Magnetic flexible tactile sensing structure based on folding magnetizing method and application

Abstract

The invention discloses a magnetic flexible tactile sensing structure based on a folding magnetization method, which comprises a flexible main body containing a permanent magnet material, the flexible main body has a negative Poisson's ratio structure, and a set area of the flexible main body is subjected to folding magnetization treatment. The invention further discloses a sensor composed of the sensing structure. The sensor provided by the invention can be applied to sealed and wireless scenes, can detect the magnitude and position of force, and has a wide prospect in touch skin application of a robot. The sensing magnetic sheet based on the magnetic field and the Hall element are not in contact, and the touch sensor can also be used as an unconstrained touch sensor under the condition that a connecting line is difficult to establish for isolation. According to the invention, the magnetic sheet structure with the triangular hourglass structure is adopted, so that the magnetic signal change and the stress change of the small magnetic sheet can present a linear relationship, and the magnitude and the position of the force can be detected at the same time.

Description

technical field [0001] The invention belongs to physical sensors, and in particular relates to a magnetically flexible tactile sensing structure and application based on a folding magnetization method. Background technique [0002] Flexible tactile sensors are an emerging field as they can be applied in a range of human-computer interaction and wearable electronics. In recent years, several studies on flexible tactile sensors for robotic e-skins and wearable devices have been carried out. There are many tactile sensors with different sensing mechanisms, such as piezoresistive, piezoelectric, and capacitive. For traditional tactile sensors, the information that can be sensed from the tactile sensor is relatively single, limited to pressure, and the location showing shear force or fingertip surface structure and force cannot be identified. [0003] Paper 1 (S.M.Doshi, E.T.Thostenson, Thin and Flexible Carbon Nanotube-Based Pressure Sensors with Ultrawide Sensing Range, ACS S...

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Problems solved by technology

For traditional tactile sensors, the information that can be sensed from the tactile sensor is relatively single, limited to pressure, and the location showing shear force or fingertip surface structure and force cannot be identified

[0003] Paper 1 (S.M.Doshi, E.T.Thostenson, Thin and Flexible Carbon Nanotube-Based Pressure Sensors with Ultrawide Sensing Range, ACS Sensors.3(2018) 1276–1282. https: / / doi.org / 10.1021 / acssensors.8b00378.) The flexible pressure sensor based on carbon nanotubes mentioned in can only get pressure data and cannot obtain other information

[0004] Another example is paper 2 (C.Mu, Y.Song, W.Huang, A.Ran, R.Sun, W.Xie, H.Zhang, Flexible Normal-Tangential Force Sensor with Opposite Resistance Responding for HighlySensitive Artificial Skin, Adv. Funct.Mater.28(2018)1–9.https: / / doi.org / 10.1002 / adfm.201707503.) The flexible normal force sensor with counter-resistance cannot obtain the specific position information of the pressure

In order to sense more information, tactile sensor arrays are used to sense the magnitude and position of force, but a large number of wires must be used to connect the flexible covering of the robot and the internal control system, which makes maintenance very troublesome

Although liquid metal can alleviate the maintenance problem to some extent, the burden of large signal processing work still hinders the application development of tactile sensor arrays.

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