The tactile sensing is of significant interest for coexisting-cooperative-cognitive robots (Tri-Co robots). In order to improve the tactile sensing performance of the robot via an electronic skin (e-skin), an auxiliary elastomeric substrate is required. This paper investigates the effect of the substrate including elastic modulus, thickness and location on the static sensing at first. It is found that thick substrate with small elastic modulus can even the force distribution effectively and improve the contact area sensing. But it brought noises and crosstalk on the e-skin when the substrate has the large deformation. In occasions of dynamic tactile sensing, the impact of substrate thickness and elastic modulus was also studied and it is found that smaller elastic modulus can help e-skin sense larger and higher frequency stimulus.

中文翻译：

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电子皮肤基板对机器人触觉传感的影响

触觉感知对于共存合作认知机器人（Tri-Co 机器人）具有重要意义。为了通过电子皮肤（e-skin）提高机器人的触觉传感性能，需要辅助弹性基板。本文首先研究了包括弹性模量、厚度和位置在内的基板对静态传感的影响。发现具有小弹性模量的厚基板可以有效地均匀受力分布并改善接触面积感测。但当基板发生较大变形时，会给电子皮肤带来噪音和串扰。在动态触觉传感的场合，还研究了基板厚度和弹性模量的影响，发现较小的弹性模量可以帮助电子皮肤感知更大和更高频率的刺激。