发表机构
V-Trion GmbH; Institute of Mechatronic Systems, ZHAW Zurich University of Applied Sciences; Grabher Group GmbH（V-Trion有限公司; 苏黎世应用科技大学机电系统研究所; 格拉伯集团有限公司）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究开发基于银涂层纱线的纺织电容传感器，探究捻纱层数对其压力、接近传感等特性的影响，实现传感性能调谐，验证其可用于机器人皮肤的实时触觉检测。
AI 中文摘要
纺织集成电容式传感器可为可穿戴电子设备与人机交互提供柔性、贴合的触觉传感，但纱线级结构对电容转换特性的影响尚未得到充分量化。本研究提出一种基于涂覆聚二甲基硅氧烷的银涂层纱线的纺织电容传感平台，将纱线组装成单层、双层及四层捻制结构，系统研究有效电极重叠面积与纤维间间距对电容响应的影响，实现压力与接近传感特性的结构相关调谐。压力通过局部单纤维接触面积计算，对应应力范围为0.4-3.9 MPa。增加层数可提升机械强度与传感性能：断裂伸长率从37.5%分别提升至62.5%与85.0%，最大载荷从23.3 N分别提升至42.7 N与89.7 N；灵敏度随层数与频率增加而提升，四层传感器在100 kHz下灵敏度达0.1331 MPa⁻¹。四层结构还表现出低滞后性、25至90°C下极小的热漂移，以及15000次循环内的稳定运行。单层、双层、四层传感器的接近检测范围分别为60 mm、50 mm、40 mm，揭示了结构相关的灵敏度-范围权衡。4×4纺织传感阵列实现了空间接触映射，机器人手臂集成验证了端到端机器人系统（从检测到机器人反应）延迟为403 ms的实时触摸与接近检测，结果确立纱线结构为调控纺织集成电容传感系统测量特性的可调节设计参数。
英文摘要
Textile-integrated capacitive sensors offer flexible and conformable tactile sensing for wearable electronics and human-robot interaction; however, the influence of yarn-level architecture on capacitive transduction characteristics remains insufficiently quantified. This work presents a textile capacitive sensing platform based on silver-coated yarns coated with polydimethylsiloxane and assembled into one-, two-, and four-layer twisted configurations. The influence of effective electrode overlap area and inter-fiber separation on the capacitive response is systematically investigated, enabling architecture-dependent tuning of pressure and proximity sensing characteristics. Pressure was calculated using the localized single-fiber contact area, corresponding to stresses of 0.4-3.9 MPa. Increasing the layer number improved mechanical strength and sensing performance: elongation at break increased from 37.5% to 62.5% and 85.0%, while the maximum load increased from 23.3 to 42.7 and 89.7 N. Sensitivity increased with layer number and frequency, reaching 0.1331 MPa$^{-1}$ for the four-layer sensor at 100 kHz. The four-layer configuration also exhibited low hysteresis, minimal thermal drift from 25 to 90 $^\circ$C, and stable operation over 15,000 cycles. Proximity detection ranges of 60, 50, and 40 mm were obtained for the one-, two-, and four-layer sensors, respectively, revealing an architecture-dependent sensitivity-range trade-off. A 4$\times$4 textile sensing array enabled spatial contact mapping, while robotic-arm integration demonstrated real-time touch and proximity detection with an end-to-end robotic system latency (from detection to robot reaction) of 403 ms. The results establish yarn architecture as a tunable design parameter governing the measurement characteristics of textile-integrated capacitive sensing systems.
Comments10 pages. Submitted to IEEE Transactions on Instrumentation and Measurement
