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中文摘要：
为减少类皮肤三维柔性触觉阵列传感器设计的复杂度，本文比较了基于导电橡胶的几种传感器结构设计方法，提出了采用整体式框架结构，节点行之间独立的非线性传感器结构。此设计不仅有利于传感器结构的加工实现，而且大大地降低了解耦算法的复杂度。仿真结果表明基于该结构的传感器可以实现大规模三维柔性触觉的信息测量以及传感器规模的扩展。
英文摘要：
In order to reduce the design complexity of the skin liked large-scale 3-D flexible tactile sensor arrays, this paper compared several structure design methods of sensor based on conductive rubber. A unique nonlinear structure with each row of upper nodes layer independent to other rows is proposed. The structure is beneficial for sensor manu- facture technology, greatly reduces the complexity of the decoupling algorithm. Simulation results show that the sensor based on this structure can achieve flexible measurement of large-scale 3-D tactile arrays and the arrays size can be expended easily.
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