Four-interdigital-electrode type three-dimensional force contact sensor for artificial skin

A tactile sensor, interdigital electrode technology, applied in the field of sensing, can solve the problems of unreliable stability and sensitivity, difficult sensor manufacturing process, etc., to improve stability, sensitivity, flexibility and surface adaptability, and a wide range of adjustment. Effect

Inactive Publication Date: 2015-02-04
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

Although the three-dimensional force sensor made of conductive rubber has a certain degree of flexibility, its electrode and force-sensitive material are in double-sided contact, which makes the sensor production process very difficult, and it is not reliable in terms of stability and sensitivity.

Method used

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  • Four-interdigital-electrode type three-dimensional force contact sensor for artificial skin
  • Four-interdigital-electrode type three-dimensional force contact sensor for artificial skin
  • Four-interdigital-electrode type three-dimensional force contact sensor for artificial skin

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Embodiment Construction

[0032] see figure 1 , Fig. 2 and Fig. 3, in the present embodiment, the structural form of the four-digit electrode type three-dimensional force tactile sensor for artificial skin is: on the flexible circuit board 3, four identical interdigital electrodes 4 are positioned on the same plane to form each other 90° symmetrical arrangement; each interdigital electrode 4 is covered with a pressure-sensitive material layer 2 to form a resistance R 1 , resistance R 2 , resistance R 3 and resistor R 4 , the upper surface of the pressure-sensitive material layer 2 is covered with a hemispherical contact 1 to form a three-dimensional force tactile sensing unit arranged on the surface of the detected area.

[0033] In the specific implementation, the three-dimensional force tactile sensing units are arranged in an array on the surface of the detected area to form a three-dimensional force tactile sensor; the pressure-sensitive material layer 2 is made of flexible pressure-sensitive co...

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Abstract

The invention discloses a four-interdigital-electrode type three-dimensional force contact sensor for artificial skin. The four-interdigital-electrode type three-dimensional force contact sensor is characterized in that four same interdigital electrodes are symmetrically arranged on the same one plane and mutually form 90 degrees; pressure sensitive material layers cover the interdigital electrodes to form resistors R1, R2, R3 and R4 respectively; and the upper surface of the pressure sensitive material is covered with a hemispherical contact to form a three-dimensional force contact sensing unit arranged on the surface of a detected zone.

Description

technical field [0001] The invention belongs to the field of sensor technology, in particular to a three-dimensional force touch sensor applied to robots. Background technique [0002] With the development of robotics, research on tactile sensors has received more and more attention. At present, the research on single-dimensional force sensors is relatively mature, but as a robot's smart skin, not only the sensor is required to detect the vertical pressure on the surface, but also the sensor is required to detect the shear force in the horizontal direction. For example, when a robot holds an object, it needs to sense tangential force and sense positive pressure at the same time. When the robot touches some objects with irregular surfaces, it is necessary to realize the detection of three-dimensional or even multi-dimensional force. The development of three-dimensional force tactile sensor has become an important research field of intelligent robot technology. [0003] At ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01L1/22
Inventor 黄英杨庆华缪伟张玉刚刘彩霞刘秀梅李锐琦
Owner HEFEI UNIV OF TECH
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