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Full-printing bionic super-sensing flexible robot skin

A robotic and flexible technology, applied in manipulators, manufacturing tools, etc., can solve the problems of low flexibility and limited improvement of robot perception ability.

Active Publication Date: 2021-09-14
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, most of the existing printable solutions require the participation of media such as masks, and the flexibility of production is not high.
In addition, most of the existing flexible robot skins only have 1 or 2 perception modes, and the improvement of the robot's perception ability is limited.

Method used

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  • Full-printing bionic super-sensing flexible robot skin
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  • Full-printing bionic super-sensing flexible robot skin

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0077] The test conditions of the 0.3-1N reciprocating cyclic force loading experiment of the present invention are: the present invention is fixed on the fixed table of the testing machine, a plastic cylinder is fixed on the mobile table, and the mobile table drives the plastic cylinder to squeeze the skin of the robot downward. a dielectric unit. When the detection amount of the force sensor connected to the mobile table exceeds 1N, the mobile table drives the plastic cylinder away from the robot skin until the detection amount of the force sensor is less than 0.3N. Immediately thereafter, the above process is repeated for the next squeeze. The number of loop loads is about 2500 times.

[0078] The relative change of piezocapacitance value during cyclic pressurization is as follows: Figure 5 Shown: The output of 10 consecutive loadings at the initial stage and later stage of the experiment are respectively enlarged in the figure. The peaks and valleys of the response cur...

Embodiment 2

[0081] In order to evaluate whether there is crosstalk phenomenon in the pressure perception of the present invention, the capacitance at a certain dielectric unit is measured by capacitance measuring equipment in different scenarios: no weight loaded, weight loaded at the position to be tested, and weight loaded at the position to be tested The upper adjacent position, the weight is loaded on the right adjacent position of the position to be tested, and the weight is loaded on the diagonal adjacent position of the position to be measured. During the experiment, the robot skin was fixed on a hard table, and the contact area between the weight and the robot skin was similar to the area of ​​the dielectric unit.

[0082] In different scenarios, the capacitance increase caused by weight loading is as follows: Figure 6 Shown: It can be clearly seen in the figure that only when the weight is exactly at the position to be tested, the pressure-sensitive capacitance can increase sign...

Embodiment 3

[0085] The test conditions of the proximity sensing experiment of the present invention are: the robot skin is fixed on a certain plane, and the wooden palm model is placed on another plane parallel to it, directly above the robot skin. Adjust the distance between the two planes, and use a capacitive measuring device to record the proximity perception output at this distance with and without the palm model.

[0086] The temperature recorded during the experiment - the increment of the capacitance to ground close to the composite sensitive layer 5 is as follows Figure 7 Shown: When the distance between the palm model and the robot skin is 7cm, 5.5cm and 3cm respectively, as the distance gets smaller and smaller, the capacitance increase caused by the palm model becomes larger and larger.

[0087] It can be shown that the proximity sensing of the present invention can effectively perceive objects close to it in the external environment, greatly improving the sensing function an...

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Abstract

The invention discloses a full-printing bionic super-sensing flexible robot skin. The skin comprises a flexible upper substrate layer, a top electrode layer, a bonding layer, a pressure sensitive layer, a temperature-proximity composite sensitive layer and a flexible lower substrate layer which are tightly assembled in sequence from top to bottom, wherein the pressure sensitive layer, the top electrode layer and the temperature-proximity composite sensitive layer jointly realize pressure sensing, the pressure sensitive layer serves as a dielectric medium of a pressure sensitive capacitor, the top electrode layer serves as a top electrode of the pressure sensitive capacitor, and when the temperature-proximity composite sensitive layer serves as a bottom electrode of the pressure sensitive capacitor, a resistance value of the temperature-proximity composite sensitive layer is used for temperature sensing, and a ground capacitance value of the temperature-proximity composite sensitive layer is used for object proximity sensing. Preparation method of the skin is based on a printable scheme, has the advantages of lightness, thinness, customizability and mild processing conditions, can be used as a man-machine interaction interface in industrial production, home care and other scenes, and can realize functions of pressure sensing, temperature sensing and proximity sensing only by using three layers of functional materials.

Description

technical field [0001] The invention relates to a flexible skin in the technical field of flexible sensors, in particular to a fully printed bionic super-sensing flexible robot skin. Background technique [0002] Service robots are gradually entering our production and life, and have an increasingly important impact on the development of human society. The collaborative robot application design specification ISO TS 15066 shows that the closer the human-computer interaction, the higher the design requirements. Frequent and complex human-computer interaction scenarios put forward higher-level requirements for the perception function of robots. Bionics is a research hotspot in the field of robotics. Tactile perception and temperature perception are the basic means for organisms to adapt to environmental changes. The sense of touch in the conventional sense includes the perception of variables such as pressure, shear force, texture, etc. Tactile sensors can assist service ro...

Claims

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Application Information

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IPC IPC(8): B25J13/08
CPCB25J13/084B25J13/08B25J13/086
Inventor 杨赓罗华昱庞高阳杨华勇
Owner ZHEJIANG UNIV