1成果简介
多模态柔性传感器在可穿戴健康监测和机器人末端执行器感知中发挥着关键作用。然而，在单一器件中实现多种运动状态和多种物理信号的同步检测仍然是一项挑战。本文，北京航空航天大学罗斯达 教授等在《Journal of Materials Chemistry A》期刊发表名为"Laser-induced graphene-based corrugated bimodal sensor for strain and contact monitoring in wearables and intelligent robotics"的论文，研究提出了一种褶皱双模态传感器（CBS），用于应变和接触感知。该传感器通过一步激光诱导石墨烯（LIG）图案化工艺制备，应变单元与接触单元高度集成于同一聚酰亚胺（PI）薄膜上，实现了接触信号与应变信号的同步监测。
与PI薄膜本征有限的拉伸性不同，褶皱压阻石墨烯应变单元实现了机械柔性、高拉伸应变（10%）和高应变系数（GF = 3.01的优异组合，在拉伸和弯曲过程中表现出快速响应（389 ms）和优异的稳定性。摩擦电接触单元通过激光烧蚀微沟槽增强，最大输出电压达55 V，可进行材料识别，并提供约100 mm的接近感知，响应时间快至40 ms。值得注意的是，两个传感单元均具备压力监测能力，提供6.02 V kPa⁻¹的高压力灵敏度和0.7–83 kPa的宽检测范围。通过融合接近、接触和应变信号，CBS可穿戴于人体进行实时运动与接触分析以及生物机械能收集，助力健康状态评估；集成于机器人夹爪后，可赋予碰撞避障、抓取状态监测和物体识别等智能功能。该工作为需要多信息融合的新一代可穿戴设备和智能机器人提供了通用硬件平台。
2图文导读
图1. Schematic diagram and application cases of the CBS. (a) Schematic illustration of the CBS. (b) (i) Schematic of the CBS for human motion state detection. (b) (ii) Schematic of tactile detection using the CBS. (b) (iii) Conceptual diagram of human–robot interaction.
图2、Fabrication process, structural design, and working principle of the CBS. (a) Surface etching of the contact sensor and laser processing of the PI film. (b) Fabrication of the strain unit using a mold. (c) Working principle of the contact unit based on the triboelectric effect. (d) Working principle of the strain unit based on the piezoresistive effect. (e) Simulation results of the triboelectric nanogenerator unit. (f) Mechanical simulation results of the strain unit. (g) XPS spectra of the PI film and LIG. (h) Raman spectra. (i) SEM and TEM images of the LIG electrode.
图3、Performance optimization and signal characteristics of the contact unit in the CBS. (a) Surface groove structures processed with lasers at different powers. (b) Voltage performance of groove structures at different laser powers. (c). Voltage performance of the contact unit fabricated with different laser powers. (d) Voltage performance of the contact unit with different contact materials. (e) Voltage performance of the contact unit under different pressures. (f) Signal response speed of the contact unit. (g) Performance variation curve of the contact unit when external objects move away. (h) Relationship between the performance and different distances of external objects. (i) Real-time current signals when external objects approach the contact unit at different speeds. (j) Relationship between approaching speed and the current performance of the contact unit. (k) Durability test over approximately 8000 cycles.
图4、Performance optimization and signal characteristics of the strain unit for the CBS. (a) Resistance changes of graphene electrodes fabricated under different processing parameters at the same deformation. (b) Relationship between the graphene electrode thickness and laser power at different focal lengths. (c) Stretching distance corresponding to different numbers of corrugation peaks. (d) Relationship between strain and resistance change for strain units with different numbers of peaks. (e) Signal responses of the 5-peak strain unit under different strains. (f) Signal response speed of the 5-peak strain unit. (g) Relationship between the strain unit and different pressures. (h) Signal response of the strain unit under different pressures. (i) Response speed of the strain unit during pressure detection.
图5、Wearable applications of the CBS. (a) Photograph of the CBS. (b) CBS mounted on the smart glove. (c) CBS mounted on the motion joint. (d) Signal changes of the strain unit under different finger bending angles. (e) The electrical signal generated by the strain unit can provide real-time feedback for the finger bending and angle maintaining actions. (f) The contact unit can detect the contact with external objects and the grasping of objects by the hand. (g) The contact unit detects the elbow bending state during walking and running. (h) The contact unit detects motion signals and harvests energy from elbow movements during walking and running. (i) The knee bending state is detected during walking and running.
图6、Integration of the CBS with an intelligent robot for diameter measurement, human–robot interaction, and intelligent obstacle avoidance and grasping. (a) The CBS is non-destructively mounted on the outer surface of a soft gripper. (b) The CBS and the testing system form an intelligent control system. (c) The intelligent robot generates distinct strain signals when grasping targets of different diameters. (d) Approximately 120 grasping cycles demonstrate the robustness of the CBS. (e) The CBS serves as a wearable device for human–robot interaction. (f) The CBS assists the intelligent robot in obstacle and hazard recognition. (g) The intelligent robot equipped with the CBS autonomously locates, grasps, and identifies target objects.
3小结
综上所述，本研究提出了一种基于激光诱导石墨烯的褶皱双模态传感器（CBS），通过一步LIG图案化工艺将褶皱压阻应变单元与增强型摩擦电接触单元高度集成于同一PI薄膜上，实现了应变与接触信号的同步监测。褶皱应变单元兼具10%的高拉伸应变和3.01的应变系数，响应时间389 ms；微沟槽增强的摩擦电接触单元输出电压达55 V，支持约100 mm的接近感知和材料识别，响应时间40 ms；双模态压力监测实现6.02 V kPa⁻¹的高灵敏度和0.7–83 kPa的宽检测范围。通过融合接近、接触和应变三种信号，CBS在可穿戴健康监测（实时运动分析、生物机械能收集、健康评估）和智能机器人（碰撞避障、抓取监测、物体识别）领域展现出强大的应用潜力。该工作为多信息融合的新一代可穿戴设备和智能机器人提供了简洁而高效的硬件平台。
文献：
https://doi.org/10.1039/D6TA01923D
来源：材料分析与应用
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