High-dimensional multi-field intelligent bionic soft material

Abstract

The invention provides a high-dimensional multi-field intelligent bionic soft material which is characterized in that the high-dimensional multi-field intelligent bionic soft material comprises a first elastic layer, a shear force sensing layer, a second elastic layer, a pressure sensing layer and a third elastic layer which are sequentially stacked from top to bottom, and the first elastic layer, the second elastic layer and the third elastic layer are used for packaging the shear force sensing layer and the pressure sensing layer; the shear force sensing layer comprises at least one first flexible sensor used for detecting the magnitude of component force of applied force in the x-axis direction and the y-axis direction, and the pressure sensing layer comprises at least one second flexible sensor used for detecting the magnitude of component force of applied force in the z-axis direction. The first flexible sensor and the second flexible sensor are at least partially overlapped in the normal direction of the surface of the first elastic layer to which the force is applied, the x-axis direction, the y-axis direction and the z-axis direction are perpendicular to one another, and the z-axis direction is the same as the normal direction. In a word, the method can accurately detect the three-dimensional force.

Description

Technical Field

[0001] The invention relates to an intelligent bionic soft material, in particular to a high-dimensional multi-field intelligent bionic soft material. Background Art

[0002] Intelligent bionic materials are a type of material that combines advanced sensing or control technology with biological bionic principles. They are composed of artificial materials, mechanical devices and electronic components. They are designed to simulate and apply the structure and function of organisms, imitate the response of biological tissues to environmental stimuli, and have functions such as self-adaptation, self-repair and memory. The design of these materials is inspired by biological systems. They use advanced sensors, intelligent controllers and adaptive materials to sense changes in the external environment such as temperature, humidity and pressure to achieve higher-level functions such as monitoring, identification and regulation of the environment. Intelligent bionic materials and corresponding intelligent devices represent the frontier progress of the combination of artificial intelligence and biomedicine, and have important application value and huge development potential in the fields of intelligent control systems, sensor technology, evolutionary and adaptive systems, and biomedical engineering.

[0003] In medicine, smart bionic materials can sense environmental changes and monitor physiological signals, improve diagnostic accuracy, and achieve personalized treatment and comprehensive rehabilitation, which is of great significance for promoting the advancement of medical technology and improving the quality of medical services. Advances in algorithms, materials, and manufacturing have brought more interactive, adaptive, and intelligent sensing solutions. For example, electronic skin, a typical flexible bionic sensor, is a functional sensing imitation of human skin. It simulates the characteristics and functions of human skin by integrating electronic components into flexible, thin, and stretchable substrates. The perception function of the skin covers multiple perception dimensions such as pressure, temperature, strain, and humidity. Tactile perception is one of the basic functions of the skin, and flexible pressure sensors make tactile perception possible.

[0004] However, existing electronic skin and traditional flexible sensors are limited to one-dimensional pressure detection, while three-dimensional mechanical force detection is essential for precise tactile manipulation. When facing complex real-world intelligent systems, current sensors cannot achieve the complex sensing capabilities of human skin and subcutaneous tissue due to one-dimensional pressure detection, and their performance often cannot meet actual needs.

[0005] In short, existing smart bionic materials are still unable to accurately detect three-dimensional mechanical forces. Summary of the invention

[0006] The present invention is made to solve the above problems and aims to provide a high-dimensional multi-field intelligent bionic soft material.

[0007] The present invention provides a high-dimensional multi-field intelligent bionic soft material, which has the following characteristics: a first elastic layer, a shear force sensing layer, a second elastic layer, a pressure sensing layer and a third elastic layer are stacked in sequence from top to bottom, wherein the first elastic layer, the second elastic layer and the third elastic layer are used to encapsulate the shear force sensing layer and the pressure sensing layer, the shear force sensing layer comprises at least one first flexible sensor for detecting the magnitude of the component force of the applied force in the x-axis direction and the y-axis direction, the pressure sensing layer comprises at least one second flexible sensor for detecting the magnitude of the component force of the applied force in the z-axis direction, the first flexible sensor and the second flexible sensor at least partially overlap in the normal direction of the surface of the first elastic layer to which the force is applied, the x-axis direction, the y-axis direction and the z-axis direction are perpendicular to each other, and the z-axis direction is in the same direction as the normal direction.

[0008] The high-dimensional multi-field intelligent bionic soft material provided by the present invention may also have the following characteristics: wherein, the first flexible sensor and the second flexible sensor each include at least two capacitors, each capacitor of the first flexible sensor corresponds one-to-one to each capacitor of the second flexible sensor, and each corresponding capacitor overlaps in the normal direction, the capacitance of each capacitor of the first flexible sensor is positively correlated with the force applied in different specific directions, and the capacitance of the capacitor of the second flexible sensor is positively correlated with the magnitude of the component force in the z-axis direction.

[0009] The high-dimensional multi-field intelligent bionic soft material provided by the present invention may also have the following characteristics: wherein, the first flexible sensor also includes: a first capacitance detection unit, used to detect the capacitance of each capacitor; a shear force calculation unit, used to calculate the magnitude of the component force in the x-axis direction and the y-axis direction according to the capacitance of each capacitor; the second flexible sensor also includes: a second capacitance detection unit, used to detect the capacitance of each capacitor; a pressure calculation unit, used to calculate the magnitude of the component force in the z-axis direction according to the capacitance of each capacitor.

[0010] The high-dimensional multi-field intelligent bionic soft material provided by the present invention may also have the following characteristics: wherein, the capacitor is composed of a top electrode plate, a dielectric layer and a bottom electrode plate stacked in sequence, and the top electrode plate and the bottom electrode plate both include a plurality of electrode strips arranged in parallel in sequence at a certain interval, and a first side electrode strip connecting one end of each electrode strip and a second side electrode strip connecting the other end of each electrode strip. In each capacitor, each electrode strip extends in a vertical direction perpendicular to a specific direction corresponding to the capacitor, and the first side electrode strip and the second side electrode strip both extend in a specific direction. In each capacitor, each electrode strip of the top electrode plate corresponds one-to-one to each electrode strip of the bottom electrode plate, and each electrode strip of the top electrode plate is offset by a certain distance in the opposite direction of the specific direction directly above the electrode strip of the corresponding bottom electrode plate to form a partial overlap. The dielectric layer is an elastic dielectric. When the capacitor is subjected to force, the dielectric layer deforms, causing the top electrode plate to be positionally offset relative to the bottom electrode plate in the direction of force.

[0011] The high-dimensional multi-field intelligent bionic soft material provided by the present invention may also have the following characteristics: the length of each electrode strip in the top electrode plate is shorter than the corresponding electrode strip in the bottom electrode plate, and each electrode strip in the top electrode plate and the bottom electrode plate has the same central axis.

[0012] The high-dimensional multi-field intelligent bionic soft material provided by the present invention may also have the following characteristics: wherein the width of the electrode strip is 0.35 mm, the thickness of the electrode strip is 0.2 mm, the interval is 0.35 mm, the distance is 0.175 mm, and the length and width of the capacitor are 7.525 mm and 7 mm respectively.

[0013] The high-dimensional multi-field intelligent bionic soft material provided by the present invention may also have the following characteristics: wherein the materials of the top electrode plate and the bottom electrode plate are both aluminum, and the elastic dielectric is polydimethylsiloxane.

[0014] The high-dimensional multi-field intelligent bionic soft material provided by the present invention may also have the following characteristics: wherein, the first flexible sensor and the second flexible sensor each include four capacitors, and the four capacitors of the first flexible sensor are respectively recorded as the first capacitor, the second capacitor, the third capacitor and the fourth capacitor, the capacitance of the first capacitor is positively correlated with the force applied to the first flexible sensor along the first direction, the capacitance of the second capacitor is positively correlated with the force applied to the first flexible sensor along the second direction, the capacitance of the third capacitor is positively correlated with the force applied to the first flexible sensor along the third direction, the capacitance of the fourth capacitor is positively correlated with the force applied to the first flexible sensor along the fourth direction, the first direction and the second direction are perpendicular to each other, and the first direction and the third direction, as well as the second direction and the fourth direction are opposite directions to each other.

[0015] The high-dimensional multi-field intelligent bionic soft material provided by the present invention may also have the following characteristics: wherein the force-bearing areas of the first flexible sensor and the second flexible sensor are both 324 mm 2 The force components in the z-axis direction that the first flexible sensor and the second flexible sensor can withstand are both 0~250kPa, and the force components in the x-axis direction and the y-axis direction that the first flexible sensor and the second flexible sensor can withstand are both 0~150kPa.

[0016] The high-dimensional multi-field intelligent bionic soft material provided by the present invention may also have the following characteristics: the thickness of the first elastic layer is in the range of 1 to 4 mm, the thickness of the second elastic layer is in the range of 2.5 to 7.5 mm, and the thickness of the third elastic layer is in the range of 1 to 4 mm.

[0017] Functions and Effects of the Invention According to the high-dimensional multi-field intelligent bionic soft material involved in the present invention, because the first flexible sensor and the second flexible sensor are partially overlapped in the normal direction of the force-bearing surface, and a second elastic layer of a certain thickness is arranged between the first flexible sensor and the second flexible sensor, the first flexible sensor is sensitive to the component force in the x-axis direction and the y-axis direction, and the second flexible sensor is sensitive to the component force in the z-axis direction, thereby realizing the detection of the magnitude of the three-dimensional force. Therefore, the high-dimensional multi-field intelligent bionic soft material of the present invention can accurately detect the three-dimensional force. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of high-dimensional multi-field intelligent bionic soft material in an embodiment of the present invention.

[0019] Figure 2 Schematic diagram of the three-dimensional structure of the capacitor in the embodiment of the present invention.

[0020] Figure 3 Schematic diagram of a top view of a top electrode plate and a bottom electrode plate in an embodiment of the present invention.

[0021] Figure 4 Schematic diagram of the arrangement and connection of various capacitors of the first flexible sensor in an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the following embodiments are combined with the accompanying drawings to specifically illustrate the high-dimensional multi-field intelligent bionic soft material of the present invention.

[0023] In this embodiment, a high-dimensional multi-field intelligent bionic soft material is provided, which can detect the magnitude of the component force of the force applied to the high-dimensional multi-field intelligent bionic soft material in the three-dimensional direction. In this embodiment, the three-dimensional direction is the x-axis direction, the y-axis direction and the z-axis direction, and the component force in the x-axis direction and the y-axis direction is recorded as shear force, and the component force in the z-axis direction is recorded as pressure.

[0024] Figure 1 Schematic diagram of high-dimensional multi-field intelligent bionic soft material in an embodiment of the present invention.

[0025] like Figure 1 As shown, the high-dimensional multi-field intelligent bionic soft material 100 includes a first elastic layer 11, a shear force sensing layer 12, a second elastic layer 13, a pressure sensing layer 14, and a third elastic layer 15 stacked sequentially from top to bottom. In this embodiment, the force applied to the high-dimensional multi-field intelligent bionic soft material 100 is transmitted sequentially along the first elastic layer 11, the shear force sensing layer 12, the second elastic layer 13, the pressure sensing layer 14, and the third elastic layer 15.

[0026] Among them, the first elastic layer 11, the second elastic layer 13 and the third elastic layer 15 are used to encapsulate the shear force sensing layer 12 and the pressure sensing layer 14. The thickness of the first elastic layer ranges from 1 to 4 mm, the thickness of the second elastic layer ranges from 2.5 to 7.5 mm, and the thickness of the third elastic layer ranges from 1 to 4 mm. In this embodiment, the thickness of the first elastic layer 10 and the third elastic layer 50 are both 2.5 mm, the thickness of the second elastic layer 30 is 5 mm, and the mechanical properties and mechanical parameters of the first elastic layer 11, the second elastic layer 13 and the third elastic layer 15 are consistent with the parameters of real human soft tissue, for example, they can be made of highly elastic polymer materials such as rubber.

[0027] The shear force sensing layer 12 includes at least one first flexible sensor for detecting the magnitude of the component force of the applied force in the x-axis direction and the y-axis direction. The pressure sensing layer 14 includes at least one second flexible sensor for detecting the magnitude of the component force of the applied force in the z-axis direction. In this embodiment, each first flexible sensor in the shear force sensing layer 12 is respectively arranged in a one-to-one correspondence with each second flexible sensor in the pressure sensing layer 14, and the force-bearing area of ​​the first flexible sensor and the second flexible sensor is 324mm 2 The force components in the z-axis direction that the first flexible sensor and the second flexible sensor can withstand are both 0~250kPa, and the force components in the x-axis direction and the y-axis direction that the first flexible sensor and the second flexible sensor can withstand are both 0~150kPa.

[0028] The first flexible sensor includes four capacitors, a first capacitance detection unit, and a shear force calculation unit. The second flexible sensor includes four capacitors, a second capacitance detection unit, and a pressure calculation unit.

[0029] The first capacitance detection unit is used to detect the capacitance of each capacitor in the first flexible sensor. The shear force calculation unit is used to calculate the magnitude of the component force in the x-axis direction and the y-axis direction according to the capacitance of each capacitor in the first flexible sensor.

[0030] The second capacitance detection unit is used to detect the capacitance of each capacitor in the second flexible sensor. The pressure calculation unit is used to calculate the magnitude of the component force in the z-axis direction according to the capacitance of each capacitor in the second flexible sensor.

[0031] Each capacitor of the first flexible sensor has the same structure as each capacitor of the second flexible sensor and corresponds one to one, and each corresponding capacitor overlaps in the normal direction.

[0032] The specific structure of the capacitor is described below in conjunction with the accompanying drawings.

[0033] Figure 2 Schematic diagram of the three-dimensional structure of the capacitor in the embodiment of the present invention.

[0034] like Figure 2 As shown, the capacitor 200 includes a top electrode plate 201, a dielectric layer 202 and a bottom electrode plate 203 stacked in sequence. In this embodiment, the length and width of the capacitor 200 are 7.525 mm and 7 mm respectively.

[0035] The top electrode plate 201 and the bottom electrode plate 203 each include a plurality of electrode strips arranged in parallel at a certain interval, and a first side electrode strip connecting one end of each electrode strip and a second side electrode strip connecting the other end of each electrode strip. Each electrode strip of the top electrode plate 201 corresponds to each electrode strip of the bottom electrode plate 203. In this embodiment, the material of the top electrode plate 201 and the bottom electrode plate 203 is aluminum, and its Young's modulus is 71000MPa and Poisson's ratio is 0.33. In addition, in this embodiment, the width of the electrode strip is 0.35mm, the thickness of the electrode strip is 0.2mm, and the interval is 0.35mm.

[0036] Figure 3 Schematic diagram of a top view of a top electrode plate and a bottom electrode plate in an embodiment of the present invention.

[0037] like Figure 3As shown, the capacitor 200 is used to detect the component force applied in a specific direction. The specific setting method of the initial state of the capacitor 200 is: each electrode strip extends in a direction perpendicular to the specific direction, the first side electrode strip and the second side electrode strip both extend in the specific direction, and each electrode strip of the top electrode plate 201, i.e., the black electrode plate, is offset by a certain distance in the opposite direction of the specific direction directly above the corresponding electrode strip of the bottom electrode plate 203, i.e., the gray electrode plate, to form a partial overlap. The distance generated by the offset in this embodiment is 0.175 mm.

[0038] The dielectric layer 202 is an elastic dielectric. In this embodiment, the elastic dielectric is polydimethylsiloxane with a relative dielectric constant of 2.7.

[0039] Figure 4 Schematic diagram of the arrangement and connection of various capacitors of the first flexible sensor in an embodiment of the present invention.

[0040] like Figure 4 As shown, the four capacitors of the first flexible sensor are respectively recorded as a first capacitor C1, a second capacitor C2, a third capacitor C3 and a fourth capacitor C4. The top electrode plates 201 of the first capacitor C1, the second capacitor C2, the third capacitor C3 and the fourth capacitor C4 are connected to each other through metal strips, and the bottom electrode plates 203 are independent of each other.

[0041] The specific direction corresponding to the first capacitor C1 is the negative direction of the x-axis, i.e. the first direction; the specific direction corresponding to the second capacitor C2 is the positive direction of the y-axis, i.e. the second direction; the specific direction corresponding to the third capacitor C3 is the positive direction of the x-axis, i.e. the third direction; and the specific direction corresponding to the fourth capacitor C4 is the negative direction of the y-axis, i.e. the fourth direction.

[0042] In this embodiment, the length of each electrode strip in the top electrode plate 201 is shorter than the corresponding electrode strip in the bottom electrode plate 203, and each electrode strip in the top electrode plate 201 and the bottom electrode plate 203 has the same central axis, that is, both ends of each electrode strip in the top electrode plate 201 partially overlap with the corresponding electrode strip in the bottom electrode plate 203. Through the above arrangement, when the capacitor 200 is subjected to a force in a non-corresponding specific direction, the first side electrode strip and the second side electrode strip of the top electrode plate 201 that has been displaced are still within the range of the bottom electrode plate 203, so that the capacitance of the capacitor 200 is not affected by the force in the non-corresponding specific direction, thereby ensuring the sensitivity of the capacitor 200 to the force in the corresponding specific direction.

[0043] The capacitance changes of the four capacitors of the first flexible sensor when subjected to force are specifically as follows: When the high-dimensional multi-field intelligent bionic soft material 100 is subjected to a force applied along the negative direction of the x-axis, the dielectric layer 202 of the first capacitor C1 is deformed, and drives the top electrode plate 201 to shift in position along the negative direction of the x-axis compared to the bottom electrode plate 203, so that the overlapping area of ​​the top electrode plate 201 and the bottom electrode plate 203 increases and the spacing decreases, and the capacitance of the first capacitor C1 increases; the dielectric layer 202 of the second capacitor C2 is deformed, and drives the top electrode plate 201 to shift in position along the negative direction of the x-axis compared to the bottom electrode plate 203, so that the overlapping area of ​​the top electrode plate 201 and the bottom electrode plate 203 remains unchanged and the spacing decreases, and the second The capacitance of capacitor C2 increases slightly; the dielectric layer 202 of the third capacitor C3 is deformed, and causes the top electrode plate 201 to shift in position along the negative direction of the x-axis compared to the bottom electrode plate 203, so that the overlapping area of ​​the top electrode plate 201 and the bottom electrode plate 203 is reduced and the distance between them is reduced, and the capacitance of the third capacitor C3 is reduced; the dielectric layer 202 of the fourth capacitor C4 is deformed, and causes the top electrode plate 201 to shift in position along the negative direction of the x-axis compared to the bottom electrode plate 203, so that the overlapping area of ​​the top electrode plate 201 and the bottom electrode plate 203 remains unchanged and the distance between them is reduced, and the capacitance of the fourth capacitor C4 increases slightly.

[0044] When the high-dimensional multi-field intelligent bionic soft material 100 is subjected to a force applied along the positive direction of the y-axis, the capacitance of the first capacitor C1 increases slightly, the capacitance of the second capacitor C2 increases, the capacitance of the third capacitor C3 increases slightly, and the capacitance of the fourth capacitor C4 decreases.

[0045] When the high-dimensional multi-field intelligent bionic soft material 100 is subjected to a force applied along the positive direction of the x-axis, the capacitance of the first capacitor C1 decreases, the capacitance of the second capacitor C2 increases slightly, the capacitance of the third capacitor C3 increases, and the capacitance of the fourth capacitor C4 increases slightly.

[0046] When the high-dimensional multi-field intelligent bionic soft material 100 is subjected to a force applied along the negative direction of the y-axis, the capacitance of the first capacitor C1 increases slightly, the capacitance of the second capacitor C2 decreases, the capacitance of the third capacitor C3 increases slightly, and the capacitance of the fourth capacitor C4 increases.

[0047] In this embodiment, the shear force calculation unit performs calculations based on the capacitance data of each capacitor detected to obtain the capacitance change value caused by the deformation of the dielectric layer due to the z-axis force component, and then processes each detected capacitance value to obtain the capacitance change value affected only by the x-axis and y-axis force components, thereby calculating the precise x-axis and y-axis force components.

[0048] Furthermore, when the high-dimensional multi-field intelligent bionic soft material 100 is subjected to a force including an x-axis component and a y-axis component, the shear force calculation unit calculates the x-axis component according to the capacitance of the first capacitor C1 and the third capacitor C3, and calculates the y-axis component according to the capacitance of the second capacitor C2 and the fourth capacitor C4.

[0049] In the first flexible sensor of other embodiments, only two capacitors corresponding to the positive and negative directions of the x-axis, or two capacitors corresponding to the positive and negative directions of the y-axis, may be set, so that the component force in the x-axis direction or the y-axis direction can be calculated separately; or a capacitor group greater than 2 may be set, each capacitor group being composed of two corresponding capacitors in opposite specific directions, and the specific directions corresponding to each capacitor are different, for example, capacitors are arranged in sequence at equal angles between 8 corresponding specific directions, and the component forces in the x-axis direction and the y-axis direction are obtained by vector calculation, thereby further improving the accuracy of the magnitude of the component forces.

[0050] In summary, through the shear force calculation unit of the first flexible sensor, combined with the specific capacitance changes of each capacitor, the magnitude of the x-axis and y-axis components of the high-dimensional multi-field intelligent bionic soft material 100 can be calculated.

[0051] For the second flexible sensor corresponding to the first flexible sensor, due to the influence of the second elastic layer 13, the force applied to the high-dimensional multi-field intelligent bionic soft material 100 no longer has obvious influence in the x-axis direction and the y-axis direction when it is transmitted to the second flexible sensor. The force transmitted to the second flexible sensor is basically pressure, that is, the dielectric layer of each capacitor in the second flexible sensor is almost only subjected to the component force in the z-axis direction, so that the dielectric layer of each capacitor in the second flexible sensor is compressed and deformed, and the top electrode plate 201 does not shift relative to the bottom electrode plate 203. That is, the capacitance of each capacitor in the second flexible sensor changes only with the magnitude of the component force in the z-axis direction. The greater the force of the component force in the z-axis direction, the greater the compression deformation of the dielectric layer 202, and the greater the capacitance of the capacitor. Therefore, the magnitude of the component force in the z-axis direction can be calculated by the capacitance of the capacitor of the second flexible sensor.

[0052] Functions and Effects of the Embodiments According to the high-dimensional multi-field intelligent bionic soft material involved in this embodiment, the first flexible sensor and the second flexible sensor are partially overlapped in the normal direction of the force-bearing surface, and a second elastic layer of a certain thickness is arranged between the first flexible sensor and the second flexible sensor, so that the first flexible sensor is sensitive to the component forces in the x-axis direction and the y-axis direction, and the second flexible sensor is sensitive to the component forces in the z-axis direction, thereby realizing the detection of the magnitude of the three-dimensional force. In short, this method can accurately detect the three-dimensional force.

[0053] Furthermore, the first flexible sensor is provided with four capacitors for measuring the positive and negative directions of the xy axis respectively. The electrode strips of the top electrode plate and the bottom electrode plate overlap partially, and when the top electrode plate is subjected to a force in a specific direction, the position of the top electrode plate is shifted to increase the overlapping part, thereby increasing the capacitance of the capacitor, thereby realizing the detection of shear force.

[0054] Furthermore, the size of the top electrode plate is slightly smaller than that of the bottom electrode plate, so that after the capacitor is subjected to a force in a non-specific direction, the overlapping area of ​​the top electrode plate and the bottom electrode plate remains unchanged, thereby preventing the capacitance of the capacitor from being affected by a non-specific direction.

[0055] Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A high-dimensional multi-field intelligent bionic soft material, characterized in that: include: The first elastic layer, the shear force sensing layer, the second elastic layer, the pressure sensing layer and the third elastic layer are stacked in sequence from top to bottom. The first elastic layer, the second elastic layer and the third elastic layer are used to encapsulate the shear force sensing layer and the pressure sensing layer. The shear force sensing layer comprises at least one first flexible sensor for detecting the magnitude of the component forces of the applied force in the x-axis direction and the y-axis direction. The pressure sensing layer includes at least one second flexible sensor for detecting the magnitude of the component force of the applied force in the z-axis direction. The first flexible sensor and the second flexible sensor at least partially overlap in a normal direction of a surface of the first elastic layer to which the force is applied, The x-axis direction, the y-axis direction and the z-axis direction are perpendicular to each other, The z-axis direction is in the same direction as the normal direction, The first flexible sensor and the second flexible sensor each include at least two capacitors, The capacitors of the first flexible sensor correspond to the capacitors of the second flexible sensor one by one, and the corresponding capacitors overlap in the normal direction. The capacitance of each capacitor of the first flexible sensor is positively correlated with the force applied in different specific directions. The capacitance of the capacitor of the second flexible sensor is positively correlated with the magnitude of the component force in the z-axis direction. The first flexible sensor further comprises: A first capacitance detection unit, used to detect the capacitance of each of the capacitors; a shear force calculation unit, used to calculate the magnitude of the component forces in the x-axis direction and the y-axis direction according to the capacitance of each of the capacitors, The second flexible sensor further includes: A second capacitance detection unit, used to detect the capacitance of each of the capacitors; a pressure calculation unit, used for calculating the magnitude of the component force in the z-axis direction according to the capacitance of each of the capacitors, The shear force calculation unit calculates the capacitance data of each capacitor detected to obtain the capacitance change value caused by the z-axis force on the deformation of the dielectric layer, thereby processing each detected capacitance value to obtain the capacitance change value affected only by the x-axis and y-axis force components, and calculating the accurate x-axis and y-axis force components. The capacitor is composed of a top electrode plate, a dielectric layer and a bottom electrode plate stacked in sequence. The top electrode plate and the bottom electrode plate each include a plurality of electrode strips arranged in parallel at a certain interval, a first side electrode strip connecting one end of each of the electrode strips, and a second side electrode strip connecting the other end of each of the electrode strips. In each of the capacitors, each of the electrode strips extends along a vertical direction perpendicular to the specific direction corresponding to the capacitor, and both the first side electrode strips and the second side electrode strips extend along the specific direction. In each of the capacitors, each of the electrode strips of the top electrode plate corresponds to each of the electrode strips of the bottom electrode plate, and each of the electrode strips of the top electrode plate is offset by a certain distance in the opposite direction of the specific direction directly above the corresponding electrode strip of the bottom electrode plate to form a partial overlap. The dielectric layer is an elastic dielectric, When the capacitor is subjected to force, the dielectric layer is deformed, causing the top electrode plate to shift in position relative to the bottom electrode plate along the direction of force.

2. The high-dimensional multi-field intelligent bionic soft material according to claim 1, characterized in that: in, The length of each electrode strip in the top electrode plate is shorter than the corresponding electrode strip in the bottom electrode plate, The electrode strips in the top electrode plate and the bottom electrode plate have the same central axis.

3. The high-dimensional multi-field intelligent bionic soft material according to claim 1, characterized in that: in, The width of the electrode strip is 0.35 mm, the thickness of the electrode strip is 0.2 mm, and the interval is 0.35 mm. The distance is 0.175 mm, The length and width of the capacitor are 7.525 mm and 7 mm respectively.

4. The high-dimensional multi-field intelligent bionic soft material according to claim 1, characterized in that: in, The top electrode plate and the bottom electrode plate are made of aluminum. The elastic dielectric is polydimethylsiloxane.

5. The high-dimensional multi-field intelligent bionic soft material according to claim 1, characterized in that: in, The first flexible sensor and the second flexible sensor each include four capacitors. The four capacitors of the first flexible sensor are respectively referred to as a first capacitor, a second capacitor, a third capacitor and a fourth capacitor, The capacitance of the first capacitor is positively correlated with the force applied along the first direction to the first flexible sensor, The capacitance of the second capacitor is positively correlated with the force applied to the first flexible sensor along the second direction. The capacitance of the third capacitor is positively correlated with the force applied to the first flexible sensor along the third direction. The capacitance of the fourth capacitor is positively correlated with the force applied to the first flexible sensor along a fourth direction. The first direction and the second direction are perpendicular to each other, The first direction and the third direction, and the second direction and the fourth direction are opposite to each other.

6. The high-dimensional multi-field intelligent bionic soft material according to claim 1, characterized in that: in, The force-bearing areas of the first flexible sensor and the second flexible sensor are both 324 mm 2 , The component force in the z-axis direction that the first flexible sensor and the second flexible sensor can withstand is 0-250 kPa. The components of force in the x-axis direction and the y-axis direction that the first flexible sensor and the second flexible sensor can withstand are both 0-150 kPa.

7. The high-dimensional multi-field intelligent bionic soft material according to claim 1, characterized in that: in, The thickness of the first elastic layer is in the range of 1 to 4 mm. The thickness of the second elastic layer is in the range of 2.5 to 7.5 mm. The thickness of the third elastic layer is in the range of 1-4 mm.

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