The composites of carbon black-filled silicon rubber are obtained aimed the usage in field of robotic sensor because of its conductivity and flexibility.The effects of the nano-silica and nano-alumina on the dispersion of carbon black in silicon rubber were analyzed with Scanning Electronic Microscopy(SEM). The conductivity and piezoresistance character were measured and the effects of nano particles were investigated.The results indicate that the nano particles have the effect of dispersion and erosion,and on optimum percentage,conductive rubber with better conductivity and linear piezoresistance was achieved.

Based on the use of piezoresistive effect of a 3×3 matrix of flexible tactile sensor,a new signal processing circuit is designed.The circuit can fulfill requirement as follows:signal amplification,choosing signal from sensor array,A/D conversion and collecting signal by LED circuit.And the principle and the circuit chip with the function are detailed.The signal processing circuit designed can determine which suffered three-dimensional tactile sensor unit load size and position of power.Through the loading experiment at positive pressure,the feasibility of the circuit is verified.

To obtain conductive rubber with favorable pressure-resistance and resistance-temperature properties,and to meet with the demands of robots complex sensors research,the conductive silicone rubber doped with different concentration of nano SiO2 and Al2O3 particles respectively,and conductive particles carbon black were compounded.The characteristics of pressure-resistance,resistance-temperature,stability,and sensitivity properties were measured.The results demonstrate that linear pressure-resistance,linear resistance-temperature can be obtained when the nano particles and conductive ones doped in proper scale,and meanwhile the stability and sensitivity can be improved.The linear is tic are due to the dispersion and enhance effects of the nano particle in the rubber matrix,while the improved sensitivity and stability characteristics are due to the enhance effects of them.The potential applications of this complex conductive silicone rubber in complex sensor were indicated.

Two Types of tactile sensor of robot that can measure three-dimension force based on pressure sensitive conductive rubber are proposed. The two effects of the body piezoresistive and the interface piezoresistive of pressure sensitive conductive rubber were researched and compared. A type of single-layer and a type of multi-layer net tactile sensor array of robot according to piezoresistive effects have been designed. We have herein obtained the mathematical models of calculating three dimension forces for two different array structures. The tactile sensor units were made and the change of output resistances of pressure sensitive conductive rubber of sensor array unit have been obtained under the action of three dimensional forces. The experimental results and applications for two tactile sensor arrays were analysed. Results show that the flexible tactile sensor for robot has a simple design, fine flexibility, and can measure the information of three-dimensional force.

This paper designs a new robot flexible tactile sensor that can measure three-dimension force based on flexible pressure-sensitive conductive rubber.It studies on the piezoresistive effect of pressure-sensitive conductive rubber,illustrates on the designing thoughts of tactile sensor,and researches on the tactile sensor's unit design and array structure respectively.It obtains the mathematical model of calculating three dimension forces,and gains the verification of three dimension force by experiments.The results indicate that the designed three-dimension force flexible tactile sensor for robot has the advantage of simple design,low costs and fine flexibility.Besides,it can be disposed in array to acquire the information of three-dimension force in medication,physics and robots.

New flexible sensitive materials research in the tactile sensor especially in the field of robot sensor has a very important role. From the perspective of macro and microscopic theory, this paper studies the conductive mechanism based on the pressure-sensitive conductive composite material of such flexible tactile sensor, through the experiment of adding conductive filled composite materials of different contents, determine the carbon black filler content of the pressure-sensitive conductive composite material in insulation zone, percolation zone and conductive zone. By utilizing the general effective media (GEM) and quantum tunnel effect theory, it explains the conductive characteristics and piezoresistive characteristics of the carbon black filled pressure-sensitive conductive composite material. It studies the influence of the temperature to conductive performance of the pressure-sensitive composite material according to the conductive mechanism of the pressure-sensitive conductive composite material, which provides theoretical foundation for researches of such new flexible tactile sensor material.

A method of measure the information of three-dimensional force tactile sensing based on flexible pressure sensitive conductive rubber has been presented. The conductive mechanism and piezoresistivity of flexible pressure sensitive conductive rubber ware analyzed. A new type three dimensional force net array structure of flexible tactile sensor of robot sensitive skin has been designed. The mechanics model of the three-dimensional force has been found. Through experimental study the three-dimensional force based on the tactile sensor units, the change output resistances of pressure sensitive conductive rubber of sensor array unit have been obtained under action of three dimensional forces. All which provided the effective basis for the confirmation experiment result and the new structural design. The results show that pressure-sensitive conductive rubber with fine electrical and mechanical properties for flexible tactile sensors. The robot sensitive skin using this material feels like the skin of human being and measure the information of multi-dimensional force.

The piezoresistive effect of pressure-sensitive conductive rubber was discussed and verified by experiment. The mathematical model of calculating three-dimension force is obtained. After that, the sensor array and the signal processing circuit were designed. By means of experiments, the verification of three-dimension force was given and the results were analyzed. The results showed that the new design of three-dimension force tactile sensor is accord with the design requirements, which provided a new idea for the further research of flexible three-dimension force sensor.

Resistance temperature characteristic of pressure sensitive conductive silicone rubber is discussed based on flexible tactile sensor from conductive mechanism.Analyses are made on the methods of improving temperature stability of pressure sensitive conductive silicone rubber on the basis of experiments.The results show that increased the carbon black content of pressure sensitive conductive silicone rubber within the scope to meet the requirements of the tactile sensor design and mixed with nanomaterials can effectively improve the resistance temperature characteristic of the pressure sensitive conductive silicone rubber.

Based on the pressure-resistive effect and force information examination principle characteristic of the force sensitive conductive rubber,a new three dimensional netted array structure of the force sensitive conductive tactile sensor was designed.This paper inferred the mathematics description of computing three dimensional force through analysis,carried on a series of finite elements simulation to the array structure of multi-dimensional flexible tactile sensor,obtained the displacement quantity of the central pitch point coordinate under the action of three dimensional force and calculated around the output resistance change of the force sensitive conductive rubber sensor array unit under three dimensional action of force.It provided effective basis for the confirmation experiment result and the new structural design.