Uniform electric field type robot tactile sensor and detection method thereof

Abstract

The invention relates to a uniform electric field type robot tactile sensor and a detection method thereof. The tactile sensor comprises an upper flexible layer, a mesh-shaped separating layer and a lower flexible layer. The upper flexible layer and the lower flexible layer is respectively composed of a conductive surface and an insulating surface through fitting, and the conductive surface acts as the internal surface of the upper flexible layer and the lower flexible layer. The conductive surfaces of the upper flexible layer and the lower flexible layer are directly adhered on the upper and lower surfaces of the mesh-shaped separating layer respectively. The two opposite sides of the conductive surface of the upper flexible layer and the other two opposite sides of the conductive surface of the lower flexible layer are respectively provided with parallel line electrodes, and a dimensionally enclosed rectangle is formed by the parallel line electrodes of the upper flexible layer and the parallel line electrodes of the lower flexible layer through splicing. The line electrodes of the upper flexible layer and the line electrodes of the lower flexible layer are arranged in a mutually perpendicular way. The adopted material has flexibility, and a collision and touch position can be effectively detected so that the uniform electric field type robot tactile sensor has characteristics of being small in size, simple in structure, simple in technology manufacturing, low in cost and relatively high in flexibility.

Description

technical field [0001] The invention belongs to the field of sensing technology, and in particular relates to a uniform electric field robot tactile sensor capable of detecting a collision contact position and a detection method thereof. Background technique [0002] The sense of touch has very important practical significance in the interaction between human and the environment. For robots, the tactile sensor is an effective way for the robot to obtain external information. By obtaining tactile information, the robot can make necessary responses in time and improve the ability to deal with the environment. . With the continuous development of MEMS technology and the emergence of various sensitive materials, a good foundation has been laid for the development of robotic tactile sensors. [0003] Patent (CN101059380) invented a flexible capacitive tactile sensor, which can be attached to any surface and can feel the magnitude of normal force and tangential force at the same ...

AI Technical Summary

Problems solved by technology

[0003] Patent (CN101059380) invented a flexible capacitive tactile sensor, which can be attached to any surface and can feel the magnitude of normal force and tangential force at the same time, but it adopts an array structure, and the preparation process of sensitive materials is complicated. Due to the non-identity of the production process and manufacturing process technology of different parts, the characteristics of different parts of the same sensor array will also appear non-uniform

The patent (CN203965077) invented a flexible film tactile sensor, which adopts the electrostatic induction method to make a pair of compliant electrode layers on the substrate to form a sandwich structure flexible film, which can be cut into any shape and has good flexibility. There are many factors that need to be controlled in the manufacturing process of thin film electrodes, and it is difficult to ensure that the electrodes manufactured every time can meet the requirements

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