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A fully flexible capacitive sliding tactile sensor based on pyramid structure

A tactile sensor, pyramid structure technology, applied in the field of sensing, can solve the problem that the sensor cannot detect three-dimensional force and sliding sense at the same time with high precision and large range, so as to improve the normal sensitivity and tangential sensitivity, expand the application range, To achieve the effect of detection

Inactive Publication Date: 2019-07-19
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the shortcomings of the above-mentioned existing sensors, and propose a fully flexible capacitive sliding tactile sensor based on a pyramid structure to solve the problem that the existing sensors cannot simultaneously detect three-dimensional forces with high precision and a large range. slippery problem

Method used

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  • A fully flexible capacitive sliding tactile sensor based on pyramid structure
  • A fully flexible capacitive sliding tactile sensor based on pyramid structure
  • A fully flexible capacitive sliding tactile sensor based on pyramid structure

Examples

Experimental program
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Effect test

Embodiment 1

[0032] Such as figure 1 , figure 2 As shown, the fully flexible sliding tactile sensor based on the pyramid structure in this embodiment includes an upper flexible printed circuit board 3 and a lower flexible printed circuit board 6;

[0033] An upper common electrode 4 is printed on the surface of the upper flexible printed circuit board 3;

[0034] The surface of the lower flexible printed circuit board 6 is printed with a lower central electrode 7 which is a square and four identical rectangular sensing electrodes (the first sensing electrode 8; the second sensing electrode 9; The induction electrode 10; the fourth induction electrode 11); each induction electrode is symmetrical in pairs with the center of the lower layer central electrode 7 as a symmetrical point;

[0035] A dielectric layer 5 is arranged between the upper flexible printed circuit board 3 and the lower flexible printed circuit board 6, and the upper surface of the dielectric layer 5 is integrally formed...

Embodiment 2

[0046] Such as image 3 The three-dimensional coordinate system diagram of the fully flexible sliding tactile sensor based on the pyramid structure is shown in Fig. In the direction of the long sides of the electrodes, the Y axis is along a direction parallel to the long sides of the second sensing electrode and the fourth sensing electrode.

[0047] The capacitance extraction of this embodiment is selected to have I 2 AD7147-1 with C-compatible serial interface and on-chip environmental self-calibration function, up to 16-bit CDC accuracy, and 13 capacitive inputs, together with ADG734 single-pole double-throw switch, can easily realize the acquisition of multi-channel capacitive signals.

[0048] The mechanism of the fully flexible capacitive sliding tactile sensor of this embodiment to detect the sense of touch is as follows: when the hemispherical contact is subjected to an external normal force (force along the Z-axis direction), the upper common electrode 4 and the lowe...

Embodiment 3

[0053] The mechanism of the fully flexible capacitive sliding tactile sensor in this embodiment to detect the sliding sensation is as follows: when the hemispherical contact is subjected to an external tangential force (three-dimensional force), first the upper common electrode and the lower central electrode will be separated due to the force along the Z axis. Generate the capacitance change as described in Embodiment 2; secondly, relative sliding will occur between the upper layer common electrode and the four sensing electrodes due to the force along the X-axis and Y-axis directions, and the relative area and relative permittivity will change. cause a change in capacitance. The tangential information of the sensor can be obtained by detecting the capacitance change between the upper common electrode and the four sensing electrodes.

[0054] Convert the normal force in Example 2 into a tangential force (at this time, the normal force along the Z-axis direction is constant), ...

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Abstract

The invention discloses a fully-flexible capacitive slide-touch sense sensor based on a pyramid structure; an upper layer public electrode and a lower layer central electrode are respectively printed on an upper and lower flexible print circuit boards (FPCB), and four rectangular induction electrodes are printed on the periphery of the lower layer central electrode; the upper layer public electrode and the lower layer central electrode are used for sensing touch sense information; the upper layer public electrode and the four induction electrodes are used for sensing tangential information and slide sense information; a medium layer is formed between the two FPCBs, and the top surface of the medium layer is formed with the integrated pyramid structure; the upper FPCB is fixedly provided with a PDMS semispherical contact. The fully-flexible capacitive slide-touch sense sensor can distinguish small touch sense force, and can measure the shearing force in various directions, thus greatly improving the sensor machinery sensitivity, and realizing the sensor slide sense detection function in the shearing direction.

Description

technical field [0001] The invention belongs to the field of sensor technology, and in particular relates to a fully flexible capacitive sliding touch sensor applied to artificial intelligence skin. Background technique [0002] As an effective way for intelligent robots to perceive the external environment, the sliding tactile sensor is used to realize the grasping detection of the target, the proximity contact during the approach process, and the discrimination of the sliding state, etc., and plays a pivotal role in the field of electronic skin research. With the development of the times, electronic skin has been applied in robotics, tactile detection, temperature monitoring, health care and other fields. [0003] Among the various applications of electronic skin, inductive touch and slip detection occupy an extremely important position. Sliding tactile sensors imitate the human hand to have sensory functions such as touch, sliding, and heat, and are an essential medium f...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01L1/14
CPCG01L1/14
Inventor 黄英孙志广毛磊东伍璨郭小辉
Owner HEFEI UNIV OF TECH
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