Three-dimensional force tactile sensing unit based on the combination of capacitance and pressure-sensitive rubber

Abstract

The invention discloses a three-dimensional force touch sensing unit based on the combination of a capacitor and pressure-sensitive rubber. The three-dimensional force touch sensing unit is formed by sequentially stacking a surface PDMS protrusion, a third PI electrode substrate, a PDMS supporting layer, a capacitance plate layer, a second PI electrode substrate and a first PI electrode substrate. Four corners inside the PDMS supporting layer are each provided with an assembly composed of a square floating electrode and a piece of square pressure-sensitive rubber; in each assembly, the lower surface of the square floating electrode in the assembly is attached to the upper surface of the square pressure-sensitive rubber. The upper surfaces of the square floating electrodes are attached to the lower surface of the third PI electrode substrate. The distance between the square pressure-sensitive rubber and the capacitance plate layer is half the thickness of the PDMS supporting layer. The high sensitivity of capacitive touch sensing and the large range of pressure-sensitive touch sensing are combined, so that detection of tiny touch force and large touch force is realized. The three-dimensional force touch sensing unit can be applied to the fields, requiring high-sensitivity and large-range measurement, of robot arms, artificial limbs, operation mechanical arms and the like.

Description

technical field [0001] The invention relates to a tactile sensing unit, in particular to a three-dimensional force tactile sensing unit based on the combination of capacitance and pressure-sensitive rubber. technical background [0002] Intelligent prosthetics and intelligent robots have undergone great development in the past decade, and there is a strong demand for artificial tactile perception. By integrating the artificial tactile perception system on the surface of these smart devices, it can greatly improve its ability to interact with the environment and provide a variety of physical information about the target object or object, such as the size of the contact force, softness, hardness, elasticity, roughness, material etc. The current method for realizing artificial tactile perception is mainly to realize the array of tactile sensing units by integrating pressure-sensitive components in flexible materials. Utilizing the bendable and extensible properties of flexibl...

AI Technical Summary

Problems solved by technology

However, sensitivity and measurement range are a pair of contradictions, and the two are in a trade-off relationship.

At present, most of the tactile sensing units are based on one of the aforementioned principles. Such tactile sensing units are difficult to balance high sensitivity and large range, which limits the practical application of artificial tactile perception.

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