Fully-flexible three-dimensional force tactile sensor

Abstract

The invention discloses a fully-flexible three-dimensional force tactile sensor. The fully-flexible three-dimensional force tactile sensor is characterized in that in a flexible basal body and on the same plane, a resistor R5 is formed by taking a pressure sensitive element as a center, and four same stretching sensitive elements are respectively arranged in the Y-axis positive direction, the Y-axis negative direction, the X-axis positive direction and the X-axis negative direction respectively, so as to form a resistor R1, a resistor R3, a resistor R2 and a resistor R4; the resistor R1, the resistor R2, the resistor R3, the resistor R4 and the resistor R5 form a three-dimensional force tactile sensing unit which is arranged on the surface of an area to-be-detected. All three-dimensional force tactile sensing units are in an array arrangement on the surface of the area to-be-detected; flexible basal bodies are filled among the three-dimensional force tactile sensing units; the three-dimensional force tactile sensing units and the flexible basal bodies form the three-dimensional force tactile sensor. The three-dimensional force tactile sensor has the advantages of good flexibility, high precision and stable performance.

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 ...

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.

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