High-dimensional multi-field intelligent bionic soft materials

Abstract

The present invention provides a high-dimensional multi-field intelligent bionic soft material having 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 stacked sequentially 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 includes at least one first flexible sensor for detecting the magnitude of the applied force component in the x-axis and y-axis directions; the pressure sensing layer includes at least one second flexible sensor for detecting the magnitude of the applied force component 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, y-axis, and z-axis directions are mutually perpendicular, and the z-axis direction is in the same direction as the normal direction. In summary, this method can accurately detect three-dimensional forces.

Description

Technical Field

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

[0002] Smart bionic materials are a class of materials that combine advanced sensing or control technologies with biological biomimetic principles. Composed of artificial materials, mechanical devices, and electronic components, they are designed to simulate and apply the structure and function of organisms, mimicking the responses of biological tissues to environmental stimuli and exhibiting capabilities such as self-adaptation, self-repair, and memory. These materials draw inspiration from biological systems and utilize advanced sensors, intelligent controllers, and adaptive materials to sense changes in external environments such as temperature, humidity, and pressure, enabling higher-level functions such as environmental monitoring, identification, and regulation. Smart bionic materials and corresponding intelligent devices represent cutting-edge advances in the integration of artificial intelligence and biomedicine, possessing significant application value and enormous development potential in areas such as 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, improving diagnostic accuracy and enabling 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 about more interactive, adaptive, and intelligent sensing solutions. For example, electronic skin, a typical flexible bionic sensor, is designed to mimic the functional sensing of human skin by integrating electronic components into a flexible, thin, and stretchable substrate to simulate the characteristics and functions of human skin. The sensing function of the skin covers multiple sensing 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 crucial for precise tactile manipulation. When faced with complex real-world intelligent systems, current sensors' one-dimensional pressure detection cannot match the complex sensing capabilities of human skin and subcutaneous tissue, and their performance often fails to meet practical needs.

[0005] In short, existing intelligent 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 having 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 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 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 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 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 for detecting the capacitance of each capacitor; a shear force calculation unit for calculating 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 for detecting the capacitance of each capacitor; a pressure calculation unit for calculating 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 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 the 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 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 the electrode strips in the top electrode plate and the bottom electrode plate have 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: 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: 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, and 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 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 area of ​​the first flexible sensor and the second flexible sensor are both 324mm 2 The components of force in the z-axis direction that the first flexible sensor and the second flexible sensor can withstand are both 0~250kPa, and the components of force in the x-axis and y-axis directions 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 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.

[0017] Functions and effects of the invention

[0018] The high-dimensional, multi-field intelligent bionic soft material of the present invention partially overlaps the first and second flexible sensors in the normal direction of the force-bearing surface, and a second elastic layer of a predetermined thickness is provided between the first and second flexible sensors. This allows the first flexible sensor to be sensitive to the force components in the x- and y-axis directions, while the second flexible sensor to be sensitive to the force component in the z-axis direction, thereby enabling the detection of three-dimensional force. Therefore, the high-dimensional, multi-field intelligent bionic soft material of the present invention can accurately detect three-dimensional forces. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Schematic diagram of high-dimensional multi-field intelligent bionic soft material in an embodiment of the present invention.

[0020] Figure 2 3D is a schematic diagram of the three-dimensional structure of a capacitor in an embodiment of the present invention.

[0021] Figure 3 Schematic top view of the top electrode plate and the bottom electrode plate in an embodiment of the present invention.

[0022] Figure 4 FIG. 4 is a schematic diagram of the arrangement and connection of capacitors of the first flexible sensor in an embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to make the technical means, creative features, objectives and effects of the present invention easier to understand, the following embodiments and accompanying drawings specifically illustrate the high-dimensional multi-field intelligent bionic soft material of the present invention.

[0024] This embodiment provides a high-dimensional, multi-field intelligent bionic soft material capable of detecting the three-dimensional components of a force applied to the material. In this embodiment, the three-dimensional directions are the x-axis, y-axis, and z-axis directions. The x-axis and y-axis components are recorded as shear force, and the z-axis component is recorded as pressure.

[0025] Figure 1 Schematic diagram of high-dimensional multi-field intelligent bionic soft material in an embodiment of the present invention.

[0026] 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.

[0027] 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, and the thickness of the second elastic layer 30 is 5 mm. 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 those of real human soft tissue. For example, they can be made of a highly elastic polymer material such as rubber.

[0028] The shear force sensing layer 12 includes at least one first flexible sensor for detecting the magnitude of the applied force component in the x-axis and y-axis directions. The pressure sensing layer 14 includes at least one second flexible sensor for detecting the magnitude of the applied force component in the z-axis direction. In this embodiment, each first flexible sensor in the shear force sensing layer 12 is provided in a one-to-one correspondence with each second flexible sensor in the pressure sensing layer 14. The force-bearing area of ​​each first flexible sensor and second flexible sensor is 324 mm. 2 The components of force in the z-axis direction that the first flexible sensor and the second flexible sensor can withstand are both 0~250kPa, and the components of force in the x-axis and y-axis directions that the first flexible sensor and the second flexible sensor can withstand are both 0~150kPa.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] The specific structure of the capacitor is described below with reference to the accompanying drawings.

[0034] Figure 2 3D is a schematic diagram of the three-dimensional structure of a capacitor in an embodiment of the present invention.

[0035] 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.

[0036] Both the top electrode plate 201 and the bottom electrode plate 203 include multiple electrode strips arranged in parallel at regular intervals, as well as first side electrode strips connecting one end of each electrode strip and second side electrode strips connecting the other end of each electrode strip. Each electrode strip on the top electrode plate 201 corresponds one-to-one with each electrode strip on the bottom electrode plate 203. In this embodiment, both the top electrode plate 201 and the bottom electrode plate 203 are made of aluminum, which has a Young's modulus of 71,000 MPa and a Poisson's ratio of 0.33. Furthermore, in this embodiment, the electrode strips are 0.35 mm wide, 0.2 mm thick, and spaced 0.35 mm apart.

[0037] Figure 3 Schematic top view of the top electrode plate and the bottom electrode plate in an embodiment of the present invention.

[0038] like Figure 3As shown, capacitor 200 is used to detect a force component applied in a specific direction. In its initial state, capacitor 200 is configured as follows: each electrode strip extends perpendicular to the specific direction; both the first and second side electrode strips extend in the specific direction; and each electrode strip of the top electrode plate 201 (black electrode plate) is offset a certain distance in the opposite direction of the specific direction directly above the corresponding electrode strip of the bottom electrode plate 203 (gray electrode plate), thereby partially overlapping. In this embodiment, the offset distance is 0.175 mm.

[0039] The dielectric layer 202 is an elastic dielectric. In this embodiment, the elastic dielectric is polydimethylsiloxane with a relative dielectric constant of 2.7.

[0040] Figure 4 FIG. 4 is a schematic diagram of the arrangement and connection of capacitors of the first flexible sensor in an embodiment of the present invention.

[0041] like Figure 4 As shown, the four capacitors of the first flexible sensor are designated 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 via metal strips, while the bottom electrode plates 203 are independent of each other.

[0042] The specific direction corresponding to the first capacitor C1 is the negative direction of the x-axis, that is, the first direction; the specific direction corresponding to the second capacitor C2 is the positive direction of the y-axis, that is, the second direction; the specific direction corresponding to the third capacitor C3 is the positive direction of the x-axis, that is, the third direction; and the specific direction corresponding to the fourth capacitor C4 is the negative direction of the y-axis, that is, the fourth direction.

[0043] 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. The electrode strips in the top electrode plate 201 and the bottom electrode plate 203 have 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 have been displaced remain within the range of the bottom electrode plate 203. This ensures 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.

[0044] The capacitance changes of the four capacitors of the first flexible sensor when subjected to force are as follows:

[0045] When the high-dimensional multi-field intelligent bionic soft material 100 is subjected to a force applied in 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 relative to the bottom electrode plate 203 along the negative direction of the x-axis, so that the overlapping area of ​​the top electrode plate 201 and the bottom electrode plate 203 increases and the distance between them decreases, thereby increasing the capacitance of the first capacitor C1; the dielectric layer 202 of the second capacitor C2 is deformed, and drives the top electrode plate 201 to shift in position relative to the bottom electrode plate 203 along the negative direction of the x-axis, so that the overlapping area of ​​the top electrode plate 201 and the bottom electrode plate 203 remains unchanged and the distance between them decreases, thereby increasing the capacitance of the second capacitor C1; The capacitance of capacitor C2 increases slightly; the dielectric layer 202 of the third capacitor C3 deforms, 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 decreases and the distance between them decreases, and the capacitance of the third capacitor C3 decreases; the dielectric layer 202 of the fourth capacitor C4 deforms, 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 distance between them decreases, 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 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.

[0047] 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.

[0048] 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.

[0049] 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 accurate x-axis and y-axis force components.

[0050] 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 based on the capacitance of the first capacitor C1 and the third capacitor C3, and calculates the y-axis component based on the capacitance of the second capacitor C2 and the fourth capacitor C4.

[0051] 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, can 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 can be set, each capacitor group is composed of two corresponding capacitors in opposite specific directions, and the specific directions corresponding to each capacitor are different, for example, 8 corresponding capacitors are arranged in sequence at equal angles between the specific directions, and then 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.

[0052] 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 force acting on the high-dimensional multi-field intelligent bionic soft material 100 can be calculated.

[0053] 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 significant influence in the x- and y-axis directions when transmitted to the second flexible sensor. Instead, the force transmitted to the second flexible sensor is essentially compressive. This means that the dielectric layer of each capacitor in the second flexible sensor is subjected almost exclusively to the z-axis force component, causing the dielectric layer of each capacitor in the second flexible sensor to undergo compressive deformation, while the top electrode plate 201 does not shift relative to the bottom electrode plate 203. In other words, the capacitance of each capacitor in the second flexible sensor changes only with the magnitude of the z-axis force component. The greater the z-axis force component, the greater the compressive deformation of the dielectric layer 202, and thus the greater the capacitance of the capacitor. Therefore, the magnitude of the z-axis force component can be calculated from the capacitance of the capacitor in the second flexible sensor.

[0054] Functions and Effects of the Embodiments

[0055] According to the high-dimensional, multi-field intelligent bionic soft material of this embodiment, the first and second flexible sensors are partially overlapped in the normal direction of the force-bearing surface, and a second elastic layer of a certain thickness is provided between the first and second flexible sensors. This makes the first flexible sensor sensitive to the force components in the x- and y-axis directions, and the second flexible sensor sensitive to the force component in the z-axis direction, thereby enabling the detection of three-dimensional force magnitudes. In short, this method can accurately detect three-dimensional forces.

[0056] 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 partially overlap, and when subjected to a force in a specific direction, the top electrode plate shifts in position to increase the overlapping part, thereby increasing the capacitance of the capacitor, thereby realizing the detection of shear force.

[0057] Furthermore, the size of the top electrode plate is slightly smaller than that of the bottom electrode plate, so that when 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.

[0058] Those skilled in the art will appreciate that the present invention is not limited to the foregoing embodiments. The foregoing embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A high-dimensional multi-field intelligent bionic soft material, characterized by: 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 includes 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 includes: a first capacitance detection unit, configured to detect the capacitance of each of the capacitors; a shear force calculation unit, configured 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, configured to detect the capacitance of each of the capacitors; a pressure calculation unit, configured to calculate 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 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, and calculates 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 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 materials of the top electrode plate and the bottom electrode plate are both 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 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 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 z-axis force that the first flexible sensor and the second flexible sensor can withstand is 0-250 kPa. The first flexible sensor and the second flexible sensor can withstand forces in the x-axis direction and the y-axis direction of 0 to 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 ranges from 1 to 4 mm. The thickness of the second elastic layer ranges from 2.5 to 7.5 mm. The thickness of the third elastic layer ranges from 1 to 4 mm.

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