초록 ▼

본 연구의 목표는 3D 프린팅이 가능한 고기능성 로봇 피부를 제작하는 것이다. 생체기계 연구실에서는 임피던스 단층촬영법(EIT)를 응용한 측정 기술과 측정 시스템을 구현하는 것, 안정성을 높인 전극을 개발하는 것을 목표로 했다. 유기 및 나노 소자 연구실에서는 미세유체 시스템을 사용한 에멀젼 공정을 통해 높은 신축성과 회복성을 가지는 다공성 구조체를 만드는 것, 압저항 물질을 적용하여 측정용 소재를 만드는 것을 목표로 했다.

생체기계 연구실은 전도성 섬유를 이용한 전극, 내부전극과 패턴 개선을 통한 성능 개선, 그리고

본 연구의 목표는 3D 프린팅이 가능한 고기능성 로봇 피부를 제작하는 것이다. 생체기계 연구실에서는 임피던스 단층촬영법(EIT)를 응용한 측정 기술과 측정 시스템을 구현하는 것, 안정성을 높인 전극을 개발하는 것을 목표로 했다. 유기 및 나노 소자 연구실에서는 미세유체 시스템을 사용한 에멀젼 공정을 통해 높은 신축성과 회복성을 가지는 다공성 구조체를 만드는 것, 압저항 물질을 적용하여 측정용 소재를 만드는 것을 목표로 했다.

생체기계 연구실은 전도성 섬유를 이용한 전극, 내부전극과 패턴 개선을 통한 성능 개선, 그리고 FPGA칩을 응용한 고속 EIT 구동 시스템을 개발하는데 성공했다.
유기 및 나노 소자 연구실은 미세유체 에멀젼 공정의 최적화를 통해 임의의 특성을 가지는 다공성 구조체와 이를 응용한 압저항 소재를 개발하는데 성공했다.

특허 성과로는 4건의 국내 특허를 출원했고, 국외 특허 출원을 준비중이다. 학술적 성과로는 국제 학술지에 4건의 논문을 투고할 예정이다.

후속 연구로는 “EIT 기반의 다축 대면적 촉각센서“와 같은 주제를 진행할 예정이다.

(출처 : 초록 3p)

Abstract ▼

Ⅱ. Purpose and necessity of the research topic
In recent years, researches about environment where human and robot interact with each other are actively carried out, and particularly, interest in measuring physical contact is particularly high. In order to measure the physical contact with the ro

Ⅱ. Purpose and necessity of the research topic
In recent years, researches about environment where human and robot interact with each other are actively carried out, and particularly, interest in measuring physical contact is particularly high. In order to measure the physical contact with the robot, it is necessary to create a whole-body robot skin. However, it is impossible to cover the body of the robot in a conventional manner. Therefore, it is necessary to make a sensor having a scalability and a performance similar to that of a human sensory system.

For this purpose, this research aims to develop robotic skin by using 3 - D shape printing process, 2) to develop material with pressure sensing function similar to human skin, 3) to develop force measurement and electrode optimization technology based on electromagnetic calculation model.

Ⅲ. Contents and results of the research
1. Biorobotics Laboratory
1.1.1. Improving the stability of electrode connected with piezoresistive material
: When the piezoresistive material and the metal are connected, the peeling of the electrode tends to occur due to the difference in elastic modulus of the two materials. This results in detrimental physical / electrical stability of the electrode. Therefore, we aimed to develop electrode for connection of piezoresistive elastomer.

1.1.2. Performance improvement of EIT technology for tactile sensor
: When driving the tactile sensor using the EIT technology, the sensitivity of the conductive domain is low and the accuracy is poor due to the nature of the EIT technology. In order to improve this, a combination of the current injection / voltage measurement pattern according to the shape of the conductive domain is optimized, and a method of installing the additional electrode inside the conductive domain is studied.

1.1.3. Optimization of system for EIT for tactile sensor
: To drive the EIT, a system for selecting and controlling the electrodes for current injection and voltage measurement is needed. It is also necessary to measure a large amount of data to measure the EIT.
Therefore, in this study, we aim to develop a system that can multiplex and control electrodes, and can simultaneously measure them.

2. Organic and Nano Device Laboratory
2.1.1. Developed pressure-insensitive strain sensor
: When making a sensor, other physical quantities other than the physical quantity to be measured should not be affected by the sensor. A strain sensor, which can be used to measure a person's joint movements or shear forces, is located outside the skin, so it is affected by things such as vertical pushing forces in addition to strain. Therefore, in this study, we aimed to develop a strain sensor that is sensitive only to strain and minimizes the interference to the pressing force.

2.1.2. Development of pore size control technology through microfluid-based system
: The porous structure is characterized in that the elastic modulus and the restoration performance are different depending on the degree of hollowness of the structure. Particularly, a porous structure having high elasticity and recoverability is essential for producing a sensitive tactile sensor and the like. To this end, we aimed to create a self-assembled, highly dense, porous structure through the adjustment of two liquids that do not mix with each other and the droplet formation mechanism by fluid flow control (emulsion process).

IV. Achievement of goal and contribution to related field
1. Improve stability of electrode connected with piezoresistive material
: A method of stabilizing the electrical / physical coupling between the electrode and the piezoresistive material was studied by embedding conductive fibers within the piezoresistive polymer. This improves the durability of the electrode and stabilizes the contact resistance.

2. Performance improvement of EIT technology for tactile sensor
: By optimizing the combination of electrodes for current injection and voltage measurement, the current flows much inside the sensor. As a result, the measured voltage value is sensitive to changes in conductivity inside the sensor.
We also proposed a method to add the electrode inside the conductive domain to get information about the part where current does not flow and the sensitivity is low.

3. Implementation of drive system for tactile sensor based on EIT
: We have developed a multiplexing circuit to drive the tactile sensor using EIT. You can connect up to 32 channels on one board, and each board can stack up to 4, so a total of 128 channels can be used.

Multiplexing control and measurements were implemented through systems using FPGAs. The FPGA is a chip that can arbitrarily readjust the logic circuit, which makes it possible to measure and control it faster than the existing system.

4. Development of pressure-insensitive strain sensor
: We developed a porous pressure resistive material by applying emulsion process and MWCNT. (Water, oil) mixed with each other, emulsion is formed through ultrasonic dispersion, and a portion corresponding to water is evaporated to obtain a porous structure. As a result, the mechanism of the resistance change according to the direction was changed, so that it was possible to obtain a characteristic of being sensitive only to the strain.

5. Development of pore size control technology through microfluid-based system
: When making the porous structure through the emulsion process, we used the method of making the droplets directly rather than dispersing the ultrasonic waves. At this time, it was possible to make pores of a desired size by controlling the flow rate of the droplets and the characteristics of the fluid, and the pores thus formed were self-assemble by the surface tension of the fluid. This resulted in a porous structure characterized by high stretchability and recoverability.

Ⅴ. Plan to utilize research results
The results of the improved EIT technology and subsequent research to create a large area tactile sensor through the pressure resistive material of the emulsion process will be carried out. In addition, tensile-only materials will be used in the development of robotic skin that can measure multi-axial strain by combining with anisotropic EIT technology.

(출처 : SUMMARY 7p)

목차 Contents

• 표지 ... 1
• 제 출 문 ... 2
• 보고서 초록 ... 3
• 요 약 문 ... 4
• SUMMARY ... 7
• CONTENTS ... 11
• 목차 ... 12
• 제 1 장 연구개발과제의 개요 ... 13
• 제 1 절 연구 개발의 목적 및 필요성 ... 13
• 제 2 절 연구 개발의 범위 ... 13
• 제 2 장 국내외 기술개발 현황 ... 14
• 제 1 절 국내 기술개발 현황 ... 14
• 제 2 절 국외 기술개발 현황 ... 15
• 제 3 장 연구개발 수행 내용 및 결과 ... 17
• 제 1 절 수직 압력의 영향을 받지 않는 스트레인 센서 개발 ... 17
• 제 2 절 미세유체기반의 시스템을 통한 기공 크기 조절 기술 개발 ... 20
• 제 3 절 전극 안정성 개선 ... 22
• 제 4 절 EIT 구동용 시스템 개발 ... 24
• 제 5 절 EIT 성능 개선 ... 28
• 제 6 절 프로토타입 센서 제작 ... 31
• 제 4 장 목표 달성도 및 관련분야에의 기여도 ... 33
• 제 5 장 연구개발결과의 활용계획 ... 34
• 제 6 장 연구개발과정에서 수집한 해외과학기술 정보 ... 35
• 제 7 장 참고 문헌 ... 37
• 끝페이지 ... 38