Flexibility touch sensor for flexible finger tips of humanoid robot

A tactile sensor and flexibility technology, which is applied in the field of tactile sensors for dexterous fingertips of humanoid robots, can solve the problems that photoelectric tactile sensors cannot make overall compliant tactile sensors, lack overall flexibility, and poor impact resistance, etc., and achieve Simple structure, low structural simplification, good overall flexibility and impact resistance

Inactive Publication Date: 2009-11-11
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a flexible tactile sensor for the dexterous fingertips of a humanoid robot to solve the problem that in the field of robotic dexterous hands, photoelectric tactile sensors cannot be made into tactile sensors with overall flexibility; Tactile sensors either lack overall compliance or are costly and impact-resistant

Method used

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  • Flexibility touch sensor for flexible finger tips of humanoid robot
  • Flexibility touch sensor for flexible finger tips of humanoid robot
  • Flexibility touch sensor for flexible finger tips of humanoid robot

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Experimental program
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specific Embodiment approach 1

[0007] Specific implementation mode one: combine Figure 1 to Figure 7 Note that the touch sensor in this embodiment is composed of a flexible protective layer 1, a flexible piezoresistive sensitive layer 2 and a flexible substrate layer 3 from top to bottom, and the flexible piezoresistive sensitive layer 2 is composed of adhesive glue 15 Composed of a pressure-sensitive conductive rubber body 16, the flexible substrate layer 3 is composed of a substrate 17, a plurality of electrode pairs 18 (grid-shaped) and signal input and output joints, and the signal input and output joints are composed of a reinforcing layer 20 and ten Composed of three voltage input and output pins, the thirteen voltage input and output pins are composed of five voltage output pins 21 and eight voltage input pins 22, the flexible protective layer 1 is sensitive to the flexible piezoresistive Layer 2 is bonded, and the tactile sensor is divided into four areas from the top to the bottom. The four areas ...

specific Embodiment approach 2

[0008] Specific implementation mode two: combination Figure 1 to Figure 7Note that the number of electrode pairs 18 in this embodiment is thirty-six, and twenty electrode pairs 18 are etched on the upper surface of the flexible substrate layer 3 in the conical surface fitting area 7; Four electrode pairs 18 are etched on the upper surface of the flexible substrate layer 3 in the area 8; three electrode pairs 18 are etched on the upper surface of the flexible substrate layer 3 in each curved area 14; the cylindrical curved surface Six electrode pairs 18 are etched on the upper surface of the flexible substrate layer 3 in the fitting area 5; the twenty electrode pairs 18 in the conical surface fitting area 7 are arranged in four rows and five columns, and the number of rows is numbered Arranged in increasing order from the top to the bottom of the conic surface fitting area 7, which are the first row, the second row, the third row and the fourth row; Arranged in increasing ord...

specific Embodiment approach 3

[0009] Specific implementation mode three: combination Figure 5 Note that the material of the flexible protective layer 1 in this embodiment is insulating silicone rubber film or room temperature vulcanized insulating silicone rubber, which can not only protect the sensitive layer, but also increase the friction coefficient of the surface. Others are the same as in the first or second embodiment.

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Abstract

The invention discloses a flexibility touch sensor for flexible finger tips of a humanoid robot, which relates to a touch sensor for flexible finger tips of a humanoid robot and aims at solving the problems that a photoelectric touch sensor can not manufacture a touch sensor with overall flexibility; a piezoresistive touch sensor either lacks overall flexibility or has high cost and poor impact resistance. A flexible protective layer and a flexible piezoresistive layer are bonded together; the upper surface and the lower surface of an underlay are carved with a plurality of electrode pairs and a plurality of voltage input and output pins; E-type voltage output electrodes of each E-type voltage output electrode group are connected in parallel and connected with corresponding voltage output pins; gate-type voltage input electrodes in each gate-type voltage input electrode group are connected in parallel and connected with corresponding voltage input pins; a pressure-sensitive conducting rubber body is arranged on the upper surface of the underlay; and the lateral surface of the pressure-sensitive conducting rubber body is coated with bonding glue and bonded with the flexible underlay. The touch sensor has overall flexibility, impact resistance and low processing cost.

Description

technical field [0001] The invention relates to a tactile sensor for dexterous fingertips of a humanoid robot. Background technique [0002] There are several ways to classify tactile sensors. Such as classification by working principle, classification by application field, classification by structure and classification by manufacturing process, etc. Among them, according to the working principle, it can be divided into: piezoresistive, capacitive, piezoelectric, photoelectric, electromagnetic, ultrasonic sensing and resistance strain, etc. In the field of robotic dexterous hands, most of the applied tactile sensors are piezoresistive and photoelectric. Among them, the photoelectric tactile sensor cannot be made into a tactile sensor with overall flexibility; most of the piezoresistive compliant tactile sensors only have a compliant appearance, but lack overall flexibility. However, piezoresistive tactile sensors with overall flexibility often limit their promotion in app...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L1/18B25J13/08
Inventor 张元飞刘宏刘伊威
Owner HARBIN INST OF TECH
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