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Flexible three-dimensional force touch sensor of multi-fingered hands of human-simulated robot and three-dimensional force detecting system thereof

A technology of tactile sensor and three-dimensional force, which is applied in the direction of manipulator, measurement of property force of piezoelectric resistance material, manufacturing tools, etc., can solve problems such as inability to detect normal force, achieve simple structure, good impact resistance, reduce The effect of processing costs

Active Publication Date: 2012-10-03
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] The purpose of the present invention is to solve the problem that most tactile sensors can only collect normal force but cannot detect normal force and detect force at the same time as human skin, and provide a flexible three-dimensional force tactile sensor for a humanoid robot multi-fingered hand and Its three-dimensional force detection system

Method used

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  • Flexible three-dimensional force touch sensor of multi-fingered hands of human-simulated robot and three-dimensional force detecting system thereof
  • Flexible three-dimensional force touch sensor of multi-fingered hands of human-simulated robot and three-dimensional force detecting system thereof
  • Flexible three-dimensional force touch sensor of multi-fingered hands of human-simulated robot and three-dimensional force detecting system thereof

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specific Embodiment approach 1

[0040] Specific implementation mode 1: the following combination Figure 1 to Figure 9 To explain this embodiment, this embodiment is a humanoid robot multi-finger flexible three-dimensional force tactile sensor. It consists of a force transmitting hemisphere layer 1, a flexible top electrode layer 2, and a composite material with quantum tunneling effect from top to bottom. QTC layer 3 and flexible bottom electrode layer 4 are composed;

[0041] Twelve force transmitting hemispheres are provided on the force transmitting hemisphere layer 1, and the twelve force transmitting hemispheres are arranged in an array of two rows and six columns;

[0042] The flexible top electrode layer 2 is a flexible circuit board structure. Twelve sets of measuring electrodes 5 and eight golden fingers are provided on the flexible top electrode layer 2. The eight golden fingers include eight pins, which are pin R01 and pin R01. R02, pin R03, pin R04, pin R05, pin R06, pin R07, and pin R08; each set of...

specific Embodiment approach 2

[0048] Specific implementation manner 2: the following combination Figure 1 to Figure 9 This embodiment is described. This embodiment is a further description of the force transmission hemisphere layer 1 in the first embodiment. The material of the force transmission hemisphere layer 1 described in this embodiment is silicone rubber of 45-55A ° Shore, and the force transmission The hemispherical layer 1 and the flexible top electrode layer 2 are bonded together.

specific Embodiment approach 3

[0049] Specific implementation manner three: the following combination Figure 1 to Figure 9 This embodiment mode is described. This embodiment mode is a further description of the wiring mode in which the electrodes in the flexible top electrode layer 2 and the flexible bottom electrode layer 4 in the first embodiment are connected to the gold fingers. The flexible top electrode layer described in this embodiment 2 The wiring method for connecting each electrode and gold finger in the flexible bottom electrode layer 4 adopts a parallel wiring method.

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Abstract

The invention discloses a flexible three-dimensional force touch sensor of multi-fingered hands of a human-simulated robot and a three-dimensional force detecting system, relating to the field of touch sensors of robots. The invention aims at solving the problem that more touch sensors only can acquire normal force but can not detect the normal force and the force simultaneously like the human hands. A sensor body consists of a force-transferring hemispherical layer, a flexible top-level electrode layer, a composite material QTC (Quantum Tunneling Composites) with quantum channel effect and a flexible bottom-level electrode layer which are arranged in sequence from top to bottom; a signal acquisition circuit consists of a mixed-signal array programmable on-chip system and an analog multiplex selection module; the on-chip system comprises a digital logic module, an analog digital conversion module ADC, a digital analog conversion module DAC, an analog signal register I, an analog signal register II, a voltage amplifying circuit and a multi-way switch; and the analog multiplex selection module comprises an analog multi-way switch I and an analog multi-way switch II. The invention is used for the touch sensor for detecting the three-dimensional force of the multi-fingered hands of the human-simulated robot.

Description

Technical field [0001] The invention relates to the field of robotic tactile sensors. Background technique [0002] The tactile sensor is an indispensable means for the multi-fingered humanoid robot to obtain contact information. According to the information provided by the tactile sensor, the multi-fingered humanoid robot can reliably grasp the target object. When the humanoid robot multi-fingered hand grasps objects, the unreliable grasping due to the inability to obtain contact information will bring great danger. Most of the existing humanoid robot multi-finger tactile sensors can only detect the normal force, but cannot detect the magnitude of the tangential force. However, the detection of tangential force plays an important role in the reliability of grasping. In addition, the humanoid robot multi-fingered hand tactile sensor requires the tactile sensor to have a high degree of flexibility and miniaturization, which can conform to the surface of the finger and be integra...

Claims

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Application Information

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IPC IPC(8): G01L1/18B25J13/08
Inventor 张庭姜力刘宏杨大鹏樊绍巍
Owner HARBIN INST OF TECH
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