Full-flexible capacitive three-dimensional force tactile sensor based on corrugated pipe microstructure

Abstract

The invention discloses a full-flexible capacitive three-dimensional force tactile sensor based on a corrugated pipe microstructure. The full-flexible capacitive three-dimensional force tactile sensorcomprises a hemispherical hollow contact made of an insulating material, a flexible circular common electrode made of a conductive material, an air cavity, a flexible excitation electrode made of a conductive material and a flexible substrate made of an insulating material, the air cavity is a sandglass-shaped air cavity with a corrugated pipe structure, is formed in the hemispherical hollow contact, and is filled with air; the whole flexible substrate is a round sheet with a concave edge, and is connected with the hemispherical hollow contact to form a round cap-shaped structure; the four flexible fan-shaped excitation electrodes are led out through a wire to serve as an excitation end. The flexible circular common electrode is embedded in the upper part of the hourglass-shaped air cavity with the corrugated pipe structure; the flexible circular common electrode is led out through a wire to form a common electrode; and the flexible circular common electrode and the flexible fan-shaped excitation electrode form four capacitors which are distributed in a spatial three-dimensional manner. The sensor provided by the invention has higher detection sensitivity and faster response speed.

Description

technical field [0001] The invention relates to a three-dimensional force tactile sensor, especially a fully flexible capacitive three-dimensional force tactile sensor based on bellows microstructure, which is mainly used in bionic robots, flexible wearable electronic devices, electronic skin, sports training, rehabilitation medicine, etc. many research fields. Background technique [0002] With the development of science and technology and human's demand for intelligent life, today's society is gradually transitioning from the era of informationization and automation to the era of intelligence, and intelligent robots designed to meet production capacity improvements are more widely used in various fields. When an intelligent robot works, it needs to obtain useful information from an uncertain or more complex environment, which requires the robot to be able to perceive various physical characteristics of the target object well. Therefore, it is necessary to develop a bionic ...

AI Technical Summary

Problems solved by technology

For example, some existing flexible three-dimensional force tactile sensors rely on the combination of flexible tissue structures, or rely on changing the properties of flexible materials to improve the sensitivity of the sensor, which leads to three-dimensional force tactile sensors in real "skin-like" and continuous There are certain limitations in measuring large areas

At the same time, most of the existing flexible tactile sensors are only suitable for the measurement of one-dimensional force, and cannot effectively perceive all external information, and cannot meet the needs of intelligent robots, especially bionic robots.

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