Multi-modal expandable interactive flexible robot skin

Abstract

The invention discloses a multi-mode expandable interactive flexible robot skin and a preparation method thereof. The flexible sensing unit array is connected with the data reading and processing unit through the fly line connecting unit, the flexible sensing unit array is further directly connected with the data reading and processing unit, and the data reading and processing unit is further connected with the micro-control unit and the address configuration unit. The micro-control unit is further connected with the flexible sensing unit array, the flexible robot skin expansion connection interface and the flexible robot skin data output interface. The flexible sensing unit array is provided with an approaching sensing mode and a pressure sensing mode, and the micro-control unit achieves switching of the approaching sensing mode and the pressure sensing mode of the flexible sensing unit array by controlling the data reading and processing unit. According to the conduction state of the upper electrode layer and the lower electrode layer, time division multiplexing in function is achieved, free switching between approaching sensing and pressure sensing is achieved, and the skin space utilization rate of the flexible robot is greatly increased.

Description

technical field [0001] The invention relates to a robot skin in the technical field of flexible sensors, in particular to a multi-mode expandable interactive flexible robot skin. Background technique [0002] With the development of mechatronics and control science, collaborative robot technology is expanding outward from traditional manufacturing, and will be integrated into the living or working environment of human beings to provide high-quality services for human beings. Due to the frequent and seamless interaction between robots and humans, safe collaboration is the first factor to be considered and guaranteed in the design, manufacture and use of collaborative robots. Safe collaboration includes the following two aspects: 1) Human beings in a natural way The ability to cooperate with robots; 2) When humans cooperate with robots, they will not cause harm to human life and health. For humans and cobots to co-exist in a safe environment, robots must be equipped with inte...

AI Technical Summary

Problems solved by technology

While the single-mode pressure sensor has the advantages of high sensitivity, simple device structure, and simple manufacturing process, it also has the disadvantage of high power consumption.

While the single-mode proximity sensor has the advantages of low power consumption, temperature independence, and stability against long-term signal drift, it also has the disadvantage of being unable to accurately locate the contact position and contact force between the external environment object and the robot's skin.

[0004] Ordinary robot skins cannot give feedback to interactive objects or the effect is not intuitive when giving feedback to interactive objects. Usually, the sensory data obtained by the robot skin is transmitted to the host computer for analysis and decision-making

Since vision is the main input source for humans and robots to obtain information, this interaction mechanism centered on robot motion control limits the further development of human-computer interaction for humans.

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