基于水凝胶的多模态多功能感知的柔性传感器的研究

A Multimodal Hydrogel Soft-robotic Sensor for Multi-functional Perception

程玉

11930429

硕士

材料工程

邵理阳

2021-05-20

2021-06-07

南方科技大学

深圳

软机器人具有独特而突出的环境自适应能力，其天然密封的构造保证对抗外界的能力，包括对电磁效应不敏感，所以它是极端环境应用的理想选择。 然而，在如此恶劣的条件下，软机器人的传感仍然是具有挑战性的，特别是在大温度变化和复杂、大变形的情况下。现有的软体传感方法使用液态金属介质在大变形和环境鲁棒性之间妥协，限制了它们在现实世界中的适用性。 在本工作中，我们提出了一种使用水凝胶和硅橡胶制作的多模态全固态柔性传感器。通过利用水凝胶的导电性和透明性，我们可以在一个传感元件中同时部署光学和电学的传感器件，这种新的组合使我们能够分别获取光信号和电信号实时测量结果以及两者之间的差异，以便提取多功能测量信息。采用这种方法，设计并制作了全固态柔性传感器的模型，并建立了一个专用的神经网络来提取感官信息。即使在大变形时，也使用相同的传感器测量拉伸和扭转。 此外，利用此多模态传感器对温度变化的独特感知，我们可以同时估计环境温度。从实验结果可以得到结论，对于在极端条件下，用于多功能感知的全固态多模态柔性传感器十分具有研究前景。

Soft robots, with their unique and outstanding capabilities of environmentalconformation, natural sealing against elements, as well as insensitive to magnetic/electrical effects, are ideal candidates for extreme environment applications. However, sensing for soft robots in such harsh conditions would still be challenging, especially under large temperature change and complex, large deformations. Existing soft sensing approaches using liquid-metal medium compromise between large deformation and environmental robustness, limiting their real-world applicability. In this work, we propose a multimodal solid-state soft sensor using hydrogel and silicone. By exploiting the conductibility and transparency of hydrogel, we could deploy both optical and resistive sensing in one sensing component. This novel combination enables us to benefit from the in-situ measurement discrepancies between the optical and electrical signal, in order to extract multi-functional measurements. Following this approach, prototype solid-state soft sensors were designed and fabricated, a dedicated neural network was built to extract the sensory information. Stretching and twisting were measured using the same sensor even at large deformations. In addition, exploiting the distinctive responses against temperature change, we could estimate environmental temperatures simultaneously. Results are promising for the proposed solid-state multimodal approach of soft sensors for multi-functional perception under extreme conditions.

软体机器人 多模态 多功能传感 水凝胶 光电信号

Soft sensor multimodal multi-functional perception hydrogel electrical and optical properties

中文

独立培养

南方科技大学

程玉. 基于水凝胶的多模态多功能感知的柔性传感器的研究[D]. 深圳. 南方科技大学,2021.