A Portable Somatosensory Manipulator System Based on Graphene Ink/Paper Film Piezoresistive Sensors for Human–Computer Interaction

Somatosensory manipulator has attracted extensive attention in the fields of human–computer interaction. The traditional method of human finger joint data acquisition is to capture motion through multiple cameras, so the complex equipment hinders the popularization of somatosensory manipulator. In order to solve these shortcomings, it is an effective way to combine the flexible pressure sensor, the back-end signal acquisition circuit and algorithm to realize the wireless remote human–computer interaction. In this work, a pressure sensor, with simple process, low cost, energy saving, and environmental protection properties, has been successfully fabricated. The graphene ink with high surface area and excellent electrical conductivity was mixed with ordinary fiber paper as porous sensitive layer, and the copper with micropyramid array structure was used as a metal electrode. The developed sensor exhibits high sensitivity (3.22 kPa
$^{-{1}}$
, 0–10 kPa) and wide measurement range (0–98 kPa). Especially, due to the use of environmentally friendly materials, the later incineration treatment of sensor is also very friendly to the external environment. Based on the excellent performance of the sensor proposed in this work, it can achieve monitoring of human joint motion status and weak skin signals. Finally, through the design of circuit and algorithm, the remote wireless human–computer interaction between human body and manipulator has been successfully realized by attaching the sensor onto the finger. The developed sensor device has a board prospect in the fields of healthcare sector, green sensor, and human–computer interaction.