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Three-dimensional flexible touch sensor

A tactile sensor, three-dimensional flexible technology, applied in the measurement of the change force of the magnetic property of the material caused by the applied stress, etc., can solve the problems of low sensitivity, inability to induce large-scale rearrangement effect of conductive phase, and sensitivity drop

Active Publication Date: 2021-10-08
CHONGQING UNIV
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  • Application Information

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Problems solved by technology

[0004]However, when the directional spatial distribution of the conductive phase is not the same as the direction of the external force (that is, there is an angle), its sensitivity will decrease because it cannot induce Large-scale rearrangement effect of conductive phase in the direction of external force on the microscopic scale
And the larger the angle between the spatial distribution direction of the conductive phase orientation and the direction of the external force, the smaller the sensitivity

Method used

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Examples

Experimental program
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Effect test

Embodiment 1

[0041] see Figure 1 to Figure 8 , a three-dimensional flexible tactile sensor, including a floating electrode 2, an insulating layer 3, an organic elastomer 4, a prestructured conductive elastomer 5, a driving electrode 6, a sensing electrode 7, a flexible PCB board 8 and a substrate 9.

[0042] A layer of hemispherical protrusion layer 1 covers the floating electrode array arranged in M×N. M=2=N.

[0043] Several floating electrodes 2 are pasted on the upper surface of the first insulating layer 3 .

[0044] The second insulating layer 3 is covered on the flexible PCB 8 .

[0045] The pre-structured conductive elastomer 5 is located between two insulating layers 3 .

[0046] The prestructured conductive elastomer 5 includes an organic elastomer 4 and several magnetic particles 10.

[0047] The organic elastomer 4 is a hollow cavity.

[0048] The organic elastomer is a matrix (insulating, insensitive to external force), and the magnetic particles (metal, conductive) insi...

Embodiment 2

[0069] see Figure 8 , the method of realizing three-dimensional tactile sensing based on the sensitivity difference of conductive elastomer magnetic field pre-structuring is described as follows. The sensing unit contains a total of 4 sensitive subunits x-, x+, y-, y+, and the 4 sensitive subunits have different pre-structured directions (angles), and the floating electrode 1, the sensing electrode 4, and the driving electrode 5 have Different overlapping features.

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Abstract

The invention discloses a three-dimensional flexible touch sensor, which comprises a hemispherical convex layer (1), a floating electrode (2), an insulating layer (3), an organic elastomer (4), a pre-structured conductive elastomer (5), a driving electrode (6), an induction electrode (7), a flexible PCB (8) and a substrate (9). According to the invention, three-dimensional force detection and self-decoupling of normal force and sliding force are realized from a material magnetic field polarization sensing principle and a sensing unit structure design.

Description

technical field [0001] The invention relates to the field of tactile sensors, in particular to a three-dimensional flexible tactile sensor. Background technique [0002] Tactile sensors are very important to the development and application of robots, especially service robots and bionic robots. It enables robots to sense the external environment sensitively and accurately, and to achieve safe and natural contact interaction with humans. Not only that, tactile sensors have a wide range of applications in many aspects such as sports training and rehabilitation medicine. However, the existing technology generally realizes the detection of positive pressure (normal force), and most three-dimensional tactile sensors that integrate slip detection have difficulty in decoupling, or even cannot be decoupled. [0003] The magnetic conductive phase filled conductive elastomer can apply a magnetic field during the curing preparation stage due to its magnetorheological effect, so that t...

Claims

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Application Information

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IPC IPC(8): G01L1/12
CPCG01L1/12
Inventor 谢磊杨俊欧雷胡宁徐龙邬超刘玉菲王鹏陈仙廖昌荣
Owner CHONGQING UNIV
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