Research on the self-powered and flexible pressure tactile sensor based on triboelectric nanogenerator for manipulator

With the wide application of manipulators in various fields, the requirements for manipulators are also increasing. Stable grasping of tools and unknown objects is one of the important capabilities of manipulators, which is inseparable from the good tactile perception system of manipulators. As the information of tactile sensing system, it is still a great challenge to provide accurate pressure tactile information for manipulators. An electromechanical pressure tactile sensor based on triboelectric nanogenerator (TENG) is presented in this paper. The device is inspired by cats. The soft-convex structure effectively senses pressure information and provides support and cushioning. The sensor is composed of a convex hemisphere of ecoflex film, copper film and conductive sponge. As a result of the experimental results, PT-TENG has proven to be able to detect pressures between 1N and 10N with great accuracy. As a pressure sensor, it is characterized by self-power, flexibility, high durability, and high-frequency applicability, which provides a new idea and research direction for pressure haptics in manipulators.