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Flexible tactile sensor based on transformer principle and flexible tactile detection system thereof

A tactile sensor and detection system technology, applied in the direction of force measurement, instrument, measurement force, etc. by measuring the change of magnetic properties of materials caused by applied stress, can solve the problem of electromagnetic tactile sensor electromagnetic interference, high sensitivity and large range It is impossible to take into account the problems such as high sensitivity, good durability and wide measurement range.

Pending Publication Date: 2020-12-11
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that the existing electromagnetic tactile sensor is greatly affected by electromagnetic interference, and that high sensitivity and large range cannot be balanced, and provides a flexible tactile sensor based on the transformer principle and its flexible tactile detection system

Method used

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  • Flexible tactile sensor based on transformer principle and flexible tactile detection system thereof
  • Flexible tactile sensor based on transformer principle and flexible tactile detection system thereof
  • Flexible tactile sensor based on transformer principle and flexible tactile detection system thereof

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specific Embodiment approach 1

[0035] Specific implementation mode one: the following combination figure 1 with figure 2 Describe this embodiment mode, a flexible tactile sensor based on the transformer principle described in this embodiment mode, the sensing unit of the sensor includes a sensitive layer 10, a signal conversion layer 20 and an electromagnetic shielding layer 6 arranged in sequence from top to bottom;

[0036] The sensitive layer 10 includes an elastic body 2 and a sensitive sheet 1 embedded in the middle of the elastic body 2; a cavity is opened in the middle of the bottom of the elastic body 2, and the inside of the cavity is an inverted conical structure, and the cone tip of the inverted conical structure is connected with the signal conversion layer 20 contacts, the top of the elastic body 2 is a raised hemispherical structure; the sensitive sheet 1 adopts a magnetic conductive sensitive sheet or a conductive sensitive sheet;

[0037] The signal conversion layer 20 includes a primary c...

specific Embodiment approach 2

[0051] Specific implementation mode two: the following combination Figure 4 Describe this embodiment, a flexible tactile detection system based on a flexible tactile sensor described in this embodiment, the detection system is implemented based on a flexible tactile sensor, and the detection system includes a flexible tactile sensor and a data acquisition system;

[0052] The data acquisition system includes an excitation source, a signal processing module and a data acquisition module;

[0053] The excitation source includes a wave generator and an operational amplifier, and the excitation signal generated by the wave generator is output to the primary coil 3 of the flexible tactile sensor through the operational amplifier;

[0054] The signal processing module includes an operational amplifier and a peak envelope detector, the operational amplifier amplifies the induced voltage output by the secondary coil 4 of the flexible tactile sensor and outputs it to the peak envelope...

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Abstract

The invention discloses a flexible tactile sensor based on a transformer principle and a flexible tactile detection system thereof, which belong to the technical field of robot sensors, and aim at solving the problems that an existing electromagnetic tactile sensor is greatly influenced by electromagnetic interference, and high sensitivity and wide range cannot be considered at the same time. Thesensor comprises a sensitive layer, a signal conversion layer and an electromagnetic shielding layer which are sequentially arranged from top to bottom, wherein the sensitive layer comprises an elastomer and a sensitive sheet embedded in the middle of the elastomer; a cavity is formed in the middle of the bottom of the elastomer, an inverted cone structure is arranged in the cavity, the cone tip of the inverted cone structure makes contact with the signal conversion layer, and the top of the elastomer is of a protruding hemisphere structure; the sensitive sheet is a magnetic conductive sensitive sheet or a conductive sensitive sheet; the signal conversion layer comprises a primary coil, a secondary coil and a substrate; the primary coil and the secondary coil are wrapped in the substrate,the primary coil is arranged on the lower layer, and the secondary coil is arranged on the upper layer; and the electromagnetic shielding layer is arranged at the bottom of the signal conversion layer. The sensor is used for designing and manufacturing the robot.

Description

technical field [0001] The invention relates to a flexible tactile sensor based on the transformer principle and a flexible tactile detection system thereof, belonging to the technical field of robot sensors. Background technique [0002] As one of the five senses of human beings, touch plays a key role in human life, study and work. For a robot, the sense of touch is an important means to realize its direct interaction with the external environment. Compared with other forms of perception, the sense of touch can enable the robot to perceive more physical properties of the target object, such as surface shape, hardness, temperature, humidity and material, etc. Wait. Therefore, the tactile sensor is very important to realize the intelligence of the robot, which can help the robot to recognize the target object and complete a variety of complex tasks. [0003] Human beings rely on the tactile sense of their fingers to perform both light and delicate operations, such as embro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L1/12G01L5/169
CPCG01L1/127G01L5/169
Inventor 张元飞谢世鹏金明河孟庆远刘宏
Owner HARBIN INST OF TECH
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