Slide tactile sensor capable of simultaneously measuring pressure and slide

Abstract

The invention discloses a slide tactile sensor capable of simultaneously measuring the pressure and slide. The slide tactical sensor comprises an upper structure and a lower structure. The lower surface of the upper structure made of a flexible material is provided with a boss. The lower surface of the boss is aligned with and presses a middle area between two lower electrodes of the lower structure. The normal pressure is measured by a piezo-resistance film of the lower structure. An electric signal triggered by slide friction is sensed by getting an upper electrode close to a lower electrode. When a shearing force acts on the sensor, the upper structure inclines to the direction of the force, the upper electrode and the lower electrode under an insulation film sense an electric signal; when a normal pressure acts on the sensor, the piezo-resistance film is deformed in the normal direction, and the resistance value is changed. The slide tactile sensor has high sensitivity, can judge whether slide happens or nor, can also measure the direction and speed of slide, and is capable of measuring the normal pressure acted on the sensor. Moreover, the manufacturing of the slide tactile sensor is quick and convenient.

Description

technical field [0001] The invention relates to a slip sensor, in particular to a slip sensor capable of simultaneously measuring pressure and sliding. Background technique [0002] When the manipulator is grasping an object, it is necessary to monitor the relative motion between the manipulator and the contact surface of the held object in real time, so as to determine an appropriate grip force value and grasp the object firmly without damaging the object. Slip sensor is a device mainly used to detect sliding or pre-sliding between the manipulator and the held object, and its performance directly determines whether the robot can successfully complete the soft grasping task. [0003] Existing slip sensors are mainly based on the principles of piezoelectricity, piezoresistance, and capacitance. Although some slip sensors can identify whether sliding occurs, they cannot measure the direction of sliding and the speed of sliding. At the same time, the existing slip sensor cann...

AI Technical Summary

Problems solved by technology

Although some slip sensors can identify whether a slip occurs, they cannot measure the direction of the slip and the speed of the slip

At the same time, the existing slip sensor cannot directly sense the normal pressure, and needs to be used in conjunction with a separate pressure sensor when the robot is grasping

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