Triboelectric nanogenerators and sensors can be applied as human–machine interfaces to the next generation of intelligent and interactive products, where flexible tactile sensors exhibit great advantages for diversified applications such as robotic control. In this paper, we present a self-powered, flexible, triboelectric sensor (SFTS) patch for finger trajectory sensing and further apply the collected information for robotic control. This innovative sensor consists of flexible and environmentally friendly materials, i.e., starch-based hydrogel, polydimethylsiloxane (PDMS), and silicone rubber. The sensor patch can be divided into a two-dimensional (2D) SFTS for in-plane robotic movement control and a one-dimensional (1D) SFTS for out-of-plane robotic movement control. The 2D-SFTS is designed with a grid structure on top of the sensing surface to track the continuous sliding information on the fingertip, e.g., trajectory, velocity, and acceleration, with four circumjacent starch-based hydrogel PDMS elastomer electrodes. Combining the 2D-SFTS with the 1D-SFTS, three-dimensional (3D) spatial information can be generated and applied to control the 3D motion of a robotic manipulator, and the real-time demonstration is successfully realized. With the facile design and very low-cost materials, the proposed SFTS shows great potential for applications in robotics control, touch screens, and electronic skins.

中文翻译：

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摩擦电自供电可穿戴柔性贴片作为机器人机械手的3D运动控制接口

摩擦电纳米发生器和传感器可以作为人机界面应用到下一代智能和交互式产品中，其中灵活的触觉传感器在诸如机器人控制之类的多种应用中显示出巨大的优势。在本文中，我们提出了一种用于手指轨迹感测的自供电，灵活的摩擦电传感器（SFTS）补丁，并将所收集的信息进一步应用于机器人控制。这种创新的传感器组成的灵活和环保材料，我。Ë，淀粉基水凝胶，聚二甲基硅氧烷（PDMS）和硅橡胶。传感器贴片可分为用于平面内机器人运动控制的二维（2D）SFTS和用于平面外机器人运动控制的一维（1D）SFTS。2D-SFTS设计为在感测表面的顶部具有网格结构，以跟踪指尖上的连续滑动信息，例如。G，轨迹，速度和加速度，使用四个周围的淀粉基水凝胶PDMS弹性体电极。将2D-SFTS与1D-SFTS结合，可以生成三维（3D）空间信息并将其应用于控制机械手的3D运动，并成功实现了实时演示。凭借便捷的设计和极低成本的材料，拟议的SFTS在机器人控制，触摸屏和电子皮肤中显示出巨大的潜力。