简介
这款 6×6 柔性阵列压力传感器是专为智能夹持系统、人机交互及科研项目设计的触觉感知解决方案。它采用先进的柔性薄膜技术，在仅 15×15mm 的感应区域内集成了 36个独立检测单元 ，能够实时捕捉接触点的压力分布与细微变化。
不同于传统的单点压力传感器，本产品支持 UART 接口级联，极大地简化了多传感器布线的复杂度。其超薄、可弯曲的特性，使其如同“电子皮肤”一般，能轻松贴合在机械手爪、可穿戴设备或DIY灵巧手上。通过配套的上位机软件Tactile Sensor Tool和完善的嵌入式软件支持，开发者可以快速完成项目验证。
产品特性
- 阵列式触觉：精准捕捉压力分布
- 极致小巧：无感嵌入各类项目
- UART 级联与易用性：快速上手验证
- 柔性 FPC 材质：耐高温与高寿命
规格参数
- 工作电压：5V
- 采样频率：20/50HZ
- 感测区域：15*15mm
- 阵列配置：6x6
- 通信接口：UART
- 触发力：20g
- 压力范围：20g~5kg（单感应点）
- 压力类型：按压
- 耐用性：＞100万次（1kg力）
- 工作温度：-20℃ ~ +65℃
- 转接板尺寸：20*12mm
引脚说明
| 引脚 | 功能描述 |
|---|---|
| + | DC 5V输入 |
| ﹣ | 接地 |
| RX | 传感器串口接收 |
| TX | 传感器串口发送 |
上位机
硬件准备
- 串口模块 (SKU:FIT0781) ×1
- 6×6 柔性阵列式触觉压力传感器（SKU:SEN0704）×1
上位机准备
- 下载DFTactileSensorTool上位机： 点击下载DFTactileSensorTool
接线图
示例图
- 打开串口，点击开始采集
- 用手指按压压力传感器，串口监视器的数据会随按压力度大小、位置发生相应变化
使用教程
硬件准备
- DFRobot Leonardo (SKU:DFR0221) ×1
- 6×6 柔性阵列式触觉压力传感器（SKU:SEN0704）×1
软件准备
- 下载Arduino IDE： 点击下载Arduino IDE
- 下载TactileSensor库： 点击下载DFRobot_TactileSensor
- 有关如何安装库文件，请点击链接
接线图
示例代码
- 烧录以下示例代码通过串口监视器查看数值
/*!
* @file getTactileData.ino
* @brief This is an example to show how to get tactile data from DFRobot Tactile Sensor.
* @copyright Copyright (c) 2025 DFRobot Co.Ltd (http://www.dfrobot.com)
* @license The MIT License (MIT)
* @author [JiaLi](zhixinliu@dfrobot.com)
* @version V1.0.0
* @date 2025-09-04
* @url https://github.com/DFRobot/DFRobot_TactileSensor.git
*/
#include "DFRobot_TactileSensor.h"
/* ---------------------------------------------------------------------------------------------------------------------
* board | MCU | Leonardo/Mega2560/M0 | UNO | ESP8266 | ESP32 | microbit | m0 |
* VCC | 5V | VCC | VCC | VCC | VCC | X | vcc |
* GND | GND | GND | GND | GND | GND | X | gnd |
* RX | TX | Serial1 TX1 | 5 | 5/D6 | D2 | X | tx1 |
* TX | RX | Serial1 RX1 | 4 | 4/D7 | D3 | X | rx1 |
* ----------------------------------------------------------------------------------------------------------------------*/
/*The default baud rate is 115200, and it supports 9600,57600, and 912600*/
//#define DFRobot_TACTILE_ARRAY_SIZE 32 // if you use (4*8)32-channel tactile sensor
#define DFRobot_TACTILE_ARRAY_SIZE 36 // if you use (6*6)36-channel tactile sensor
#define ADDRESS 1 // sensor address
#if defined(ARDUINO_AVR_UNO) || defined(ESP8266)
SoftwareSerial mySerial(/*rx =*/4, /*tx =*/5);
DFRobot_TactileSensor tactile(/*addr =*/ADDRESS, /*s =*/&mySerial);
#else
DFRobot_TactileSensor tactile(/*addr =*/ADDRESS, /*s =*/&Serial1);
#endif
void setup()
{
//Init MCU communication serial port
#if defined(ARDUINO_AVR_UNO) || defined(ESP8266)
mySerial.begin(115200);
#elif defined(ESP32)
Serial1.begin(115200, SERIAL_8N1, /*rx =*/D3, /*tx =*/D2);
#else
Serial1.begin(115200);
#endif
Serial.begin(115200);
while (tactile.begin(DFRobot_TACTILE_ARRAY_SIZE) == -1) {
Serial.println(" Sensor initialize failed,please check whether the sensor model or connection is correct!");
delay(1000);
}
Serial.println(" Sensor initialize success!");
sVersionInfo_t ver;
//Get device information
ver = tactile.getDeviceInfo();
Serial.print(" VID: ");
Serial.println(ver.VID);
Serial.print(" PID: ");
Serial.println(ver.PID);
Serial.print(" Version: ");
Serial.println(ver.version, HEX);
delay(1000);
//Set threshold value,the range is 0-4095
tactile.setThld(50);
//The sensor returns to its default value
//note: restoreSensor will reset the sensor threshold、address、uart and sample rate to default value
//tactile.restoreSensor();
//Set device address，the address range is 1 to 255,0 is broadcast address,not writable.
//tactile.setDevAddr(1);
//set uart baudrate,default is 115200,
//After setting, please modify the uart of the driving sensor to the corresponding baudrate,stop bits and parity.
//tactile.setBaudrate(eBaudrate115200,eStopBit1,eParityNone);
tactile.setSampleRate(eSampleRate20Hz);
//setSampleRate(eSampleRate50Hz);
//set sample frequency, 20Hz or 50Hz
}
void loop()
{
sAdcDatas_t adcDatas;
//Get tactile data
adcDatas = tactile.getDatas();
//Print tactile data
if (adcDatas.result == 0) {
for (int i = 0; i < tactileSensorArrayY; i++) {
for (int j = 0; j < tactileSensorArrayX; j++) {
Serial.print(adcDatas.adcval[i][j]);
Serial.print("\t");
}
Serial.println();
}
} else {
Serial.println("Read ADC data failed!!");
}
Serial.println();
delay(20);
}
