Overview of sensing unit with decoupled force and temperature sensing ability. (IMAGE)
Caption
(a) Multilayer structure of human skin and various types of sensory receptors. (b) Proposed multilayer sensor unit structure inspired by the human skin, capable of decoupled measurements of normal force, tangential force, and temperature. (c) Sensing unit with multi-signal decoupling capabilities enable more intelligent and natural human-machine interaction. Where Fhx, Fhy, Fhz means the 3D force from human hand in x, y, and z direction, respectively, Fx, Fy, Fz means the measured 3D force from robotic hand in x, y, and z direction, respectively. (d) Fabrication of temperature sensing layer that is insensitive to external forces. UV: ultraviolet. (e) Assembly process of coaxial Halbach magnetic films for omnidirectional tangential force measurement. (f) Manufacturing of floating mount capacitor which is insensitive to tangential forces for normal force measurement.
Credit
Xiong Yang et al.
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