A regular tetrahedral three-dimensional force flexible tactile sensor array

Abstract

The invention provides a regular tetrahedral three-dimensional force flexible tactile sensor array, which includes a plurality of three-dimensional force flexible tactile sensing units arranged in an array in a flexible matrix, and the three-dimensional force flexible tactile sensing units are composed of The regular tetrahedral structure prepared by the flexible conductive rubber with piezoresistive effect; the upper end faces of all the regular tetrahedral structures are located in the same plane, and satisfy when the intersection of the three lower sides of a certain regular tetrahedral structure is established as the origin O In the three-dimensional Cartesian coordinate system of the tetrahedron structure, one of the sides of the upper end face of the tetrahedron structure is parallel to the Y axis, and the intersection projection of the other two sides falls on the positive direction of the X axis; the upper end face of the regular tetrahedron structure Three resistors are respectively equivalent to the three lower sides, and the centers of the lower sides are provided with electrical contacts for outputting corresponding resistance signals. The invention reduces the coupling degree of sensor resistance data, and remarkably improves decoupling precision and response speed.

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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