Wearable flexible tactile sensor for prosthetic hand and its tactile detection system

Abstract

The invention discloses a wearable flexible touch sensor of an artificial hand and a touch detection system thereof. A flexible electrode layer, a middle layer and a PDMS (Polymethylsiloxane) raised layer are tightly laminated from top to bottom; the middle layer comprises a conductive rubber array and a flexible filler around the conductive rubber array; the conductive rubber array is formed by configuring conductive rubber unit arrays; a testing electrode assembly is arranged below the conductive rubber array; the side length of the conductive rubber unit is the same with that of the testing electrode assembly on the flexible electrode layer; a micro lug boss structures are arranged on the PDMS raised layer which is located above the conductive rubber units; the flexible electrode layer is a flexible circuit board with a crossed structure; Velcro nylon fastener tapes are arranged at the extending edges of the upper side, the left side and the right side of the flexible circuit board so as to be worn on a finger. The wearable flexible touch sensor is simple and easy to manufacture, solves a problem of major touch sensors incapable of simultaneously detecting three-dimensional touch force and slippage signals and can be conveniently bound on the irregular curve of a support body inside artificial fingers.

Description

technical field [0001] The invention relates to a tactile sensor and a detection system thereof, in particular to a prosthetic hand-worn flexible tactile sensor and a tactile detection system thereof. Background technique [0002] The tactile sensor is an indispensable means for the intelligent prosthetic hand to obtain contact information. According to the information provided by the tactile sensor, the intelligent prosthetic hand can reliably grasp the target object, and can further perceive its physical characteristics such as size, shape, weight, softness and hardness. . The unreliable grasping caused by the inability to obtain contact information when the intelligent prosthetic hand grasps the object will bring great danger. Most of the existing tactile sensors used in intelligent prosthetic hands can only detect the normal force, but cannot detect the magnitude of the tangential force. But the detection of tangential force plays a very important role in the reliabili...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the problem of unreliable installation of the existing tactile sensor and its detection system in the prosthetic hand, and the problem of the simple signal acquisition circuit design of the existing tactile sensor, the purpose of the present invention is to provide a prosthetic hand-worn flexible tactile sensor and its The overall design of the tactile detection system solves the problem that most tactile sensors cannot detect three-dimensional contact force and slip signals at the same time, and can be conveniently bound to the irregular curved surface of the support body inside the finger of the intelligent prosthetic hand, which can be used for three-dimensional contact force and detection of slip signals

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