中文摘要：

本文提出一种基于导电橡胶的类皮肤柔性触觉传感器阵列。传感器采用交叉排列的两层节点的框架结构，用注射成型（LIMS）的方法进行样品的整体浇注。文中介绍了该3D柔性触觉传感器阵列的结构设计、电路设计、解耦算法。实验仿真结果表明，该传感器突破了当前的基于盔甲的柔性触觉传感器的设计思路，可在柔性的传感器表面实现连续的三维力的检测,具有优良力学特性、柔韧性好、抗干扰能力强、分辨率高的特性

英文摘要：

The paper proposed a new type skin liked arrayed tactile sensor based on conductive rubber, which has the framework of two layers of staggered nodes, the widely used liquid rubber injection molding （LIMS） method is used for ＂the overall injection molding＂ of the conductive rubber, the location and the magnitude of the force can be solved by measuring the resistance variation of the conductive rubber under the force. The design breaks through most of current flexible tactile sensor array based on the armor-type structure with favorable mechanical ability, good flexibility, and strong anti-jamming and realizes three-dimensional force detection on the continuous surface of the sensor. The simulation result shows that the flexible arrayed tactile sensor can be used for the 3-D force detection with high resolution and accuracy under the condition of ideal conductive character, which meet the current need of the use of robot skin.