Full-flexible capacitive three-dimensional force tactile sensor based on spherical surface electrode

Abstract

The invention discloses a full-flexible capacitive three-dimensional force touch sensor based on a spherical curved surface electrode. The full-flexible capacitive three-dimensional force touch sensorcomprises an inverted-mushroom-shaped contact, a semicircular convex groove, a flexible spherical curved surface common electrode, flexible rectangular excitation electrodes and a flexible substrate.The whole flexible substrate is in an uncovered cylindrical shape and serves as a bottom support; the inverted-mushroom-shaped contact serves as a top cover, the flexible substrate and the inverted-mushroom-shaped contact are connected through the semicircular convex groove, and an air cavity is formed in the flexible substrate. The flexible spherical curved surface common electrode and four flexible rectangular excitation electrodes are bonded in the air cavity; the flexible spherical curved surface common electrode is embedded in the lower surface of the inverted mushroom-shaped contact andis arranged in the center of the four flexible rectangular excitation electrodes; the four flexible rectangular excitation electrodes are uniformly arranged on the flexible substrate at intervals; and the flexible spherical curved surface common electrode and the flexible rectangular excitation electrode form four capacitors which are distributed in a spatial three-dimensional manner. The full-flexible capacitive three-dimensional force touch sensor has higher detection sensitivity and higher response speed, and can be used as the flexible electronic skin to be applied to the research fieldsof human-computer interaction, intelligent robots, medical rehabilitation and the like.

Description

technical field [0001] The invention relates to a three-dimensional force tactile sensor, especially a fully flexible capacitive three-dimensional force tactile sensor based on a spherical surface electrode, which is mainly used in the field of robotics and medical research for sensing the magnitude and direction of an external force, belonging to robots and The technical field of combining medical research equipment and sensors. Background technique [0002] In recent years, with the deepening of scientific and technological research and development and the advancement of intelligence, intelligent robots have been applied in more and more fields, and their intelligence and refinement are also continuously improving. Tactile sensing is an important step for robots to achieve high intelligence, but most of the existing tactile sensors cannot meet the application requirements of tactile sensing, so the research on tactile sensors is particularly important. As a branch of tact...

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Problems solved by technology

[0006] To sum up, at present, there are certain researches on flexible three-dimensional force tactile sensors at home and abroad, but most of the researches only improve the material properties of the sensors, and it is difficult to design a novel structure.

Although the research on the existing flexible three-dimensional force tactile sensor has achieved certain results, there are still many aspects to be improved: (1) the measurement accuracy of the flexible three-dimensional force tactile sensor is not high, and the range is small; (2) the flexible three-dimensional force tactile sensor lacks Quantitative formula theoretical analysis; (3) flexible three-dimensional force tactile sensor is easily damaged and difficult to repair

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