Triboelectric three-dimensional flexible tactile sensor and sensing unit

Abstract

The invention discloses a triboelectric three-dimensional flexible tactile sensor which comprises arrayed triboelectric three-dimensional flexible tactile sensing units, and each tactile sensing unitis composed of an insulating flexible inverted circular truncated cone, a metal electrode, a flexible covering layer, a flexible middle layer, a flexible bottom layer and a lead. The insulating flexible inverted circular truncated cone serves as a three-dimensional tactile force sensing structure and can convert external contact forces of different modes and sizes into corresponding deformation. Atriboelectric pair composed of the insulating flexible inverted circular truncated cone and the metal electrode converts the deformation into an electric signal through contact electrification and electrostatic coupling effects, and self-powered and high-sensitivity measurement of three-dimensional contact force including contact positive stress and slip shearing force is achieved. The triboelectric three-dimensional flexible tactile sensor is simple in overall structure and easy to manufacture, and array expansion of the tactile sensing units can be facilitated through the high-symmetry structure. The triboelectric three-dimensional flexible tactile sensor is excellent in comprehensive performance and can be popularized and applied to the fields of robot tail end dexterous hands, artificial limbs, surgical manipulators and the like.

Description

technical field [0001] The invention relates to the technical field of sensors, in particular to a flexible tactile sensor. Background technique [0002] Tactile sensors can provide tactile information for dexterous hands and artificial limbs at the end of robots for closed-loop control, improving the ability of dexterous hands and artificial limbs to perform complex and fine operations. It is of great significance to develop a tactile sensor with excellent comprehensive performance, stability and reliability for improving the dexterity and intelligence of the robot. The tactile sensor is a key sensing technology in the field of robot research. [0003] The key performance indicators of tactile sensors mainly include: sensitivity, three-dimensional tactile perception ability, flexibility, self-power supply capability and stability, etc., and the existing various classic forms of tactile sensors cannot take into account the above-mentioned main performance indicators well. F...

AI Technical Summary

Problems solved by technology

[0003] The key performance indicators of tactile sensors mainly include: sensitivity, three-dimensional tactile perception ability, flexibility, self-power supply capability and stability, etc., and the existing various classic forms of tactile sensors cannot take into account the above-mentioned main performance indicators well.

For example, piezoresistive and capacitive tactile sensors do not have self-power supply capability, and their work requires an additional power supply, which increases the complexity of the processing circuit; piezoelectric tactile sensors cannot measure static tactile force, Sensitive to temperature changes and less sensitive

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