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基于人手热觉感知机理,设计了一种热流触觉传感器,该传感器由恒温元件和热流传感器构成。恒温元件保持热流敏感元件热端恒温,热流传感器检测传感器与被测物体表面间的热流温差,热流传感器采用玻尔贴器件。设计了两种不同方式的热流触觉传感方式。分析了采用热流触觉识别材料热属性的方法,具有温度差异的传感器与物体相接触,在传感器和物体间形成热流,不同材料物体热流不同,并对不同材料的物体进行了热流触觉仿真和试验。结果表明,所研制的热流触觉传感器能较好地识别不同热属性的物体。
Based on the human hand sensing mechanism, a heat flow tactile sensor is designed. The sensor consists of a thermostatic element and a heat flow sensor. The thermostatic element maintains the thermostatic constant temperature of the heat flow sensitive element, the heat flow sensor detects the difference in heat flow between the sensor and the surface of the object to be measured, and the heat flow sensor uses a Bohr paste device. Two different ways of thermal flow tactile sensing are designed. The method of identifying the thermal properties of materials by using thermal flow tactile properties was analyzed. The sensors with temperature difference were in contact with the object, the heat flow was formed between the sensor and the object, the heat flux of different materials was different, and the thermal flow tactile simulation and experiment of different materials were carried out. The results show that the developed thermal flow tactile sensor can better identify objects with different thermal properties.