A 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 a single tactile sensing unit consists of an insulating flexible rounded table, a metal electrode, a flexible covering layer, a flexible middle layer, Flexible bottom layer and leads. As a three-dimensional tactile force-sensing structure, the insulating flexible round table can convert external contact forces of different modes and sizes into corresponding deformations. The triboelectric pair composed of the insulating flexible round table and the metal electrode converts the deformation into an electrical signal through the contact electrification and electrostatic coupling effects, and realizes the self-power supply of three-dimensional contact force including contact normal stress and slip shear force, Highly sensitive measurement. The overall structure of the invention is simple, the manufacturing process is easy, and the highly symmetrical structure can facilitate array expansion of the touch sensing unit. The invention has excellent comprehensive performance and can be popularized and applied in the fields of dexterous hands at the end of robots, artificial prostheses, 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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