Flexible vector tactile and slip composite sensor

A composite sensor and flexible technology, applied in the direction of instruments, measuring forces, measuring devices, etc., can solve the problems of inability to detect slippage, the sensor has no anti-skid function, etc., to achieve the effect of safe clamping, simple electrode layer structure, and satisfying use conditions

Active Publication Date: 2017-06-06
BEIHANG UNIV
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  • Abstract
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Problems solved by technology

[0005] Aiming at the defects that most MEMS tactile sensors can only detect positive pressure but cannot detect slippage, and the surface of the sensor has no anti-slip function, the present invention proposes a flexible vector touch-slip composite sensor, which can measure contact surface force (including positive pressure and static friction force) ) size and direction, judge whether slip occurs during contact, realize stable slip signal output, and calculate slip speed

Method used

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  • Flexible vector tactile and slip composite sensor
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  • Flexible vector tactile and slip composite sensor

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Embodiment Construction

[0024] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0025] The invention provides a flexible vector touch-slip composite sensor, the sensor is a cuboid structure as a whole, the surface has an array of microstructures at equal intervals, which are used to contact and conduct surface normal pressure or friction; the middle layer has multiple pairs of forces The sensitive unit provides differential output signals; the bottom surface is bonded to the surface of the robot hand or instrument. The paired force-sensitive units are respectively located on both sides of the symmetrical protrusion structure. Specifically, such as figure 1 and figure 2 As shown, the sensor includes: an upper flexible substrate 1, a force-sensitive structural layer 2 and a lower flexible substrate 3, and the force-sensitive structural layer 2 includes an upper electrode layer 201, a bottom electrode layer 202 and an upper elect...

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Abstract

The invention discloses a flexible vector tactile and slip composite sensor, and relates to the field of robot flexible tactile sensors and intelligent surgical instruments. The flexible vector tactile and slip composite sensor comprises an upper flexible substrate, a force sensitive structure layer and a lower flexible substrate which are closely fit from the top to the bottom. The force sensitive structure layer comprises an upper electrode layer, a flexible piezoresistive material layer and a bottom electrode layer which are arranged from the top to the bottom. The upper surface of the upper flexible substrate is provided with an equidistant microstructure array. The force sensitive structure layer is closely fit with the upper surface of the lower flexible substrate. The lower flexible substrate is provided with periodic symmetrical convex structures along the thickness direction of the sensor. Symmetrical force sensitive units are respectively arranged at the two sides of the symmetrical convex structures. The slip situation can be judged and the positive pressure, the frictional force and the slip speed can be measured through the simple internal symmetrical convex structures; and the microstructure array is arranged on the upper surface of the sensor so as to enhance the clamping stability and safety.

Description

technical field [0001] The invention relates to a tactile-slip composite sensor, in particular to a flexible vector tactile-slip composite sensor in the fields of robot flexible tactile sensors and intelligent surgical instruments. Background technique [0002] The flexible touch-slip composite sensor is an indispensable means for robotic hands or minimally invasive surgical instruments to obtain clamping status information. According to the signal fed back by the sensor, physical quantities such as normal pressure, friction force, and relative motion state between the clamping device and the clamped object can be calculated to achieve stable clamping of the clamped object. Most current tactile sensors can only detect positive contact force and do not have the function of sliding sensation. [0003] Therefore, a high-sensitivity and large-range flexible vector touch-slip composite sensor has been developed, which can be conveniently and tightly adhered to the surface of a r...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L1/20
CPCG01L1/20
Inventor 蒋永刚刘梦洋张德远
Owner BEIHANG UNIV
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