Design of tactile sensor for PVDF based humanoid manipulator

The labor intensity and danger can be reduced by using humanoid manipulator instead of manual operation. For better use of a humanoid manipulator, a design method of tactile sensor of humanoid manipulator is proposed in this paper. The method takes PVDF piezoelectric film as the sensing material of the sensor, and the output pressure signal of PVDF is processed by a signal conditioning circuit to realize piezoelectric conversion, filtering and amplitude adjustment, then different morphological characteristics of the tactile and slip signals are analyzed through data processing. The experimental results show that the tactile sensor designed in this paper can effectively analyze the tactile signal and the slip signal in three-dimensional space.