Journal of Bionic Engineering ›› 2025, Vol. 22 ›› Issue (4): 1850-1862.doi: 10.1007/s42235-025-00709-5
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Vibro-tactile Sensor with Self-filtering and Self-amplifying: Bionic Pacinian Corpuscle Based on Gelatin-chitosan Hydrogel
Si Chen1；Caoyan Qu1；Qin Huang1；Weimin Ru1；Guanggui Cheng2；Lin Xu2；Shirong Ge3
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1 Fluid Machinery Engineering Technology Research Center,Jiangsu University, Zhenjiang 212013, Jiangsu, China
2 School of Mechanical Engineering, Jiangsu University,Zhenjiang 212013, Jiangsu, China
3 School of Mechanical Electronic & Information Engineering,China University of Mining and Technology, Beijing100083, China
Vibro-tactile Sensor with Self-filtering and Self-amplifying: Bionic Pacinian Corpuscle Based on Gelatin-chitosan Hydrogel
Si Chen1；Caoyan Qu1；Qin Huang1；Weimin Ru1；Guanggui Cheng2；Lin Xu2；Shirong Ge3 #br#
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1 Fluid Machinery Engineering Technology Research Center,Jiangsu University, Zhenjiang 212013, Jiangsu, China
2 School of Mechanical Engineering, Jiangsu University,Zhenjiang 212013, Jiangsu, China
3 School of Mechanical Electronic & Information Engineering,China University of Mining and Technology, Beijing100083, China
摘要： Pacinian Corpuscle (PC) is the largest tactile vibration receptor in mammalian skin, with a layered structure that enables signal amplification and high-pass filtering functions. Modern robots feature vibro-tactile sensors with excellent mechani-cal properties and fine resolution, but these sensors are prone to low-frequency noise interference when detecting high-frequency vibrations. In this study, a bionic PC with a longitudinally decreasing dynamic fractal structure is proposed. By creating a lumped parameter model of the PC's layered structure, the bionic PC made of gelatin-chitosan based hydrogel can achieve high-pass filtering and specific frequency band signal amplification without requiring back-end circuits. The experimental results demonstrate that the bionic PC retains the structural characteristics of a natural PC, and the influence of structural factors, such as the number of layers in its shell, on filtration characteristics is explored. Additionally, a vibra-tion source positioning experiment was conducted to simulate the earthquake sensing abilities of elephants. This natural structural design simplifes the filter circuit, is low-cost, cost-effective, stable in performance, and reduces redundancyin the robot's signal circuit. Integrating this technology with robots can enhance their environmental perception, thereby improving the safety of interactions.