Modularized soft curvature sensor with double-layer sensing structure

Abstract

The invention discloses a modularized soft curvature sensor with a double-layer sensing structure and relates to the technical field of measurement and particularly relates to a sensor, which is characterized in that a lower middle layer, a main sensing layer and a lower protective layer are sequentially arranged from top to bottom, wherein the lower middle layer is connected with the lower protective layer, two ends of the main sensing layer are respectively connected with a lead, the main sensing layer extends along the longitudinal direction of the lower middle layer, the upper side protection layer, a secondary sensing layer and the upper side middle layer are sequentially arranged from top to bottom, the upper side protection layer, the upper side middle layer and the lower side middle layer are sequentially connected, the secondary sensing layer comprises a plurality of secondary sensing grids, the secondary sensing grids are sequentially arranged in the length direction of the main sensing layer, and two ends of each secondary sensing grid are each connected with a wire. The soft curvature sensor with the double-layer sensing structure and capable of being modularly used canbe applied when the bending condition is a single-direction single curvature or a single-direction non-single curvature, and detection precision is improved.

Description

technical field [0001] The invention relates to the field of measurement technology, in particular to a soft body curvature sensor with a double-layer sensing structure that can be used in modules. Background technique [0002] Soft electronic materials are developed on the basis of traditional electronic materials, and their progress in performance, function, and versatility can realize applications that cannot be realized under traditional silicon technology. The biggest feature of products made of soft electronic materials is flexibility. In the current hot emerging fields such as soft robots, wearable biological monitoring, and human-computer interaction, products with flexibility can be used. [0003] Intelligence has always been the goal pursued by robots, including soft robots, and perception is a necessary ability for intelligence. The perception of soft robots includes self-motion estimation, contact modeling and mapping of the surrounding environment. In traditio...

AI Technical Summary

Problems solved by technology

[0004] In the present stage of soft robots, bending is the main form of motion, but due to the immaturity of soft curvature sensor technology, the control of soft robots is generally forced to choose open-loop control, and the accuracy is far inferior to closed-loop control

In addition, the sensing structure of most soft body curvature sensors generally has only one layer, and the measured result only has one data, and then only a single curvature can be obtained. The bending of soft robots is not perfect, and a single curvature is far from being able to provide The complete bending situation, in applications with high precision requirements, the soft sensor with a single-layer sensing structure can no longer meet the demand

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