Tactile pressure sensor and signal acquisition method based on electrical impedance tomography

Abstract

The invention provides a tactile pressure sensor based on electrical impedance tomography and a signal acquisition method, and belongs to the field of sensor design and testing. An excitation layer ofthe sensor is prepared by using a highly conductive fabric coated with a non-polar polymer, a detection layer is prepared by using a low-conductivity fabric coated with a weakly polar polymer, and anelectrode array is arranged at the edge of the detection layer; during measuring, two electrodes are adopted, one of the two electrodes is used as a grounding point and the other is used as a measuring point. The magnitude of the applied pressure is calculated and position measuring is carried out based on electrical impedance tomography by gating the different two electrodes for measuring. The high-precision distributed sensing o tactile skin characteristics and tactile morphology of a robot can be realized, the tactile pressure sensor based on the electrical impedance tomography is simple in structure, high in reliability, low in power consumption, good in flexibility and low in price, and simplicity and accuracy of pressure magnitude and position measuring are improved.

Description

technical field [0001] The invention belongs to the field of sensor design and testing, and relates to the design of a novel pressure sensor and a novel surface tactile pressure magnitude and position measurement method based on electrical impedance tomography. Background technique [0002] Pressure is the main characteristic of touch. Tactile imaging aimed at measuring the pressure or stress distribution on the object of interest is an important component of tactile sensing technology. Imaging-type tactile sensors are also one of the main classifications of tactile sensors, such as: References [1]-[2]. The tactile imaging technology for pressure perception and pressure magnitude detection is useful for revealing the accuracy of sensory behavior (grasp grip control, manual guidance, dexterous manipulation, etc.) Information has significant value. [0003] Tactile imaging technology based on pressure measurement is a research hotspot in the field of tactile sensing. It main...

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Problems solved by technology

[0013] The present invention aims at the problem that the current tactile imaging technology adopts the method of arranging pressure-sensitive elements in an array structure in the sensing area, which is difficult to meet the pressure measurement of the complex three-dimensional structure of the robot skin surface, and the traditional pressure-sensitive material tactile imaging sensor has complicated process and high cost, and provides A new type of tactile sensor based on the principle of electrical impedance imaging and using the electromechanical coupling effect of double-layer conductive fabric materials. The pressure sensor based on electrical impedance tomography can measure the size and position of pressure, and realize the tactile skin characteristics and tactile morphology of robots. High precision distributed sensing

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