通过调整纱线结构，实现纺织电容传感器的触觉与接近感知性能可调。
Effect of Twisted-Yarn Architecture on Pressure and Proximity Sensing Characteristics of Textile Capacitive Sensors for Robotic Skin
- 用不同层数的银涂层纱线构建电容传感器，调控电极重叠区与纤维间距。
- 四层传感器灵敏度达0.1331 MPa⁻¹，耐久性超15000次循环，延迟仅403毫秒。
- 结构设计可同时调节压力/接近感应范围，适合机器人皮肤等柔性交互场景。
纺织集成电容传感器为可穿戴设备和人机交互提供柔性触觉感知；然而，纱线层级结构对电容转换特性的影响尚未充分量化。本研究基于镀银聚二甲基硅氧烷涂层纱线，构建了一层、两层和四层扭绞结构的纺织电容传感平台。系统研究了有效电极重叠面积和纤维间距离对电容响应的影响，实现了基于结构的压感与接近感性能调控。压力计算基于局部单纤维接触面积，对应0.4–3.9 MPa应力范围。增加层数提升机械强度与传感性能：断裂伸长率从37.5%增至62.5%和85.0%，最大载荷由23.3 N升至42.7 N和89.7 N。灵敏度随层数与频率增加，在100 kHz时四层传感器达到0.1331 MPa⁻¹。四层结构还表现出低滞后、25–90 °C温漂小、15000次循环稳定工作。一、二、四层传感器的接近检测范围分别为60、50、40 mm，揭示结构依赖的灵敏度-范围权衡。4×4纺织阵列实现空间接触映射，机械臂集成实现实时触碰与接近检测，端到端系统延迟为403毫秒。结果表明，纱线结构是调控纺织电容传感系统测量特性的可调设计参数。
原文摘要 · Abstract (English)
Textile-integrated capacitive sensors offer flexible and conformable tactile sensing for wearable electronics and human-robot interaction; however, the influence of yarn-level architecture on capacitive transduction characteristics remains insufficiently quantified. This work presents a textile capacitive sensing platform based on silver-coated yarns coated with polydimethylsiloxane and assembled into one-, two-, and four-layer twisted configurations. The influence of effective electrode overlap area and inter-fiber separation on the capacitive response is systematically investigated, enabling architecture-dependent tuning of pressure and proximity sensing characteristics. Pressure was calculated using the localized single-fiber contact area, corresponding to stresses of 0.4-3.9 MPa. Increasing the layer number improved mechanical strength and sensing performance: elongation at break increased from 37.5% to 62.5% and 85.0%, while the maximum load increased from 23.3 to 42.7 and 89.7 N. Sensitivity increased with layer number and frequency, reaching 0.1331 MPa$^{-1}$ for the four-layer sensor at 100 kHz. The four-layer configuration also exhibited low hysteresis, minimal thermal drift from 25 to 90 $^\circ$C, and stable operation over 15,000 cycles. Proximity detection ranges of 60, 50, and 40 mm were obtained for the one-, two-, and four-layer sensors, respectively, revealing an architecture-dependent sensitivity-range trade-off. A 4$\times$4 textile sensing array enabled spatial contact mapping, while robotic-arm integration demonstrated real-time touch and proximity detection with an end-to-end robotic system latency (from detection to robot reaction) of 403 ms. The results establish yarn architecture as a tunable design parameter governing the measurement characteristics of textile-integrated capacitive sensing systems.
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