Three-dimensional soft tactile sensor array

Abstract

The invention belongs to the preparation technique of sensors and provides a three-dimensional soft tactile sensor array which comprises a microstructure which is arrayed in an ordered arrangement and a wire which is located between the end points of the microstructures. Non-conducting rubber is put between the microstructures. Each microstructure is composed of three pillar-shaped bodies, wherein the first pillar-shaped body is placed vertically; the upper end face of the second pillar-shaped body is intersected and connected fixedly with the side face of the first pillar-shaped body. The center of the upper end face of each microstructure and the center of the lower end face of each microstructure are respectively provided with an electric contact. A wire is connected between the electric contacts of the upper end face of the first pillar-shaped body of each microstructure, a wire is connected between the electric contacts of the upper end face of the third pillar-shaped body of each microstructure, a wire is connected between the electric contacts of the lower end face of the first pillar-shaped body of each microstructure, and a wire is connected between the electric contacts of the lower end face of the second pillar-shaped body of each microstructure. An upper layer of the wire and a lower layer of the wire are vertical to each. The sensor array has the advantages of lowering dimensionality and difficulty of decoupling, being capable of detecting magnitude of force, being low in response time and tight in structure.

Description

technical field [0001] The invention belongs to the preparation technology of sensors, in particular to an array structure of three-dimensional flexible touch sensors. Background technique [0002] Tactile sensors are very important to the development and application of robots, especially service robots and humanoid robots. It enables robots to sense the external environment keenly and move flexibly and freely to achieve safe and natural contact and interaction with humans. Not only that, tactile sensors have a wide range of applications in many aspects such as sports training and rehabilitation. For a long time, the research community has made unremitting efforts to obtain tactile sensors with excellent performance. [0003] The patent (CN1796954) "flexible three-dimensional force tactile sensor" applied by Mei Tao et al. from Hefei Institute of Intelligent Machinery, Chinese Academy of Sciences is made by MEMS technology. The whole has a certain flexibility and can detect...

AI Technical Summary

Problems solved by technology

However, this kind of flexible multi-dimensional tactile sensor structure has high requirements on the algorithm, and the decoupling time is too long, which is not conducive to real-time force detection

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