Aimed at the requirement of 3-axis force perception and slip recognition for intelligent robot skin during soft grasping, a flexible 3-axial tactile sensor, fabricated by carbon ( CB ) , graphene nanoplatelets ( GNPs ) and silicone rubber( SR) was proposed. Finite element method( FEM) had been employed to explain the operation princi-ple and to optimize the characteristic parameters of the proposed sensor. Based on the proposed sensor,a designed algorithm fused withdiscrete wavelet transform ( DWT ) , phase space reconstruction ( PSR ) and support vector machine( SVM) is utilized to realize recognition of slipping state. The flexible sensor and the fusion algorithm could have promising application in recognition of slipping state during the robot grasp task.%针对智能机器人在软抓取过程中对三维力感知和滑觉识别的需求,以炭黑/石墨烯为敏感材料,硅橡胶为基体,聚酰亚胺为柔性电极,设计了可以实现三维力感知的柔性触觉传感器;同时设计了一种可以实现滑觉识别的基于小波变换-相空间重构-支持向量机(DWT-PSR-SVM)的融合算法.针对机器人软抓取的实验结果表明,该传感器能够有效地检测三维力,通过所设计融合算法能识别在机器人抓取任务中的滑动状态和非滑动状态,可以进一步应用在机器人软抓取的工作中.
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