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A flexible tactile sensing array, its preparation method and its application

A tactile sensing and flexible technology, applied in the field of flexible tactile sensing arrays and preparations, can solve the problems of low sensor sensitivity, poor piezoresistive performance, poor accuracy and reliability, etc., achieve simple data processing and improve accuracy and reliability, fast response effect

Active Publication Date: 2022-05-24
HUAZHONG UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

And by using two judging indicators at the same time to judge the slip detection, thereby solving the technical problems of low sensor sensitivity and poor piezoresistive performance; only based on a single index to judge the state of the target object, and the technical problems of poor accuracy and reliability

Method used

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  • A flexible tactile sensing array, its preparation method and its application
  • A flexible tactile sensing array, its preparation method and its application
  • A flexible tactile sensing array, its preparation method and its application

Examples

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Embodiment 1

[0062] The invention provides a preparation method of a flexible tactile sensing array, refer to figure 2 As shown in (a) to (f) of the above, it includes the following steps:

[0063] (1) If figure 2 As shown in (a), the NaCl particles were placed in a mortar and ground to less than 100 μm, and then according to the mass ratio of 1:5:5, 1.6g CB, 8gTPU and 8gNaCl were sequentially taken out and placed in a test tube, and the test tube was placed in a high-speed vibration. The apparatus was continuously vibrated at the highest power for 5 minutes to make the powder mix evenly, and in this way, a conductive powder 201 with CB, TPU and NaCl fully mixed was obtained.

[0064] (2) If figure 2 As shown in (b), the conductive powder 201 is placed in an acrylic template, and an elastic colloidal film 202 is prepared by first heating and then cooling. Specifically, firstly use acetone, isopropanol and deionized water to clean the glass sheet in sequence, and evenly spray RD-518 f...

Embodiment 2-7

[0070] Examples 2-7 prepare flexible tactile sensing arrays in the same manner as in Example 1, except that the difference from Example 1 is that the mass ratios of nano-carbon black, thermoplastic polyurethane rubber, and NaCl powder are different, See Table 1 below for details.

[0071] Table 1 Mass ratio table of CB, TPU and NaCl

[0072] Mass ratio of CB, TPU and NaCl Example 2 0.05:1:1 Example 3 0.1:1:1 Example 4 0.2:1:1 Example 5 0.3:1:1 Example 6 0.02:1:1 Example 7 0.4:1:1

[0073] The resistance value test is carried out on the flexible tactile sensing array prepared by the method provided in Examples 2-7, see Figure 5 , it can be seen that in the process that the mass of CB gradually increases relative to the mass of TPU, the resistance value of the sensing unit gradually decreases, and in the pressure range of 0-5N, the sensitivity of the sensing unit increases first The trend of decreasing after large, and when ...

Embodiment 8

[0075] This embodiment provides an application of the flexible tactile sensing array, which is applied to slip detection of robot operation. see image 3 , the detection includes the following steps:

[0076] (1) Collect the voltage signal of each tactile sensing unit in the flexible tactile sensing array, convert the voltage signal into its corresponding pressure, and perform one-dimensional discrete wavelet transform processing on the pressure to obtain high-frequency detail data .

[0077] Specifically, the step (1) includes the following substeps:

[0078] (101) Collect the voltage signal of each tactile sensing unit in the flexible tactile sensing array, convert the voltage signal into its corresponding pressure, and establish a two-dimensional coordinate system with the flexible tactile sensing array as a plane. In the coordinate system, the coordinates of the tactile sensing unit in the lower left corner are (1, 1), and the coordinates of the tactile sensing unit in ...

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Abstract

The invention discloses a flexible tactile sensing array, a preparation method and an application thereof. The preparation method comprises: uniformly mixing nano-carbon black, thermoplastic polyurethane rubber and NaCl powder to obtain conductive powder; placing the conductive powder in a template for heating, The conductive powder is changed from powdery to colloidal, and cooled at room temperature to obtain an elastic colloidal film; the colloidal film is soaked in deionized water, so that NaCl is dissolved in deionized water in the colloidal film, A piezoresistive film with a porous structure is obtained, the piezoresistive film includes a thermoplastic polyurethane rubber skeleton and nano-carbon black dispersed in the interior and surface of the skeleton; the piezoresistive film is used as a piezoresistive sensitive layer, and the upper and lower surfaces of the piezoresistive sensitive layer After the flexible conductive layer is provided and packaged, the flexible tactile sensing array is obtained. The invention solves the technical problems of low sensor sensitivity, poor piezoresistive performance, and poor accuracy and reliability in judging the state of a target object based on only a single index.

Description

technical field [0001] The invention belongs to the technical field of tactile sensors, and more particularly, relates to a flexible tactile sensing array, a preparation method and an application thereof. Background technique [0002] Intelligent robot technology is one of the most eye-catching high-tech developments today. It integrates information obtained from various sensors based on computer vision, natural language processing, deep learning and other technologies, and can effectively adapt to changing environments. adaptive, learning and self-decision-making abilities. Intelligent robots have gradually entered our daily life, and have broad application prospects in the fields of industry, medical care, service, logistics, etc., to perform various tasks in place of humans. Grabbing objects is a common type of tasks performed by intelligent robots, and it is very important to maintain the stability of grasping. When the robot grasps an object, if the grasping force is ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01L1/20
CPCG01L1/20
Inventor 吴豪包璐胜韩成
Owner HUAZHONG UNIV OF SCI & TECH
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