Non-uniform electric field robot tactile sensor and its detection method

Abstract

The invention relates to a non-uniform electric field type robot tactile sensor and a detecting method thereof. The tactile sensor comprises an upper flexible layer, a net-shaped interlayer and a lower flexible layer. The upper flexible layer and the lower flexible layer are respectively obtained through combining a conductive surface and an insulated surface. Furthermore the conductive surface is used as the inner surface of each of the upper flexible layer and the lower flexible layer. The conductive surface of the upper flexible layer and the conductive surface of the lower flexible layer are respectively attached with the upper surface and the lower surface of the net-shaped interlayer directly. The conductive surface of the lower flexible layer is rectangular. The corners in two diagonal lines of the rectangular conductive surface are respectively provided with a point electrode. The electrodes at two end points in one diagonal line are A+ and A-, and the electrodes at end points in the other diagonal line are B+ and B-. According to the tactile sensor of the invention, a non-array layered structure is used; and the used material has high flexibility; and the used material can cover a large area on the surface of the robot and can effectively detect a collision position. The non-uniform electric field type robot tactile sensor and the detecting method have advantages of small size, simple structure, low cost and relatively high flexibility.

Description

technical field [0001] The invention belongs to the field of sensing technology, and in particular relates to a non-uniform electric field robot tactile sensor and a detection method thereof for detecting a collision contact position. Background technique [0002] Robot tactile sensing technology is one of the key technologies to realize robot intelligence. By detecting the force position on the surface when the robot collides, the robot can obtain the orientation information of obstacles in the environment, and can make corresponding safety decisions, thereby directly reducing the magnitude of the collision force and avoiding secondary collisions. With the continuous development of MEMS technology and the emergence of various sensitive materials, it provides a good foundation for the research, design and production of robot tactile sensors. [0003] Patent (CN101059380) invented a flexible capacitive tactile sensor, which can be attached to any surface and feel the magnitu...

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Problems solved by technology

[0003] Patent (CN101059380) invented a flexible capacitive tactile sensor, which can be attached to any surface and feel the magnitude of normal force and tangential force at the same time. However, the array structure is adopted, and the preparation process of sensitive materials is complicated. Due to the non-uniformity of production process and manufacturing technology, the characteristics of different parts of the same sensor array will also appear non-uniform, and the measurement error of irregular surfaces is too large

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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