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Three-dimensional force flexible tactile sensor with high tangential angular resolution

A tactile sensor and resolution technology, applied in instruments, force/torque/power measuring instruments, measuring devices, etc., can solve the problems of inability to restore the sensing unit, not suitable for large-area layout, and low three-dimensional force accuracy. Achieve the effect of fewer leads, high tangential angular resolution, and improved detection resolution

Active Publication Date: 2022-06-28
ZHEJIANG UNIV
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  • Abstract
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Problems solved by technology

On the one hand, the design structure of the four-unit combination is complex, requiring at least 5 electrode leads, which is not suitable for large-area layout; on the other hand, the accuracy of the three-dimensional force calculated by observing multi-unit signals at the same time is not high, especially the size of the tangential angle The resolution of the sensor is low, and it is impossible to truly restore the force on the sensing unit

Method used

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  • Three-dimensional force flexible tactile sensor with high tangential angular resolution
  • Three-dimensional force flexible tactile sensor with high tangential angular resolution
  • Three-dimensional force flexible tactile sensor with high tangential angular resolution

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Embodiment Construction

[0032] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0033] like figure 1 and figure 2 As shown, the sensor proposed by the present invention includes a top layer 1 , a middle layer 2 and a bottom layer 3 , and the top layer 1 , the middle layer 2 and the bottom layer 3 are stacked and arranged from top to bottom. The sensor generally presents a cylindrical structure with a maximum diameter of 6mm and a height of 2.5mm.

[0034] The top layer 1 is mainly composed of a spherical boss 4, a top layer flexible substrate 5 and a top layer electrode 6 stacked in sequence from top to bottom. The top surface of the top layer flexible substrate 5 is closely attached to the bottom surface of the spherical boss 4, and the top layer The end surface of the flexible base 5 is provided with an annular protrusion, and the outer peripheral surface and the inner peripheral surface of the annular protrusion are both convex...

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Abstract

The invention discloses a three-dimensional force flexible touch sensor with high tangential angular resolution. The sensor is formed by superposing a top layer, a middle layer and a bottom layer from top to bottom. The top layer electrode, the sensitive material and the bottom layer electrode form three common-ground detection circuits, the positive pressure, the tangential force and the tangential angle borne by the sensor can be detected at the same time, then the positive pressure, the tangential force and the tangential angle can be converted into three-dimensional force, and the tangential force and the tangential angle can be recognized through different characteristics of a voltage signal. According to the three-dimensional force flexible tactile sensor, the sensor has a three-dimensional force detection function by utilizing the conducting material with regionalization and slope design, and compared with a traditional four-unit distribution combined three-dimensional force flexible tactile sensor, the sensor needs fewer electrode leads, the overall structure is more compact, and tangential angle detection has higher resolution.

Description

technical field [0001] The invention relates to a flexible tactile sensor in the field of contact force detection, in particular to a three-dimensional force flexible tactile sensor with high tangential angular resolution. Background technique [0002] Intelligent robots are widely used in human-computer interaction, medical health, intelligent manufacturing and other fields, and are the main direction of future robot development. Flexible tactile sensors are key devices for the collaborative interaction between intelligent robots and humans. The tactile sensor can detect various tactile information such as pressure, temperature, strain, slip, etc., and feed it back to the motion control system of the robot, so that the robot can understand the surrounding environment in more detail and make corresponding adjustments, which improves the non-structural performance of the robot. Ability to work in complex and delicate environments. [0003] With the continuous improvement of...

Claims

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Application Information

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IPC IPC(8): G01L5/161G01L5/1623G01L5/165G01B7/30
CPCG01L5/161G01L5/1623G01L5/165G01B7/30
Inventor 汪延成金杰梅德庆
Owner ZHEJIANG UNIV
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