Angle adjustable type bionic hair sensing structure

A bionic hair and hair technology, applied in force/torque/work measuring instruments, instruments, measuring force, etc., can solve the problem of difficulty in obtaining more dimensional information, and achieve the effect of sensitive deformation detection

Active Publication Date: 2018-11-06
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the weakness of the two-dimensional flexible planar structure flexible tactile sensor that it is difficult to obtain more dimensional information and realize the innovation that can obtain the magnitude of external force in different directions according to the experimental requirements and measure the external force in a certain direction on the uneven working surface, the present invention An angle-adjustable biomimetic hair sensing structure is proposed

Method used

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  • Angle adjustable type bionic hair sensing structure
  • Angle adjustable type bionic hair sensing structure
  • Angle adjustable type bionic hair sensing structure

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0057] When the surface of the detection area is a plane and obtains an external force in the horizontal direction, adjust the air pressure so that the air pressure in the first air cavity 201 and the second air cavity 202 of the hair receptor 2 are equal, so that the hair receptor 2 does not move before the external force is applied. Bending occurs.

[0058] When an external force in the horizontal direction acts on the hair receptor 2, the hair receptor 2 will bend. The bending deformation will cause the first flexible sensing layer 205 and the second flexible sensing layer 206 to shrink and extend. Therefore, the resistance values ​​of the first flexible sensing layer 205 and the second flexible sensing layer 206 will change, one increases and the other decreases. The potential of the contact end between the power signal transmission wire 207 and the first flexible sensing layer 205 and the second flexible sensing layer 206 is high level, so the output voltage of the first...

Embodiment 2

[0060] When the surface of the detection area is a plane and the external force in a non-horizontal direction is obtained, the air pressure in the first air cavity 201 and the second air cavity 202 of the hair receptor 2 is adjusted so that the hair receptor 2 bends before the external force is applied, The direction of bending is to make the external force perpendicular to the top of the hair receptor 2, such as Figure 6 As shown, F in the figure represents the acting external force. The bending deformation at this time will cause the first flexible sensing layer 205 and the second flexible sensing layer 206 to shrink and stretch, so the resistance values ​​of the first flexible sensing layer 205 and the second flexible sensing layer 206 change. The resistance value can be calculated according to the output voltages of the first signal transmission wire 208 and the second signal transmission wire 209 , and the corresponding resistance difference is recorded as the initial si...

Embodiment 3

[0063] In the process where the surface of the detection area is plane and multiple external forces in different directions are obtained, the air pressure in the first air cavity 201 and the second air cavity 202 of the hair receptor 2 is adjusted so that the hair receptor 2 generates Bending, the direction of bending is to make each external force perpendicular to the top of the hair receptor 2 corresponding to detect the external force. The bending deformation at this time will cause the first flexible sensing layer 205 and the second flexible sensing layer 206 to shrink and extend, so the resistance values ​​of the first flexible sensing layer 205 and the second flexible sensing layer 206 change, according to The magnitude of the output voltage of the first signal transmission wire 208 and the second signal transmission wire 209 can calculate the magnitude of the resistance value, and record the corresponding resistance value difference as the initial situation.

[0064] Wh...

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Abstract

The invention discloses an angle adjustable type bionic hair sensing structure which comprises a flexible substrate and hair sensors arranged on the flexible substrate. The hair sensors are arranged in an equally spaced array on the upper surface of the flexible substrate, the hair sensors are active mode angle adjustable structures, and the angle adjustable type bionic hair sensor array is formed. External forces in different directions are acquired according to actual needs, the external forces are measured on an uneven working surface, so that tactile perception can be obtained when an object approaches the working surface, the time for system reaction is prolonged, and thus the safety performance is improved.

Description

technical field [0001] The invention relates to a sensing device, in particular to an angle-adjustable bionic hair sensing structure. Background technique [0002] At present, as a robot that is closest to people's life, service robots are gradually entering daily production and life, and have an increasingly important impact on the development of human society. [0003] In the process of human-service robot interaction, safety is the most basic and important link. As a key way of information perception, tactile sense can assist service robots to complete expected actions and carry out safe human-robot interaction in diverse and complex environments. Sensitive skin typically consists of tens of thousands of sensors, requiring soft and deformable switching control arrays. [0004] At present, the widely used flexible tactile sensors mostly use two-dimensional flexible planar structures, and there are few flexible sensors with raised features that study the structure of huma...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L1/20G01L1/22G01L5/22
CPCG01L1/205G01L1/2287G01L5/228
Inventor 杨赓王方锦华庞高阳杨华勇
Owner ZHEJIANG UNIV
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