High-sensitivity intelligent robot skin

Abstract

The invention provides a high-sensitivity intelligent robot skin. The high-sensitivity intelligent robot skin is characterized by comprising a composite layer, electrode layers and surface layers, wherein the composite layer is formed through doping a conductive monomer with macromolecules according to a certain ratio and compositing, the electrode layers are plated on both faces of the composite layer, and the surface layers wrap the surfaces of the electrode layers; the conductive monomer at least comprises conductive micro-springs. According to the high-sensitivity intelligent robot skin, conductive carbon fibers and a polymer composite technology are used, so that the high-sensitivity intelligent robot skin has the characteristics of flexibility and multidimensional sensitivity of human skin and meets the requirements of robot skin on high sensitivity, flexibility and multifunction, and the tactile sense of the human skin is more closely simulated.

Description

technical field [0001] The invention relates to intelligent sensing technology, in particular to a high-sensitivity intelligent robot skin. Background technique [0002] The human skin is a large sensory organ that can sense touch, pain and other sensations, among which the perception of touch is particularly important, through the Meissner tactile bodies distributed in the surface layer and the Basini ring corpuscles in the deep layer of the skin The tactile sensory organs receive external stimuli and perform energy conversion, converting physical energy into neurochemical energy. Since the afferent nerves connected with these tactile bodies are transmitted to the central area of ​​the cerebral cortex, that is, the tactile cortex sensory area, after analysis Synthesis produces a sense of touch. [0003] Similar to human skin, robot skin refers to a large-area, soft, micro-array with data processing capabilities, which can be covered on the surface of the robot to sense the...

AI Technical Summary

Problems solved by technology

[0004] Conventional tactile sensors used on robots and manipulators are mainly piezoresistive, piezoelectric and optical structures, and their main materials are silicon and metal; due to the heavy weight and complex structure of the existing tactile sensors, they lack flexibility , so that the adjustment of its sensitivity is greatly restricted

[0005] In recent years, some soft and lightweight artificial skins have been developed, such as PVDF (polyvinylidene fluoride) and other polymer piezoelectric materials. It has attracted much attention and has been rapidly developed and applied to underwater acoustic ultrasonic measurement, pressure sensing, etc.; its shortcomings are: its own piezoelectric strain constant is low, and its sensitivity is not high enough due to charge leakage, making its popularization and application very difficult. big limit

[0007] The above two resistive effects lead to several obvious deficiencies: there is hysteresis in the change of contact resistance between electrodes and conductive rubber parts, nonlinear characteristics, poor sensitivity, and susceptible to electromagnetic interference

[0008] In addition, the existing robot skin is only designed to detect three-dimensional force at first, and it is composed of individual sensor units attached to a flexible material. Each sensor unit is not flexible and cannot have the flexibility of human skin and multi-dimensional sensitivity characteristics, and it is expensive, and the signal processing is complicated

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