modifications to the hierarchical structure. Additionally, we demonstrate the fabrication and use of a multi-tile sensor. Furthermore, as applications, we implement motion pattern measurement on the sole of a foot, integration with a robotic hand, and tactile-based robotic operations. Through these experiments, we validate the effectiveness of the proposed tactile sensor.
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