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Flexible electronic skin with tactile and proximity dual-mode sensing function

An electronic skin and sensing function technology, applied in the field of robot collaborative sensing, can solve the problems of difficult integration of multiple functions, high sensor stiffness, and difficulty in bending, and achieves the effect of simple structure, reduced signal leads, and reduced load.

Inactive Publication Date: 2019-01-08
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the electronic skin for robots has the following disadvantages: the function is single, only a single information can be extracted, and it is difficult to realize the integration of multiple functions; the flexibility is not enough, the designed sensor is rigid, it is not easy to bend, and it is difficult to achieve different areas through splicing coverage

Method used

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  • Flexible electronic skin with tactile and proximity dual-mode sensing function
  • Flexible electronic skin with tactile and proximity dual-mode sensing function
  • Flexible electronic skin with tactile and proximity dual-mode sensing function

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Embodiment Construction

[0024] The present invention will be described in detail below with reference to the drawings and embodiments.

[0025] The present invention provides a flexible electronic skin with dual-mode sensing functions of tactile and proximity. The flexible electronic skin has a four-layer film structure, and from top to bottom, there are convex layer 1, upper plate layer 2, and intermediate medium layer. 3 and the lower plate layer 4 constitute a sensing unit. Such as figure 1 As shown, it is a single sensor unit. In this embodiment, the flexible electronic skin includes an 8×8 distributed sensor unit array.

[0026] Such as figure 2 , image 3 As shown, the upper plate layer 2 is composed of a metal film embedded on the lower surface of a flexible base material. The metal film is copper Cu, and the flexible base material is polyimide PI. The metal film has a cross shape, including long sides and short sides. The length of the long side is equal to the side length of a single sensing un...

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Abstract

The invention discloses a flexible electronic skin with a tactile and proximity dual-mode sensing function. The flexible electronic skin is of a multi-layer structure, which comprises an upper polar plate layer, an intermediate medium layer and a lower polar plate layer in sequence, and the three layers of structures form a sensing unit; the upper polar plate layer, the intermediate medium layer and the lower polar plate layer form a tactile sensing unit to sense the size of a force, and the upper polar plate layer forms a proximity sensing unit to sense the distance; the sensing units are arranged in an array, metal films of the horizontal or vertical sensing units on the same layer are connected into a whole, perform communication by using the same channel and are connected with corresponding analog switches via leads to transmit signals; and the analog switch connects the upper and lower polar plate layers to a capacitance collection chip, and the on-off of the analog switch is controlled by a microprocessor to collect the signals and to switch a tactile sensing mode and a proximity sensing mode. The flexible electronic skin disclosed by the invention has the tactile and proximity dual-mode sensing function, is low in rigidity, is easy to be bend, and can realize the coverage of different areas by splicing.

Description

Technical field [0001] The present invention relates to the technical field of robot cooperative perception, in particular to a flexible electronic skin with dual-mode sensing functions of touch and proximity. Background technique [0002] The protection measures for external personnel when robots work are mainly to isolate robots from personnel. However, in the process of intelligent manufacturing, robots and personnel are required to work together. Therefore, robots are required to continuously monitor the distance information of external personnel. When the operator exceeds the safe distance , It can respond quickly to ensure the safety of personnel. At the same time, it can monitor the grasping force in some situations where objects are grasped, so as to ensure that the target is not damaged. Robots rely on their own sensor detection system to perceive changes in the external environment. Electronic bionic skin is the most important perception method besides the robot vision ...

Claims

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Application Information

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IPC IPC(8): G01L1/14G01B7/02
CPCG01B7/023G01L1/142
Inventor 庞璐卢继平张永进朱妍妍崔学淼
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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