Touch sensor based on flexible pressure-sensitive conductive rubber

Abstract

The invention provides a touch sensor based on flexible voltage-sensing conductive rubber. The invention is characterized in that a sensing unit has a structure form that: a flexible circuit board is used as a motherboard, the disc-shaped flexible voltage-sensing conductive rubber is arranged on the flexible circuit board and is electrically connected with an electrode distributed on the flexible circuit board, a stress surface at the top part of the flexible voltage-sensing conductive rubber is covered by a force transmitting hemisphere; the flexible circuit board is in a four-electrode structure, wherein, a public electrode A is a center circle electrode which is positioned on the concentric position together with the disc-shaped flexible voltage-sensing conductive rubber, a signal electrode B, a signal electrode C, and a signal electrode D which are at an angle of 120 degrees between every two are fan-shaped electrodes that are evenly distributed on a same torus of the periphery of the public electrode A. The invention relates to the touch sensor which has the advantages of strong surface suitability, high reliability, simple signal collecting circuit, and convenient manufacture, and also can be used for the three dimensional force detection.

Description

technical field [0001] The invention belongs to the technical field of sensing, and more specifically relates to a tactile sensor applied to a robot. Background technique [0002] Tactile sensing plays a very important role in the sensory system of robots, and it has functions that cannot be replaced by other senses such as vision. Vision is generally accomplished with the help of light. When the light is limited, the importance of touch is highlighted just like the human senses. More importantly, the sense of touch can perceive some surface characteristics and physical properties of objects: hardness, roughness, size, shape, etc. According to the information provided by the tactile sensor, the robot can reliably grasp the target object. The trend of tactile sensors is integration, miniaturization and intelligence. In order to accurately obtain tactile information and be applicable to surfaces of any shape, the tactile sensor is required to have...

AI Technical Summary

Problems solved by technology

This form of sensor has a certain degree of flexibility, but because the electrodes on one surface are directly in contact with the measured object as the working surface, there will be damage to the electronic device and its circuit that may be caused by touching and grabbing the target object. Work reliability is thus affected

Through the layered design of this one-dimensional pressure sensor, a three-layer structure is set up to detect three-dimensional force information, but insulation between layers is required, multi-layer wiring, and the manufacturing process is complicated.

Images