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CN-122016100-A - Double-layer structure sensor for robot skin and preparation method and application thereof

CN122016100ACN 122016100 ACN122016100 ACN 122016100ACN-122016100-A

Abstract

The application provides a double-layer structure sensor for robot skin and a preparation method and application thereof, belonging to the technical field of bionics and the technical field of polymers. The double-layer structure sensor for the robot skin comprises a conductive foam layer and an ionic gel layer, wherein the conductive foam layer comprises polyurethane porous foam and a first conductive material loaded in the polyurethane porous foam, the ionic gel layer comprises polyacrylic semi-interpenetrating network gel and a second conductive material, and the conductive foam layer and the ionic gel layer are adhered and attached through an interface. The double-layer structure sensor has a wider detection range, stable electric signal output, intrinsic repair capability, structural integrity under long-term dynamic load and signal acquisition reliability.

Inventors

  • CHANG ZIXUAN
  • LI CHUANG

Assignees

  • 中国科学技术大学先进技术研究院

Dates

Publication Date
20260512
Application Date
20260410

Claims (10)

  1. 1. A double layer structured sensor for robotic skin comprising a conductive foam layer and an ionic gel layer; The material of the conductive foam layer comprises polyurethane porous foam and a first conductive material loaded in the polyurethane porous foam; the ionic gel layer comprises polyacrylic acid semi-interpenetrating network gel and a second conductive material; wherein, the conductive foam layer and the ionic gel layer are adhered and attached through an interface.
  2. 2. A sensor according to claim 1, wherein, The mass ratio of the first conductive material to the polyurethane porous foam in the conductive foam layer is (0.001-0.1): 1; The polyacrylic acid semi-interpenetrating network gel is a crosslinked network gel formed by interpenetrating linear polyacrylic acid and poly (hydroxyethyl acrylate-co-hydroxyethyl methacrylate); the mass ratio of the linear polyacrylic acid to the poly (hydroxyethyl acrylate-co-hydroxyethyl methacrylate) is (0.01-0.5): 1; The solvent of the ionic gel layer is at least one of polyethylene glycol, ethylene glycol and polypropylene glycol, wherein the molecular weight of the polyethylene glycol is 200-600 Da.
  3. 3. A sensor according to claim 1, wherein, The first conductive material comprises a carbon-based conductive material and/or a metal conductive material; the second conductive material includes a metal salt.
  4. 4.A sensor according to claim 1 or 3, characterized in that, The first conductive material comprises one or more of multi-wall carbon nanotubes, single-wall carbon nanotubes, graphene, conductive carbon black, silver nanowires, silver powder and copper powder; the second conductive material comprises one or more of lithium salt, sodium salt, potassium salt, calcium salt, magnesium salt, ferric salt and aluminum salt.
  5. 5. A sensor according to claim 1, wherein, The thickness of the conductive foam layer is 2-10 mm, and the compression modulus is 1-20 kPa; the thickness of the ionic gel layer is 2-10 mm, and the compression modulus is 20-200 kPa.
  6. 6. A sensor according to claim 2, wherein, Based on the total mass of the ionic gel layer, the mass content of the second conductive material is 1% -10%; based on the total mass of the ionic gel layer, the mass content of the polyethylene glycol is 30% -70%.
  7. 7. The sensor of claim 1, further comprising: A first electrode and a second electrode; The first electrode is attached to the side of the conductive foam layer away from the ionic gel layer; the second electrode is attached to a side of the ionic gel layer remote from the conductive foam layer.
  8. 8. A method for manufacturing a sensor for a double-layer structure of a robot skin according to any one of claims 1 to 7, comprising: Foaming, shaping and drying wet polyurethane resin to obtain polyurethane porous foam, wherein the wet polyurethane resin is obtained by mixing and stirring polyurethane resin, polyvinyl alcohol powder and polyamide wax; immersing the polyurethane porous foam in a solution containing a first conductive material, and drying to obtain a conductive foam layer; mixing acrylic acid, a photoinitiator and a solvent, and carrying out polymerization reaction under illumination to obtain a polyacrylic acid solution; mixing the polyacrylic acid solution, a polymerization monomer, a cross-linking agent, a thermal initiator and a second conductive material, and performing a heating reaction to obtain the ionic gel layer, wherein the polymerization monomer comprises at least one of hydroxyethyl acrylate and hydroxyethyl methacrylate; Attaching the conductive foam layer and the ionic gel layer through interfacial adhesion to obtain the sensor with the double-layer structure for the robot skin.
  9. 9. The method according to claim 8, wherein, The mass ratio of the polymerized monomer to the cross-linking agent is (15-100) 1.
  10. 10. Use of a sensor for a double layer structure of a robotic skin according to any one of claims 1-7, comprising at least one of the following: (1) The application in the human-shaped robot touch perception skin and bionic system; (2) The application of the medical rehabilitation device in monitoring human body movement and physiological signals.

Description

Double-layer structure sensor for robot skin and preparation method and application thereof Technical Field The application relates to the field of bionic technology and polymer technology, in particular to a double-layer structure sensor for robot skin, and a preparation method and application thereof. Background With the development of humanoid robot technology, the haptic perception capability of people is a core for realizing safe and intelligent interaction. The robot skin is used as a key carrier, and a flexible sensor capable of stably detecting multidimensional physical signals is required to be integrated. Among them, ionic gels are considered as important candidate materials for constructing high-sensitivity tactile sensors due to their high ionic conductivity and excellent flexibility. However, the ionic gel is applied to the skin of an actual robot, has a serious challenge, the conventional ionic gel material has limited mechanical strength and rebound resilience, is difficult to match with frequent and large-scale dynamic deformation of a robot joint, is easy to generate fatigue damage and signal drift in long-term use, has generally weak interfacial adhesion between the ionic gel and a robot body or electrodes, is easy to peel in dynamic movement, and causes signal acquisition failure. While self-healing performance is generally regarded as critical to extending device life, prior art solutions often have difficulty balancing the repair efficiency of materials, environmental stability, and their core sensing performance. Therefore, there is a need to develop a robotic skin solution that combines higher ionic conductivity, active interfacial adhesion, and efficient intrinsic self-healing capabilities. Disclosure of Invention In view of this, the present application provides a double-layer structure sensor for robot skin, and a method of manufacturing and application thereof, in order to at least partially solve at least one of the above-mentioned technical problems. According to an embodiment of one aspect of the present application, there is provided a double-layer structure sensor for robot skin, comprising a conductive foam layer and an ionic gel layer, wherein the material of the conductive foam layer comprises polyurethane porous foam and a first conductive material loaded in the polyurethane porous foam, the material of the ionic gel layer comprises polyacrylic acid-based semi-interpenetrating network gel and a second conductive material, and the conductive foam layer and the ionic gel layer are adhered by an interface. According to an embodiment of another aspect of the present application, there is provided a method for manufacturing a double-layer structure sensor for robot skin, including foaming, setting and drying a wet polyurethane resin, which is obtained by mixing and stirring a polyvinyl alcohol powder and a polyamide wax, to obtain a polyurethane porous foam, immersing the polyurethane porous foam in a solution containing a first conductive material, drying to obtain a conductive foam layer, mixing acrylic acid, a photoinitiator and a solvent, performing a polymerization reaction under light to obtain a polyacrylic acid solution, mixing a polyacrylic acid solution, a polymerization monomer, a crosslinking agent, a thermal initiator and a second conductive material, and performing a heating reaction to obtain an ionic gel layer, wherein the polymerization monomer includes at least one of hydroxyethyl acrylate and hydroxyethyl methacrylate, and attaching the conductive foam layer and the ionic gel layer by interfacial adhesion to obtain the double-layer structure sensor for robot skin. According to an embodiment of a further aspect of the application, there is provided the use of a sensor of a double-layer structure for the skin of a robot, comprising at least one of (1) the use in a human-shaped robot tactile skin sensing and biomimetic system and (2) the use in the monitoring of human motion and physiological signals by medical rehabilitation equipment. According to the embodiment of the application, the conductive foam layer formed by loading the first conductive material by the polyurethane porous foam provides a high-elasticity compressible porous framework, endows the sensor with excellent flexibility and mechanical resilience, can adapt to large-amplitude and high-frequency dynamic deformation of the skin of a robot, effectively improves the pressure sensitivity and response range due to the porous structure, takes the macroscopic deformation and ion migration of the semi-interpenetrating network gel and the second conductive material of the polyacrylic acid-based semi-interpenetrating network gel as the dominant substances, can still maintain continuous electrical response under high pressure, thereby widening the upper detection limit, providing higher ion conductivity, ensuring stable electrical signal output of the sensor in a wide strain range, simultaneously, the sem