Regular tetrahedral three-dimensional force flexible tactile sensor array

Abstract

The invention provides a regular tetrahedral three-dimensional force flexible tactile sensor array, the array comprises a plurality of arrayed three-dimensional force flexible tactile sensing units with the same structures in a flexible substrate, and the three-dimensional force flexible tactile sensing units have regular tetrahedral structures prepared by flexible electroconductive rubber having piezoresistive effect; upper end surfaces of all regular tetrahedral structures are arranged on a same plane, when an intersection point of three lower side surfaces of one regular tetrahedral structure is considered as an original point, a three-dimensional rectangular coordinate system of the regular tetrahedral structure is established around the point, one edge of the upper end surface of the regular tetrahedral structure is parallel to an Y axis, and the projection of an intersection point of the other two edges is on the positive direction of a X axis; the upper end surface of the regular tetrahedral structure and the three lower side surfaces equally form three resistors, and an electric contact for outputting corresponding resistance signal is arranged on the center of each lower side surface. According to the invention, the coupling degree of sensor resistance data can be reduced, and the decoupling precision and the response speed are substantially improved.

Description

technical field [0001] The invention relates to the technical field of sensors, in particular to a regular tetrahedral three-dimensional force flexible tactile sensor array. Background technique [0002] With the rapid development of robot sensing technology, the study of tactile sensors has attracted more and more attention from academia and industry in various countries. The flexible tactile sensors developed today basically have the function of one-dimensional tactile sensing, but the robot needs to control the relative sliding between the manipulator and the target object in order to grasp the target safely and reliably, which requires the tactile sensor to have a good Flexible while being able to detect multi-dimensional forces. Not only that, flexible tactile sensors capable of detecting multi-dimensional force information are also required in fields such as surgery, rehabilitation and services, and aerospace. [0003] At present, a variety of three-dimensional force...

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Problems solved by technology

In the above two patents, the production and processing are simple, but there is coupling to the microstructure unit, the decoupling algorithm is complex, and the force applied on the sensor surface cannot be detected in real time

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