A piezoelectric piezoresistive composite humanoid tactile finger and its preparation method

Abstract

The invention discloses a piezoresistive composite humanoid tactile finger and a preparation method thereof. The body of the humanoid tactile finger is composed of a finger-shaped base, a piezoresistive sensitive array and a bionic fingerprint. The piezoresistive sensitive array is embedded in the finger The base surface layer is covered with bionic fingerprints; the piezoelectric piezoresistive sensitive array is composed of multiple sensitive units; the sensitive unit is composed of a flexible packaging layer, a silicone oil liquid layer, a piezoelectric wire, a piezoresistive wire, a flexible cavity layer and a flexible base layer; Among them, the piezoelectric wire is composed of the first tungsten wire, the PVDF piezoelectric layer and the first copper-plated conductive layer from the inside to the outside, and the piezoresistive wire is composed of the second tungsten wire, the conductive rubber layer and the second copper-plated conductive layer from the inside to the outside. conductive layer. The piezoelectric wire and the piezoresistive wire of the present invention are respectively responsible for the measurement of dynamic force and static force, which can improve the composite measurement function of the humanoid tactile finger on the distributed dynamic and static force of the high-density curved surface, and is a stable operation of the bionic prosthetic hand on the object And accurate identification provides rich contact force feedback information.

Description

technical field [0001] The invention relates to a composite humanoid tactile finger, in particular to a piezoresistive composite humanoid tactile finger and a preparation method thereof. Background technique [0002] The human hand can perceive the external environment and can reliably complete the operation of various objects (such as grasping objects), which is easy to find that there are abundant mechano-stimuli sensory bodies distributed in the skin of the human hand. These bodies can be divided into four types according to their structures: annular bodies (FAII), Merkel bodies (FAI), Raffini bodies (SAII) and Merkel's contacts (SAI). Among them, the first two types of corpuscles are fast-response corpuscles, which are sensitive to dynamic force and are mainly used to perceive high-frequency vibration signals; the latter two corpuscles are slow-response corpuscles, which are sensitive to static force and can sense tangential force, contact force and its distribution. ...

AI Technical Summary

Problems solved by technology

At present, most tactile sensing arrays are installed on the surface of prosthetic hands to provide tactile feedback information, but this direct contact is easy to damage the tactile sensor.

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