A highly sensitive five-degree-of-freedom array tactile sensor

A tactile sensor, degree of freedom technology, applied in the field of sensors, can solve the problem of low tangential detection sensitivity, and achieve the effects of high spatial force detection, high spatial resolution, and improved sensitivity

Active Publication Date: 2020-06-26
BEIHANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The purpose of the present invention is to provide a high-sensitivity five-degree-of-freedom array type tactile sensor, which can overcome the shortcomings of the previous tactile sensor that the tangential detection sensitivity is lower than the forward detection sensitivity, realize high-sensitivity spatial force detection, and meet the requirements of miniaturization. Under the conditions of integration and integration, the excellent characteristics of sensors such as high signal-to-noise ratio, low noise, good repeatability, and low hysteresis are guaranteed

Method used

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  • A highly sensitive five-degree-of-freedom array tactile sensor
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  • A highly sensitive five-degree-of-freedom array tactile sensor

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example 1

[0033] Such as figure 1 As shown, this implementation example is based on a high-sensitivity five-degree-of-freedom array tactile sensor, which mainly consists of an upper printed circuit board 11, a shear dielectric layer 4, an intermediate printed circuit board 12, a forward dielectric layer 8, and a lower printed circuit board 13. Composed layer by layer. The sensor is based on the capacitive working mechanism. The middle printed circuit board is used as a fixed electrode, and the upper and lower printed circuit boards are respectively used as positive pressure / tangential force movable plates. Due to the external force, the sensor will cause changes in the capacitance structure parameters of the sensor. By measuring the capacitance change, the positive pressure Fz, tangential force Fx / Fy and moment Mx / My acting on the sensor can be sensed. The working principle is shown in the figure figure 2 shown.

[0034] The tactile sensor is under the action of tangential force Fx / F...

example 2

[0040] Such as Figure 4 As shown, the tactile sensor in the left figure shows the lower panel structure of the middle layer printed circuit board of the sensor, and this patent is set to N×N total N 2 A rectangular exposed electrode plate, output N 2 The digital-to-analog conversion is realized through the digital conversion chipset, and the serial port transmission method is used to transmit the data to the single-chip microcomputer for data packaging processing. The array sensor transmission signal is packaged into a data set formed by multiple frames of tactile pressure image data, and then transmitted to the PC. Realize the signal display, and finally realize the array pressure detection of the tactile sensor.

[0041] Among them, the lower panel structure of the middle layer printed circuit board of the tactile sensor is to realize N 2 block the signal output of the exposed electrodes, taking into account the N 2 Due to the difficulty of signal routing, it is planned ...

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Abstract

The invention relates to a highly sensitive five-degree-of-freedom array type tactile sensor. The tactile sensor is made by stacking up three layers of printed circuit boards and two dielectric layersbased on a sandwich structure, and can independently sense the positive pressure, shear force and torque acting on the tactile sensor. According to the invention, array type expansion is carried outon a positive pressure sensing layer, the problems of a plurality of routing, difficult wiring and interference induction in array printing are solved on the basis of multilayer printed circuit boardtechnologies and a reasonable PCB wiring layout design, and high resolution detection of spatial force of the tactile sensor is realized. A sensing unit and a detection circuit of the tactile sensor are integrated into one body, and so the parasitic capacitance generated in a wire transmission process is eliminated, the noise influence is reduced, and the detection circuit provides AD conversion,active shielding and data interaction for the sensor unit. The highly sensitive five-degree-of-freedom tactile sensor can realize decoupling measurement of multi-degree-of-freedom spatial force and spatial force distribution information detection with high spatial resolution, and ensure extremely high sensitivity detection of force of all dimensions.

Description

technical field [0001] The invention belongs to the technical field of sensors, and relates to a tactile sensor, in particular to a highly sensitive five-degree-of-freedom array tactile sensor based on capacitive conduction. Background technique [0002] Robots are widely used in industrial automation manufacturing, and their applications are starting to diversify, such as developing humanoid robots to assist people in daily activities and assisting people in tasks such as exchanging objects. In order to ensure that intelligent robots can safely work in unknown and unstructured daily environments, robots are required to obtain detailed information about objects in the surrounding environment, and detailed information can be obtained through different sensing sources, such as vision and touch. Although visual feedback has been widely used in robot positioning and shape recognition, it is easily affected by sight obstruction or dim light; in contrast, tactile feedback can prov...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01L1/14
CPCG01L1/142G01L1/146G01L1/148
Inventor 楚中毅苏琳孙俊宋婷朱康武
Owner BEIHANG UNIV
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