Flexible touch-slip composite sensing array based on pressure-sensitive conductive rubber

Abstract

The invention discloses a soft tactile-slip sensation composite sensing array based on the pressure-sensitive conductive rubber. The array comprises a soft electrode layer, a middle layer and a PDMS protruded layer of a top layer which are fitted to a substrate tightly from bottom to top. The middle layer comprises a conductive rubber arrays and soft fillers, and the conductive rubber arrays are composed of arrayed conductive rubber units; the soft electrode layer under the conductive rubber units is provided with test electrode groups, and the length of one conductive rubber unit is the same as one test electrode group of the soft electrode layer; the PDMS protruded layer is provided with nine micro boss structures which are distributed evenly in an arrayed manner and which correspond to the conductive rubber units and is located right above the conductive rubber units. By the aid of the array, the problem that the majority of tactile sensors cannot detect tactile and slip signals simultaneously is solved, the detection on three-dimensional force is implemented, slip signals can be identified and extracted simultaneously, and the soft tactile-slip sensation composite sensing array is applied to three-dimensional force and slip detection of artificial intelligent prosthesis and manipulators.

Description

technical field [0001] The invention relates to a composite sensing array, in particular to a flexible touch-sliding composite sensing array based on pressure-sensitive conductive rubber in the field of robot flexible tactile sensors. Background technique [0002] Flexible tactile sensors are an indispensable means for artificial intelligence prosthetics or robotic hands to obtain external contact information. According to the information provided by tactile sensors, intelligent prosthetics or robotic hands can measure the size, shape, weight, softness, hardness, and surface roughness of the target object. To realize the stable grasp of the target object. The motion of the object on the tactile sensor causes high-frequency low-amplitude vibrations to be established, which can detect and interpret object slippage. Since most point-contact tactile sensors based on pressure-sensitive materials can only detect positive contact force, they cannot accurately detect tangential for...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the problem that most tactile sensors can only detect positive force but cannot detect slip at the same time, the purpose of this invention is to propose a flexible touch-slip composite sensor array based on pressure-sensitive conductive rubber, which is also a kind of sensor that can simultaneously detect three-dimensional The distributed flexible touch-slip composite sensing array of force and slip solves the problem that most tactile sensors cannot detect contact force and slip signals at the same time, and can be easily loaded on the irregular surface of intelligent prosthetics or robotic hands for use in Detection of three-dimensional contact force and slip signals

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