Three-dimensional force flexible tactile sensor based on the coupling of eddy current and piezoelectric principle

Abstract

The invention relates to a three-dimensional force flexible tactile sensor based on the coupling of eddy current and piezoelectric principle, which comprises a hollow rectangular truss-shaped body and a single excitation coil located in the body; the sides of the truss are surrounded by PVDF films The top surface of the square truss is made of a thin metal layer; the bottom surface of the four prism is made of a flexible substrate; the excitation coil is a planar spiral structure and is located directly below the metal thin layer; the excitation coil inputs a sinusoidal alternating current, Output impedance signal. The present invention utilizes the advantages of large dynamic response range of eddy current tactile sensing and high sensitivity of piezoelectric tactile sensing, processes and manufactures through micro-machining technology, realizes the purpose of simple structure, light and small size, and detection of contact force. Applications in bionic manipulators, artificial prosthetics and other fields.

Description

technical field [0001] The invention belongs to the field of tactile sensing and relates to a three-dimensional force flexible tactile sensor based on the coupling of eddy current and piezoelectric principles. Background technique [0002] The sense of touch is an important sense when organisms are in contact with the outside world. Human beings can use this sense to feel the shape, texture, quality and temperature of objects. Since intelligence is an important direction for the development of robots in the future, robots need reliable tactile sensing capabilities To accurately and appropriately manipulate objects in unstructured and complex environments, the development and application of tactile sensing technology is an important part of the development of intelligent robots, and is widely used in medical rehabilitation, health detection, mechanical grasping and security measurement and many other fields. At present, the working principles of tactile sensors mainly includ...

AI Technical Summary

Problems solved by technology

At present, most tactile sensors are mostly based on one of the principles, which makes the sensor unable to take into account the large response range and high sensitivity at the same time, which limits the practical application of tactile sensors.

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