Research on Composite Strain and Stress Sensors Based on Piezoresistive and Triboelectric Effects

Abstract In view of the problems that robotic arms find it difficult to effectively identify and grasp workpieces with different textures and hardness in complex industrial environments, and the low path planning accuracy of robotic arms in practical application scenarios, this paper proposes a composite sensor based on piezoresistive effect and triboelectric effect. The piezoresistive sensor and the triboelectric sensor simultaneously generate output signals, and the identification of different achieves high-precision dynamic monitoring of the robotic arm's gripping objects and joint movements. The base material of the piezoresistive sensor and the negative electrode material of the triboelectric sensor are both porous MXene/PDMS structures. The piezoresistive sensor enhances its conductivity by spin-coating CNT slurry on the surface of the base material and uses PVA hydrogel as the electrode. The triboelectric sensor uses copper as the positive electrode material. Experiments show that the developed sensor has a measurement range (0.015 kPa-70 kPa) and good repeatability. The experiment verifies that the composite sensor can be applied to the high-precision detection of robotic arm's flexible gripping and joint movements.