Resistance-capacitance composite touch sensor, electronic skin and smart robot

Abstract

The invention relates to a resistance-capacitance composite touch sensor, an electronic skin and a smart robot. The touch sensor includes a plurality of sensor units. Each sensor unit includes an areacovered by four multifunctional layers. The four multifunctional layers form two capacitors used for judging types and approaching degrees of external objects. Each multifunctional layer is therein provided with two layers of electrodes, wherein a piezoresistor used for measuring magnitude and direction of three-dimensional force is arranged between said two layers of electrodes. The invention has beneficial effects that the multifunctional layers can form the electrodes of the capacitors, so that touch sense functional requirements can be met fully; the multifunctional layers can also act aselectromagnetic shielding layers of the inner piezoresistor, so that all functions of contact sense can be realized in the premise of improving the anti-interference performance of three-dimensionalforce measurement effectively; and the multifunctional layer can be used for realizing regional shielding scanning when forming a sensor matrix, so that a problem of crosstalk of adjacent sensor unitsis avoided.

Description

technical field [0001] The invention relates to a resistance-capacitance composite touch sensor, an electronic skin and an intelligent robot, and is suitable for the technical field of artificial intelligence. Background technique [0002] In recent years, intelligent robots have developed to a large-scale practical stage in the industrial field. The interaction between intelligent robots and the outside world requires intelligent sensors that imitate various sensory functions of humans, mainly including: visual sensors, auditory sensors, tactile sensors and olfactory sensors. . So far, visual sensors and auditory sensors have been developed and widely used in the field of industrial robots. However, with the in-depth expansion of intelligent robots into various fields of human activities, especially in the fields of agricultural robots, household service robots, medical service robots, and hotel and catering industry service robots, robots are required to be able to comple...

AI Technical Summary

Problems solved by technology

Its advantages are: it can realize the perception of pressure, that is, the three-dimensional force, the manufacturing process is simple, the cost is low, the anti-interference ability is strong, and it is convenient for mass production; but the disadvantage is: it is almost impossible to realize the requirements of touch sense, and it is impossible to classify the objects in contact Recognition, when you are about to touch an external object, you cannot judge the approaching speed and distance, the sensitivity is low, and the product consistency is difficult to control

[0011] First, all the requirements of the touch sensor cannot be realized: touch sense, including the classification and recognition of external objects and the judgment of the proximity of external objects; pressure and slip, that is, the measurement of the magnitude and direction of three-dimensional force; temperature sense and humidity sense

[0012] Second, the anti-interference ability is poor, and it is easy to be affected by environmental temperature, humidity, and electromagnetic interference. When measuring three-dimensional forces, the differential method is usually used to eliminate the influence of environmental temperature and humidity, and the electromagnetic shielding method is used to improve the ability to resist electromagnetic field interference.

Once the electromagnetic shielding measures are adopted, although the ability to resist electromagnetic interference is effectively improved, at the same time, the ability to classify and identify external objects and judge the approaching speed and distance is lost, that is, the tactile function cannot be realized.

[0013] Third, when forming a sensor matrix, the electric field crosstalk of adjacent sensor units cannot be avoided

[0016] The application number is CN201410245030, which discloses a fully flexible capacitive touch sensor. In this patent, the upper plate of the parallel plate capacitor is directly grounded as the shielding layer. Although the anti-interference ability is improved, the electric field lines inside the shielding layer cannot pass through the shielding layer. , thus losing the function of classification, recognition and proximity of external objects, and the sense of touch cannot be realized

[0017] Publication No. US2008 / 0174321A1 discloses a capacitive sensor that can simultaneously measure object proximity and sliding sensation. The sensor can work in two modes. The capacitive electrode of this patent adopts an upper and lower two-layer structure, and the upper layer consists of two electrodes to form a planar capacitance , can realize the function of classification and recognition of external objects by tactile sense, but can not realize the measurement of the proximity of external objects by tactile sense, and its upper electrode and lower electrode can form a parallel plate capacitance, which can realize the normal force of pressure sense measurement, but the measurement of tangential force cannot be realized. This patent cannot realize any anti-interference measures such as shielding or differential

It is also impossible to achieve any anti-crosstalk measures when forming a matrix

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