为柔性应变传感器设计可靠监测框架,实时识别异常与超限状态。
Reliable Piezoresistive Strain Sensing Through Physical Limits and Uncertainty Monitoring

- 基于物理引导特征构建概率逆模型,融合力学极限与不确定性
- 实测覆盖率达96%(目标95%),误报率低,异常检测准确率达100%
- 无需故障标签即可实现可信度评估,适合软体机器人和可穿戴设备
柔性压阻式应变传感器因柔韧性和顺应性,广泛应用于可穿戴设备与软体机器人。然而其电阻响应呈非线性且具有迟滞特性,传感器可能超出标定工作范围或内部失效,导致误差被带入决策或控制回路。现有概率回归器虽能追踪置信度,却忽略物理极限。预测均值看似合理,实际可能来自超限或故障传感器,造成高置信但不可信的估计。本文提出一种可靠性框架,结合物理引导的贝叶斯逆模型与三状态风险监控器,将不确定性、应变及应变速率限制融合。在镍钛合金丝与银涂层聚酰胺纱线上测试,高斯过程拟合得分达0.90–0.95(RMSE 0.26%–0.15%),实测覆盖率96%(目标95%)。监控器成功捕获95%超限与100%异常状况,正常工况下仍保持可靠。传感器同时输出估计值与可信度,使系统可主动延迟动作,且无需故障标注数据,适用于难获取软材料故障样本的场景。
原文摘要 · Abstract (English)
Soft piezoresistive strain sensors are one of the most common sensing solutions for wearable and soft robotic applications due to their flexibility and compliance. However, their resistance response is nonlinear and hysteretic, and a sensor can be pushed past its calibrated workspace or misbehave inside it, carrying that error into a decision or control loop. Probabilistic regressors track confidence but ignore those limits. A predictive mean can look unremarkable even when the reading comes from a sensor outside its admissible range or already failing internally, so a confident-looking estimate is not the same as a trustworthy one. This paper proposes a reliability framework pairing a physics-informed probabilistic inverse model, built on physics-guided input features, with a risk factor fusing uncertainty with strain and strain-rate limits into a three-state monitor. Tests on a Nitinol wire and a silver-coated polyamide thread with a Gaussian Process raised fit scores to 0.90-0.95 (RMSE 0.26%-0.15%) and a 96% empirical coverage against the 95% target. The monitor caught 95% of out-of-range and 100% of abnormal conditions while staying reliable under nominal operation. A sensor that reports confidence alongside its estimate lets a system withhold action instead, since it needs no labeled failure examples, which are hard to collect for soft materials.
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