Touch and slip sensor and preparation method thereof

Abstract

The invention discloses a touch and slip sensor and a preparation method thereof. The touch and slip sensor comprises five layers of structures including an organic polymer film, organic materials, acircular organic polymer film, an insulation film and a circular truncated cone structure in sequence from bottom to top, wherein the bottom surface of the organic polymer film is covered with conducting materials, circular grooves are formed in centers of the organic materials, hemispherical raised ring arrays with radiuses being equal to the depth of the grooves are uniformly distributed in thegrooves, and a plurality of piezoresistance films are distributed on the upper surface of the insulation film. According to the touch and slip sensor, on the basis of capable of recognizing whether slip occurs or not, the direction of the slip and the speed of the slip can be measured, in addition, the space force acting on the sensor can be measured, complex post-processing to obtained data is not needed, and the information feedback delayed performance is low.

Description

technical field [0001] The invention relates to a sensor, in particular to a touch-slip sensor capable of simultaneously measuring space force and sliding and a preparation method thereof. Background technique [0002] Some robots with manipulators need to monitor the relative motion between the manipulator and the contact surface of the object in real time when they are grasping objects, so as to determine an appropriate grip force value and grasp the object firmly without damaging the object. The tactile sensor is a device mainly used to detect the vertical pressure on the manipulator, while the slip sensor is a device mainly used to detect the sliding or pre-sliding between the manipulator and the object held, and the sensor with both functions is called Tactile sensor. Touch-slip sensors can help robots successfully complete soft grasping tasks in complex and diverse environments. [0003] Some existing manipulators need a separate slip sensor and a separate pressure s...

AI Technical Summary

Problems solved by technology

[0003] Some existing manipulators need a separate slip sensor and a separate pressure sensor to work together when grasping. The two sensors are not unified and will occupy a larger area when integrated; some combine the two into the same device Although the touch-slip sensor in the robot can identify whether sliding occurs, it cannot judge the direction of sliding, measure the speed of sliding or the shear force of the object acting on the device, and these three parameters also have comparative advantages in the process of robot soft grasp Important significance; some touch-slip sensors need a certain amount of time to post-process the acquired signals, and extract relevant tactile and slip information from them, and there is a certain delay in information feedback

Images