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Advanced Fiber Materials 2022年第5期4卷 1209-1218页

作者： Jiahui Guo Han Zhang Hui Zhang Hanxu Chen Zhuxiao Gu Dagan Zhang Yuanjin Zhao Department of Rheumatology and Immunology Nanjing Drum Tower HospitalSchool of Biological Science and Medical EngineeringSoutheast UniversityNanjing 210096China Oujiang Laboratory(Zhejiang Lab for Regenerative Medicine Vision and Brain Health)Wenzhou InstituteUniversity of Chinese Academy of SciencesWenzhou 325001ZhejiangChina Institute for Stem Cell and Regeneration Chinese Academy of ScienceBeijing 100101China

tactile sensors with distinctive ability to imitate skins have attracted considerable attention from researches for applications in a variety of sensing ***,inspired by the tentacles of jellyfish,biomimetic hydrogel microfibers were fabricated to be implanted with discrete structural color microsphere units for spatial tactile *** employing a microfluidic spinning technology,the generated microfibers were with high microsphere encapsulation features and controllable morphologies because of the density match of microspheres and the pre-hydrogel *** addition,benefitting from the easy manipulation of the microfluidics,microfibers implanted with different structural color microspheres could also be *** was demonstrated that the resultant microfibers would show synchronous shifts of photonic bandgaps as well as structural color when a local force like pressure or tension was applied to the microsphere *** on the localization of finger bending experiments,the practical values of the bioinspired microfibers have also been proved as spatial tactile ***,it is believed that the proposed bioinspired hydrogel microfibers are greatly significant in diverse sensing application fields.

关键词： Bioinspired Microfluidics Microfiber Structural color tactile sensor

Simulating tactile and visual multisensory behaviour in humans based on an MoS_(2) field effect transistor

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Nano Research 2023年第5期16卷 7405-7412页

作者： Jie You Liming Wang Yichi Zhang Dongdong Lin Bo Wang Zhao Han Ningning Zhang Tian Miao Maliang Liu Zuimin Jiang Hui Guo Yimeng Zhang Jincheng Zhang Huiyong Hu Wide Bandgap Semiconductor Technology Disciplines State Key Laboratory School of Microelectronics Xidian UniversityXi’an 710071China Qian Xuesen Collaborative Research Center of Astrochemistry and Space Life Sciences Department of Microelectronic Science and EngineeringNingbo UniversityNingbo 315211China Department of Physics Fudan UniversityShanghai 200433China

A visual and tactile multisensory integrated system is essential for human walking due to the demand for real-time interactions between perception and ***,a piezoresistor and MoS_(2)field effect transistor are combined to construct an artificial integration nervous system to simulate perception and synaptic *** key characteristics of synaptic plasticity are successfully demonstrated by individual pressure signals,individual optical signals,the synergy of optical and pressure signals,which are based on the electron trapping–detrapping mechanism at the MoS_(2)/SiO_(2)*** demonstrate that perception under synergy is stronger than perception under optical or pressure signal alone,which is similar to a biological ***,various distinguishable motion scenarios(combination of the following conditions:external lighting environment of day or night,flat or rough road,movement state of walking or running)are simulated and verified by adjusting the amplitude and frequency of the optical and pressure signals.

关键词： visual tactile multisensory system motion scenarios

A framework for the fusion of visual and tactile modalities for improving robot perception

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Science China(Information Sciences) 2017年第1期60卷 145-156页

作者： Wenchang ZHANG Fuchun SUN Hang WU Haolin YANG The State Key Laboratory of Intelligent Technology and Systems Tsinghua University

Robots should ideally perceive objects using human-like multi-modal sensing such as vision, tactile feedback, smell, and hearing. However, the features presentations are different for each modal sensor. Moreover,the extracted feature methods for each modal are not the same. Some modal features such as vision, which presents a spatial property, are static while features such as tactile feedback, which presents temporal pattern,are dynamic. It is difficult to fuse these data at the feature level for robot perception. In this study, we propose a framework for the fusion of visual and tactile modal features, which includes the extraction of features, feature vector normalization and generation based on bag-of-system(BoS), and coding by robust multi-modal joint sparse representation(RM-JSR) and classification, thereby enabling robot perception to solve the problem of diverse modal data fusion at the feature level. Finally, comparative experiments are carried out to demonstrate the performance of this framework.

关键词： multi-modal fusion robot perception vision tactile classification

Flexible tactile Electronic Skin Sensor with 3D Force Detection Based on Porous CNTs/PDMS Nanocomposites

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Nano-Micro Letters 2019年第4期11卷 35-48页

作者： Xuguang Sun Jianhai Sun Tong Li Shuaikang Zheng Chunkai Wang Wenshuo Tan Jingong Zhang Chang Liu Tianjun Ma Zhimei Qi Chunxiu Liu Ning Xue State Key Laboratory of Transducer Technology Institute of Electronics Chinese Academy of Sciences(IECAS)Beijing 100190People’s Republic of China School of Electronic Electricaland Communication EngineeringUniversity of Chinese Academy of Sciences(UCAS)Beijing 100049People’s Republic of China School of Microelectronics University of Science and Technology of China(USTC)Hefei 230026People’s Republic of China

Flexible tactile sensors have broad applications in human physiological monitoring,robotic operation and human-machine ***,the research of wearable and flexible tactile sensors with high sensitivity,wide sensing range and ability to detect three-dimensional(3D)force is still very ***,a flexible tactile electronic skin sensor based on carbon nanotubes(CNTs)/polydimethylsiloxane(PDMS)nanocomposites is presented for 3D contact force *** 3D forces were acquired from combination of four specially designed cells in a sensing *** from the double-sided rough porous structure and specific surface morphology of nanocomposites,the piezoresistive sensor possesses high sensitivity of 12.1 kPa?1 within the range of 600 Pa and 0.68 kPa?1 in the regime exceeding 1 kPa for normal pressure,as well as 59.9 N?1 in the scope of2.3 N?1 in the region of<0.6 N for tangential force with ultra-low response time of 3.1 *** addition,multi-functional detection in human body monitoring was employed with single sensing cell and the sensor array was integrated into a robotic arm for objects grasping control,indicating the capacities in intelligent robot applications.

关键词： Flexible tactile sensors Electronic skin Piezoresistive sensors CNTs/PDMS nanocomposites 3D force detection

Development of a tactile and Slip Sensor with a Biomimetic Structure-enhanced Sensing Mechanism

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Journal of Bionic Engineering 2019年第1期16卷 47-55页

作者： Yonggang Jiang Zhiqiang Ma Bonan Cao Longlong Gong Lin Feng Deyuan Zhang School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China International Research Institute for Multidisciplinary Science Beihang UniversityBeijing 100191China

tactile and slip sensors have gained tremendous attention for their promising applications in the fields of smart robotics,implantable medical devices and minimally invasive *** by the structure-enhanced sensing mechanisms of human fingertips and tree frog toes,we developed a tactile and slip sensor by combining biomimetic surface microstructures with highly sensitive P(VDF-TrFE)nanofiber sensors on a flexible polyimide *** the surface microstructures could mediate the micro-vibration induced by slip motion,the frequencies of output signals revealed a strong correlation with the periods of *** addition,we proposed a method to discriminate touch force from slip motion using the criterion of standard deviation of time delay from the output signals of neighboring sensor elements.

关键词： tactile sensor slip detection nanofiber microstructure biomimetic sensing

Graphene Nanostructure-Based tactile Sensors for Electronic Skin Applications

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Nano-Micro Letters 2019年第4期11卷 239-275页

作者： Pei Miao Jian Wang Congcong Zhang Mingyuan Sun Shanshan Cheng Hong Liu Institute for Advanced Interdisciplinary Research Collaborative Innovation Center of Technology and Equipment for Biological Diagnosis and Therapy in Universities of ShandongUniversity of Jinan336 Nanxinzhuang West RoadJinan 250011People’s Republic of China Department of Chemistry School of Chemistry and Chemical EngineeringUniversity of Jinan336 Nanxinzhuang West RoadJinan 250011People’s Republic of China Department of Chemistry Tianjin Key Laboratory of Molecular Optoelectronic SciencesSchool of ScienceTianjin University92 Weijin RoadTianjin 300072People’s Republic of China Center of Bio and Micro/Nano Functional Materials State Key Laboratory of Crystal MaterialsShandong University27 Shanda South RoadJinan 250100People’s Republic of China

Skin is the largest organ of the human body and can perceive and respond to complex environmental ***,the development of electronic skin(E-skin)for the mimicry of the human sensory system has drawn great attention due to its potential applications in wearable human health monitoring and care systems,advanced robotics,artificial intelligence,and human-machine *** sense is one of the most important senses of human skin that has attracted special *** ability to obtain unique functions using diverse assembly processible methods has rapidly advanced the use of graphene,the most celebrated two-dimensional material,in electronic tactile sensing *** a special emphasis on the works achieved since 2016,this review begins with the assembly and modification of graphene materials and then critically and comprehensively summarizes the most advanced material assembly methods,device construction technologies and signal characterization approaches in pressure and strain detection based on graphene and its derivative *** review emphasizes on:(1)the underlying working principles of these types of sensors and the unique roles and advantages of graphene materials;(2)state-of-the-art protocols recently developed for high-performance tactile sensing,including representative examples;and(3)perspectives and current challenges for graphene-based tactile sensors in E-skin applications.A summary of these cutting-edge developments intends to provide readers with a deep understanding of the future design of high-quality tactile sensing devices and paves a path for their future commercial applications in the field of E-skin.

关键词： Graphene derivatives tactile sensor Electronic skin Assembly

Anthropomorphic Classification of tactile Qualities of Woven Fabrics Based on Skin/Textile Friction-Induced Vibrations

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Journal of Donghua University(English Edition) 2014年第5期31卷 714-717页

作者： ZHANG Yuan HU Ji-yong YANG Xu-dong JIANG Rui-tao DING Xin WANG Ru-bin College of Textiles Donghua University Shanghai 201620 China Key i.aboratory of Textile Science & Technology Ministry of Education Donghua University Shanghai 201620 China The Institute for Brain Information Processing and Cognitive Neurodynamics East China University of Science and TechnologyShanghai 200237 China

The common method classifying tactile qualities of fabrics is indirectly based on their difference of purely mechanical and physical properties. When human skin slides across fabric surfaces, the friction interaction between fabrics and skin will occur and trigger the cutaneouS tactile receptors, which are responsible for perceived tactile sensation. By the extracted features from friction- induced vibration signals, this paper presents an anthropomorphic classification method classifying tactile qualities of fabrics. The friction-induced vibration signals are recorded by a three-axis accelerator sensor, and the entice testing procedure is conducted in an anthropomorphic way to obtain vibration signals. The fast Fourier transform （FFT） is applied to analyzing the recoded signals, and then the classification features are extracted from the FFT data by the neurophysiological properties of tactile receptors. The extracted features are used to classify fabric samples by the softness sensation and the roughness sensation, respectively, and the classification performance is checked by a comparison with those in a sensory evaluation procedure. The results showed that the anthropomorphic objective classification method was precise and efficient to clarify tactile qualities of woven fabrics.

关键词： classification tactile qualities vibration biotribology anthropomorphic

A High Resolution and High Compliance tactile Sensing Array

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Chinese Science Bulletin 1994年第15期39卷 1249-1252页

作者：贾云得李科杰 Department of Mechanics and Engineering Beijing Institute of Technology Beijing 100081 PRC

A tactile sensing array can be defined as a device which measures parameters of a contact interaction between the sensing area and an object. tactile sensing is becoming more important in robotic manipulation system in which high dexterity plays a prominent role. Attempts at producing tactile sensors that have both high resolution and high compliance are frustrated by the conflicting requirements of

关键词： TIR tactile sensor rubber waveguide.

Influence of Surface Topography on the tactile Friction of Medical Compression Textiles against a Mechanical Skin Model

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Journal of Donghua University(English Edition) 2014年第5期31卷 572-576页

作者： KE Wei DING Xin HU Ji-yong WANG Ru-bin Key Laboratory of Textile Science and Technology Ministry of Education Donghua University Shanghai 201620 China College of Textiles Donghua University Shanghai 201620 China The Institute for Brain Information Processing and Cognitive Neurodynamics East China University of Science and TechnologyShanghai 200237 China

Influence of surface topography on the tactile friction of medical compression textiles was studied in this paper. The friction behavior was investigated for three kinds of medical textiles with various structures and compositions by using a textile friction analyzer under dry condition. In order to simulate the contacts of textiles/human finger, a mechanical skin model with similar texture to the skin and applied normal load oflN were selected. Meanwhile, the 3D surface topography of textiles was measured using a digital microscope. The topographical data were analyzed concerning height distribution and material ratio, and the real contact area was estimated as a function of penetration depth. Results showed that the investigated textiles revealed a significant variation on the friction coefficients, which were （ 0.41 ± 0.01 ）（ polyamide, jersey 2 × 2 ）, （0.56 ± 0. 01）（cotton, jersey 2×2） and （0. 47 ± 0. 01）（polyamide, jersey 1 × 1 ）, respectively. The textile with higher friction coefficient was found to own a relative compact and homogenous surface and larger contact area, vice versa.

关键词： surface topography medical compression textiles tactile friction mechanical skin model

Psychometric Properties of Geometrical Texture Features for tactile Roughness Sensation of Fabric Surfaces

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Journal of Donghua University(English Edition) 2013年第5期30卷 430-434页

作者：胡吉永姜瑞涛杨旭东丁辛王如彬 Key Laboratory of Textile Science and Technology Ministry of EducationDonghua University College of Textiles Donghua University The Institute for Brain Information Processing and Cognitive Neurodynamics East China University of Science and Technology

The lack of understanding of the psychometric properties on the basic texture features forming tactile texture sense hinders the development of haptic rendering technology of textiles. The differential threshold and Weber fraction were investigated for a deep understanding of how surface texture features of fabrics affect the perceived roughness sensation by the constant stimulus method and the paired comparison method. The results showed that the differential threshold for the mean deviation of surface profile was0. 86 μm,and that the differential threshold of texture spatial period(TSP) was 2. 48 mm. And also,the difference thresholds and Weber fraction were affected by the reference stimulus intensity. As there is a significant interaction between four extracted texture feature indexes,any of the indexes alone cannot represent roughness sensation of fabrics.

关键词： fabric tactile roughness texture features differential threshold Weber fraction