Optically flexible two-dimensional tangential force tactile sensor
A tactile sensor and tangential force technology, applied in the field of light sensing, can solve problems such as complex structure, high cost, and large detection system volume, and achieve the effect of simple demodulation method, low cost, and elimination of influence
Inactive Publication Date: 2016-01-06
DALIAN UNIV OF TECH
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Problems solved by technology
[0007] The present invention aims at the technical problems of the detection system of the above-mentioned optical tactile sensor, such as large volume, complex structure, high cost, or only one-dimensional tangential force detection, etc., and proposes an optically flexible two-dimensional tangential force tactile sensor
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[0037] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.
[0038] Such as figure 1 As shown, the optical flexible two-dimensional tangential force tactile sensor of the present invention includes a light source layer, a polymer flexible conductive medium layer and a photodetection layer, which are sequentially arranged from bottom to top; the laser is located in the light source layer, and the medium of the light source layer is a flexible polymer Object material; the first photodetector, the second photodetector, the third photodetector and the fourth photodetector are square, and the side length is a, and they are arranged counterclockwise to form a 2×2 photodetector with a side length of 2a The array is located in the photodetection layer, and the medium of the photodetection layer is a flexible polymer; the connecting line between the center of the laser and the center of the 2×2 photodetector array is pe...
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Abstract
The invention discloses an optical flexible two-dimensional tangential force touch sensor, and belongs to the technical field of optical sensing. An optical biochemical sensor comprises a light source layer, a polymer flexible conducting layer and a photoelectric detection layer. Light emitted by a light source is irradiated on 2*2 array photoelectric detectors on the photoelectric detection layer, two-dimensional tangential force causes deformation and displacement of the polymer flexible conducting layer, the light currents of the 2*2 array photoelectric detectors are made to be changed, and the magnitude and direction of the two-dimensional tangential force can be acquired by calculating the relative change amount of the light currents. The optical flexible two-dimensional tangential force touch sensor enables the light source, the polymer flexible conducting layer and the photoelectric detection layer to be integrated together, and has the advantages of being small in size, high in flexibility, and capable of simultaneously detecting the magnitude and direction of the tangential force.
Description
technical field [0001] The invention belongs to the technical field of light sensing, and in particular relates to an optically flexible two-dimensional tangential force touch sensor. Background technique [0002] The tactile sensor is an essential unit component for the multi-fingered hand of the intelligent bionic robot to grasp the target object, especially the detection of tangential force is the key to reliable grasping. Traditional electrical tactile sensors, such as resistive, capacitive, and permeable, can obtain real-time information such as pressure or tangential force at the contact site to a certain extent, and flexible materials such as conductive rubber are used to realize the flexibility of the sensor. However, most of them have problems such as complex input and output wiring and difficult manufacturing process. What is more important is that they are easily disturbed by environmental factors such as electromagnetic fields in practical applications. [0003]...
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IPC IPC(8): G01L1/24
Inventor 韩秀友路志理赵明山滕婕
Owner DALIAN UNIV OF TECH