Application of BAS-BP model in 3D force decoupling of flexible tactile sensors

摘要

The force detection of the robot is the basis for the smooth progress of the robot in the process of soft gripping. Detecting the force in the three-dimensional direction can fully absorb the force information of the object, at present, there are still some shortcomings in the sensor and three-dimensional force decoupling algorithm in the process of soft grabbing. Based on this, this paper takes carbon nano-wall as sensitive material and PI material as flexible electrode, designs an array- type flexible sensor that can realize three-dimensional force sensing, and designs a three-dimensional force decoupling algorithm based on BAS-BP model. Experiments show that the sensor and decoupling algorithm can effectively detect the three-dimensional force information.