Two-dimensional tactile array sensor

Abstract

The invention provides a two-dimensional tactile array sensor. The two-dimensional tactile array sensor comprises a base supporting plate, a pressure strain layer, a horizontal force array detection device and a vertical force array detection device, the base supporting plate comprises a horizontal direction and a vertical direction; the pressure strain layer is arranged on the base supporting plate; the horizontal force array detection device is arranged on the pressure strain layer so as to detect horizontal force in at least two directions in the horizontal direction through the horizontal force array detection device; a vertical force array detection device is supported by the pressure strain layer to detect a force in a vertical direction.

Description

Technical Field

[0001] The present disclosure relates to a two-dimensional tactile array sensor, belonging to the technical field of sensors. Background Art

[0002] Tactile signals contain a large amount of environmental information. Information exchange through physical touch is the most widely used way of environmental perception in nature, and it is also the main means of detection for organisms in lightless environments. At present, tactile array sensors are mainly used in flexible wearable applications, and the mechanical information they detect is limited. More than 90% of sensors can only detect pressure information, and the detection accuracy of a single sensor is limited, which makes it impossible to fully utilize the tactile information in the environment. Summary of the invention

[0003] In order to solve one of the above technical problems, the present disclosure provides a two-dimensional tactile array sensor.

[0004] According to one aspect of the present disclosure, there is provided a two-dimensional tactile array sensor, comprising: A base support plate, the base support plate includes a horizontal direction and a vertical direction; A pressure strain layer, the pressure strain layer is arranged on the base support plate; A horizontal force array detection device, wherein the horizontal force array detection device is disposed on the pressure strain layer so as to detect horizontal forces in at least two directions in the horizontal direction through the horizontal force array detection device; A vertical force array detection device is supported by the pressure strain layer to detect forces in the vertical direction.

[0005] According to at least one embodiment of the present disclosure, the two-dimensional tactile array sensor further includes: a shielding plate, wherein the shielding plate is disposed on the horizontal force array detection device, and at least a portion of the horizontal force array detection device and at least a portion of the vertical force array detection device are located above the shielding plate.

[0006] According to at least one embodiment of the two-dimensional tactile array sensor of the present disclosure, the horizontal force array detection device includes: a substrate fixed to the pressure strain layer; a first contact, the first contact being disposed on the substrate and configured to deform in a first horizontal direction when subjected to a force in a first horizontal direction; a first strain gauge, wherein the first strain gauge is disposed on the first contact to detect deformation of the first contact; a second contact, the second contact being disposed on the substrate and configured to deform in a second horizontal direction when subjected to a force in a second horizontal direction; A second strain gauge is provided on the second contact to detect deformation of the second contact.

[0007] According to the two-dimensional tactile array sensor of at least one embodiment of the present disclosure, the first contacts are arranged in multiple rows and columns.

[0008] According to the two-dimensional tactile array sensor of at least one embodiment of the present disclosure, the cross-section of the first contact includes a length direction and a width direction, the dimension of the first contact in the length direction is greater than the dimension of the first contact in the width direction, and the width direction of the first contact is parallel to the first horizontal direction.

[0009] According to the two-dimensional tactile array sensor of at least one embodiment of the present disclosure, the second contacts are arranged in multiple rows and columns.

[0010] According to the two-dimensional tactile array sensor of at least one embodiment of the present disclosure, the cross-section of the second contact includes a length direction and a width direction, the dimension of the second contact in the length direction is greater than the dimension of the second contact in the width direction, and the width direction of the second contact is parallel to the second horizontal direction.

[0011] According to at least one embodiment of the two-dimensional tactile array sensor of the present disclosure, the vertical force array detection device includes: a force transmission rod, the force transmission rod passing through the shielding plate and the base plate and being movable in a vertical direction relative to the shielding plate; and A third strain gauge is arranged on the pressure strain layer to detect the pressure transmitted by the force transmission rod.

[0012] According to the two-dimensional tactile array sensor of at least one embodiment of the present disclosure, the pressure strain layer is provided with a square through hole, and two opposite side walls of the square through hole extend toward the center of the square through hole to form a first deformation portion and a second deformation portion; wherein there is a gap between the first deformation portion and the second deformation portion.

[0013] According to the two-dimensional tactile array sensor of at least one embodiment of the present disclosure, the force transmission rods are arranged in multiple rows and columns. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings illustrate exemplary embodiments of the present disclosure and together with the description serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0015] Figure 1 It is a schematic structural diagram of a two-dimensional tactile array sensor according to one embodiment of the present disclosure.

[0016] Figure 2 It is a schematic cross-sectional structure diagram of a two-dimensional tactile array sensor according to an embodiment of the present disclosure.

[0017] Figure 3 It is a schematic diagram of the exploded structure of a two-dimensional tactile array sensor according to one embodiment of the present disclosure.

[0018] Figure 4 is a schematic structural diagram of a pressure strain layer according to an embodiment of the present disclosure.

[0019] Figure 5 It is a schematic structural diagram of a horizontal force array detection device according to an embodiment of the present disclosure.

[0020] Figure 6 and Figure 7 It is a schematic structural diagram of a vertical force array detection device according to one embodiment of the present disclosure.

[0021] Figure 8 It is a schematic diagram of the top view structure of a two-dimensional tactile array sensor according to an embodiment of the present disclosure.

[0022] The specific reference numerals in the figure are: 100 Base support plate 200 Pressure strain layer 210 First deformation part 220 Second deformation part 300 Horizontal Force Array Detection Device 310 base plate 320 First Contact 330 First strain gauge 340 Second contact 350 Second strain gauge 400 Vertical Force Array Detection Device 410 Dowel rod 420 Third strain gauge 430 Pressure Loading Head 500 Shielding plate. DETAILED DESCRIPTION

[0023] The present disclosure is further described in detail below in conjunction with the accompanying drawings and implementations. It is understood that the specific implementations described herein are only used to explain the relevant content, rather than to limit the present disclosure. It should also be noted that, for ease of description, only the parts related to the present disclosure are shown in the accompanying drawings.

[0024] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present disclosure can be combined with each other. The technical solution of the present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0025] Unless otherwise specified, the exemplary embodiments / embodiments shown will be understood as providing exemplary features of various details of some ways in which the technical concept of the present disclosure can be implemented in practice. Therefore, unless otherwise specified, the features of the various embodiments / embodiments can be combined, separated, interchanged and / or rearranged without departing from the technical concept of the present disclosure.

[0026] The use of cross-hatching and / or shading in the accompanying drawings is generally used to make the boundaries between adjacent components clear. As such, unless otherwise specified, the presence or absence of cross-hatching or shading does not convey or indicate any preference or requirement for the specific materials, material properties, dimensions, proportions, commonalities between the components shown, and / or any other characteristics, attributes, properties, etc. of the components. In addition, in the accompanying drawings, the sizes and relative sizes of the components may be exaggerated for clarity and / or descriptive purposes. When the exemplary embodiments can be implemented differently, the specific process sequence can be performed in a different order than described. For example, two successively described processes can be performed substantially simultaneously or in an order opposite to the described order. In addition, the same figure numbers represent the same components.

[0027] When a component is referred to as being "on" or "over," "connected to," or "coupled to" another component, the component may be directly on, directly connected to, or directly coupled to the other component, or intervening components may be present. However, when a component is referred to as being "directly on," "directly connected to," or "directly coupled to" another component, there are no intervening components. For this purpose, the term "connected" may refer to a physical connection, an electrical connection, etc., with or without intervening components.

[0028] For descriptive purposes, the present disclosure may use spatially relative terms such as "under," "beneath," "under," "down," "over," "upper," "above," "higher," and "side (e.g., as in "sidewall")," to describe the relationship of one component to another (other) component as shown in the accompanying drawings. The spatially relative terms are intended to encompass different orientations of the device in use, operation, and / or manufacture in addition to the orientation depicted in the accompanying drawings. For example, if the device in the accompanying drawings is turned over, components described as "under" or "beneath" other components or features would subsequently be positioned "over" the other components or features. Thus, the exemplary term "under" can encompass both the "above" and "below" orientations. Furthermore, the device may be otherwise oriented (e.g., rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein should be interpreted accordingly.

[0029] The terms used here are for the purpose of describing specific embodiments, and are not intended to be restrictive. As used here, unless the context clearly indicates otherwise, the singular forms "one (kind, person)" and "said (the)" are also intended to include plural forms. In addition, when the terms "comprise" and / or "include" and their variations are used in this specification, it is explained that there are stated features, integral bodies, steps, operations, parts, assemblies and / or their groups, but it is not excluded that there are or add one or more other features, integral bodies, steps, operations, parts, assemblies and / or their groups. It should also be noted that, as used here, the terms "substantially", "approximately" and other similar terms are used as approximate terms and not as degree terms, so that they are used to explain the inherent deviations of the measured values, calculated values ​​and / or the values ​​provided that will be recognized by those of ordinary skill in the art.

[0030] Figure 1 It is a schematic structural diagram of a two-dimensional tactile array sensor according to one embodiment of the present disclosure. Figure 2 It is a schematic cross-sectional structure diagram of a two-dimensional tactile array sensor according to an embodiment of the present disclosure. Figure 3 It is a schematic diagram of the exploded structure of a two-dimensional tactile array sensor according to one embodiment of the present disclosure.

[0031] like Figures 1 to 3 As shown, the two-dimensional tactile array sensor disclosed in the present invention includes: a base support plate 100, a pressure strain layer 200, a horizontal force array detection device 300, a vertical force array detection device 400 and a shielding plate 500 and other components.

[0032] The base support plate 100 of the present disclosure is formed into a plate-like structure, that is, the base support plate 100 may include a horizontal direction and a vertical direction, wherein the horizontal direction may include a first horizontal direction and a second horizontal direction, the first horizontal direction may be the direction of one side of the base support plate 100 (e.g., the length direction), and the second horizontal direction may be the direction of another side of the base support plate 100 (e.g., the width direction). The vertical direction of the base support plate 100 is the height direction (thickness direction) of the base support plate 100.

[0033] A plurality of first through holes are provided on the base support plate 100, and these first through holes are arranged in multiple rows and columns. In a preferred embodiment, these first through holes are arranged one-to-one with the force transmission rods 410, and are located directly below the force transmission rods 410. Moreover, the arrangement of the first through holes also facilitates the wiring of the entire two-dimensional tactile array sensor. In the present disclosure, the number of the first through holes may also be more than the number of the force transmission rods 410.

[0034] Figure 4 is a schematic structural diagram of a pressure strain layer according to an embodiment of the present disclosure.

[0035] The pressure strain layer 200 is arranged on the base support plate 100; the pressure strain layer 200 disclosed in the present invention is provided with a square through hole, and the two opposite side walls of the square through hole extend toward the center of the square through hole to form a first deformation portion 210 and a second deformation portion 220; wherein there is a gap between the first deformation portion 210 and the second deformation portion 220.

[0036] Moreover, the two side walls of the first deformation portion 210 are spaced apart from the other two side walls of the square through hole; similarly, the two side walls of the second deformation portion 220 are also spaced apart from the other two side walls of the square through hole, so that the first deformation portion 210 and the second deformation portion 220 of the present disclosure are formed into a cantilever structure, thereby, when pressure is applied to the first deformation portion 210 and the second deformation portion 220, the first deformation portion 210 and the second deformation portion 220 can be easily deformed.

[0037] In a preferred embodiment, the size of the connection point (connection end) of the first deformable portion 210 and the side wall of the square through hole is smaller than the thickness of the free end of the first deformable portion 210. Similarly, the size of the connection point (connection end) of the second deformable portion 220 and the side wall of the square through hole is smaller than the thickness of the free end of the second deformable portion 220. Thus, the first deformable portion 210 and the second deformable portion 220 can be deformed more easily. In a preferred embodiment, the connection point (connection end) of the first deformable portion 210 and the side wall of the square through hole is provided with an arc-shaped groove, which is formed on the upper surface and the lower surface of the connection end of the first deformable portion 210, so as to reduce the rigidity of the first deformable portion 210 and increase the strain of the first deformable portion 210. In addition, an arc-shaped groove is provided at the connection (connection end) between the second deformation portion 220 and the side wall of the square through hole. The arc-shaped groove is formed on the upper surface and the lower surface of the connection end of the second deformation portion 220, thereby reducing the rigidity of the second deformation portion 220 and increasing the strain of the second deformation portion 220.

[0038] In the present disclosure, the square through hole is arranged corresponding to the first through hole of the base support plate 100, so that when the first deformation part 210 and the second deformation part 220 are deformed, they can move toward the inside of the first through hole. At this time, the base support plate 100 will not affect the deformation of the first deformation part 210 and the second deformation part 220.

[0039] Figure 5 It is a schematic structural diagram of a horizontal force array detection device according to an embodiment of the present disclosure.

[0040] like Figure 1 and Figure 5 As shown, the horizontal force array detection device 300 of the present invention is arranged in the pressure strain layer 200 to detect horizontal forces in at least two horizontal directions through the horizontal force array detection device 300; in other words, the horizontal force array detection device 300 of the present invention is capable of detecting horizontal forces in a first horizontal direction and a second horizontal direction, wherein the first horizontal direction and the second horizontal direction are perpendicular to each other.

[0041] Specifically, the horizontal force array detection device 300 includes components such as a substrate 310 , a first contact 320 , a first strain gauge 330 , a second contact 340 , and a second strain gauge 350 .

[0042] The substrate 310 is formed in a substantially plate shape and fixed to the pressure strain layer 200; the shielding plate 500 is disposed on the horizontal force array detection device 300, and at least a portion of the horizontal force array detection device 300 is located above the shielding plate 500. Specifically, the shielding plate 500 can be disposed on the substrate 310, for example, the shielding plate 500 can be attached to the substrate 310, so as to provide support strength in the horizontal direction and protect the resistance strain gauge (the first strain gauge 330 and the second strain gauge 350) from environmental influences.

[0043] The first contacts 320 are disposed on the substrate 310 , and are used to generate deformation in the first horizontal direction when receiving a force in the first horizontal direction. In one embodiment, the first contacts 320 are disposed in multiple rows and columns.

[0044] Specifically, the first contact 320 is formed in a rectangular parallelepiped shape, with its lower end fixed to the substrate 310; its upper end passes through the second through hole opened on the shielding plate 500 and is located above the shielding plate 500. Preferably, the size (such as length and width) of the second through hole is larger than the size (such as length and width) of the first contact 320, so that the first contact 320 can be bent and deformed.

[0045] The first strain gauge 330 is disposed on the first contact 320 to detect the deformation of the first contact 320; specifically, the first strain gauge 330 can be a resistance strain gauge, and the degree of bending deformation of the first contact 320 is obtained by the resistance change of the resistance strain gauge, thereby obtaining the force exerted on the first contact 320.

[0046] In the present disclosure, the cross section of the first contact 320 includes a length direction and a width direction. The length direction of the first contact 320 is greater than the width direction of the first contact 320. The width direction of the first contact 320 is parallel to the first horizontal direction. Therefore, when the first contact 320 is subjected to a horizontal force in the first horizontal direction, it can be easily deformed. At this time, the first strain gauge 330 is adhered to the surface of the first contact 320 in the length direction. In a preferred embodiment, the length of the first contact 320 is about 5 times or more of the width of the first contact 320.

[0047] The second contacts 340 are disposed on the substrate 310 , and are used to generate deformation in the second horizontal direction when subjected to a force in the second horizontal direction. In one embodiment, the second contacts 340 are disposed in multiple rows and columns.

[0048] Specifically, the second contact 340 is formed in a rectangular parallelepiped shape, with its lower end fixed to the substrate 310; its upper end passes through the third through hole opened on the shielding plate 500 and is located above the shielding plate 500. Preferably, the size (such as length and width) of the third through hole is larger than the size (such as length and width) of the second contact 340, and the second contact 340 can be bent and deformed.

[0049] The second strain gauge 350 is disposed on the second contact 340 to detect the deformation of the second contact 340; specifically, the second strain gauge 350 may be a resistance strain gauge, and the degree of bending deformation of the second contact 340 is obtained by the resistance change of the resistance strain gauge, thereby obtaining the force exerted on the second contact 340.

[0050] In the present disclosure, the cross section of the second contact 340 includes a length direction and a width direction. The length direction of the second contact 340 is greater than the width direction of the second contact 340. The width direction of the second contact 340 is parallel to the second horizontal direction. Therefore, when the second contact 340 is subjected to a horizontal force in the second horizontal direction, it can be easily deformed. At this time, the second strain gauge 350 is adhered to the surface of the second contact 340 in the length direction. In a preferred embodiment, the length of the second contact 340 is about 5 times or more of the width of the second contact 340.

[0051] Accordingly, since the rectangular parallelepiped is easily deformed along the short side and has higher strength in the long side and is not prone to large strain, the two groups of cantilever beams (the first contact 320 and the second contact 340) arranged orthogonally can decompose the horizontal force component in any direction into two force information along the coordinate axis direction, and then the upper computer calculates the vector detection information of the horizontal force according to the corresponding relationship between the composition and decomposition of the force, thereby finally realizing the perception of the horizontal force component in any direction.

[0052] Figure 6 It is a schematic structural diagram of a vertical force array detection device according to one embodiment of the present disclosure.

[0053] The vertical force array detection device 400 is supported by the pressure strain layer 200 to detect the force in the vertical direction. The vertical force array detection device 400 disclosed in the present invention includes a force transmission rod 410 and a third strain gauge 420; the force transmission rod 410 passes through the shielding plate 500 and the substrate 310, and can move in the vertical direction relative to the shielding plate 500; the third strain gauge 420 is arranged on the pressure strain layer 200 to detect the pressure transmitted by the force transmission rod 410.

[0054] Specifically, the third strain gauge 420 of the present disclosure is arranged in the first deformation part 210 and the second deformation part 220 located in the same direction through hole of the pressure strain layer 200, so that when the force transmission rod 410 applies pressure to the third strain gauge 420, the third strain gauge 420 is easily deformed.

[0055] In the present disclosure, the third strain gauge 420 is a resistance strain gauge, so that the deformation of the first deformation part 210 and the second deformation part 220 can be obtained according to the resistance change of the resistance strain gauge, and the pressure applied by the force transmission rod 410 to the third strain gauge 420 can be obtained according to the deformation.

[0056] The force transmission rods 410 of the present disclosure are arranged in multiple rows and columns. In the present disclosure, the force transmission rods 410, the first contact 320 and the second contact 340 are arranged in groups. Specifically, two force transmission rods 410, one first contact 320 and one second contact 340 form a force detection unit. Accordingly, the two-dimensional tactile array sensor of the present disclosure includes 9 groups of force detection units, which are arranged in three rows and three columns. The combination and arrangement of multiple force detection units can realize the array detection of tactile information.

[0057] The upper end of the force transmission rod 410 disclosed in the present invention is set as a circular spherical structure, which can sense external pressure signals. The lower end of the force transmission rod 410 is set on the pressure loading head 430; the lower end of the pressure loading head 430 disclosed in the present invention is formed into a hemispherical structure, thereby ensuring uniform pressure loading, and the lower end of the force transmission rod 410 can be inserted into the pressure loading head 430, thereby, the upper and lower ends of the force transmission rod 410 can be stuck on both sides of the shielding plate 500, forming a two-way limiting structure. In a preferred embodiment, the loading head 430 is set at the center position of the gap between the first deformation part 210 and the second deformation part 220, thereby ensuring uniform pressure loading.

[0058] In one embodiment, a circular hole is opened on the shielding plate 500, and the diameter of the circular hole is slightly larger than the diameter of the force transmission rod 410, so as to facilitate the downward movement of the force transmission rod 410, that is, to facilitate the downward transmission of pressure. At the same time, the structure can also shield the horizontal force, which helps to reduce the interference of irrelevant force components on the corresponding pressure detection.

[0059] In the present disclosure, the portion (crossbeam) between the first through holes of the base support plate 100 is used to support the portion (frame line position) between the square through holes of the pressure strain layer 200, so that the overall pressure can be transmitted downward more evenly.

[0060] The two-dimensional tactile array sensor disclosed in the present invention is based on the principle of stacked distribution, and can detect environmental mechanical information in more directions such as pressure and horizontal force, and is used for the collection and analysis of machine tactile signals, solving the problem of signal recognition of forces in different directions in tactile perception. Specifically, the two-dimensional tactile array sensor disclosed in the present invention can detect pressure, horizontal thrust, and different combinations of these two force components, and has a wider perception dimension, providing more diverse perception technologies for the fields of oral organ perception, bionic skin, robot tactile recognition, etc., and has positive significance for their development.

[0061] When in use, the two-dimensional tactile array sensor disclosed herein can sense mechanical vector information in different directions in tactile signals. It integrates tactile sensing elements with different detection functions. Each tactile sensing element is only sensitive to a specific type of tactile signal, and has a natural low sensitivity to other tactile information. Finally, these different types of signals are integrated together to obtain the tactile information required for identification.

[0062] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments / methods or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments / methods or examples described in this specification and the features of the different embodiments / methods or examples, unless they are contradictory.

[0063] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0064] Those skilled in the art should understand that the above embodiments are only for the purpose of clearly illustrating the present disclosure, and are not intended to limit the scope of the present disclosure. For those skilled in the art, other changes or modifications may be made based on the above disclosure, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. A two-dimensional tactile array sensor, characterized in that: include: A base support plate, the base support plate includes a horizontal direction and a vertical direction; A pressure strain layer, the pressure strain layer is arranged on the base support plate; A horizontal force array detection device, wherein the horizontal force array detection device is disposed on the pressure strain layer so as to detect horizontal forces in at least two directions in the horizontal direction through the horizontal force array detection device; A vertical force array detection device is supported by the pressure strain layer to detect forces in the vertical direction.

2. The two-dimensional tactile array sensor according to claim 1, characterized in that: Also includes: A shielding plate is provided on the horizontal force array detection device, and at least a portion of the horizontal force array detection device and at least a portion of the vertical force array detection device are located above the shielding plate.

3. The two-dimensional tactile array sensor according to claim 1, characterized in that: The horizontal force array detection device comprises: a substrate fixed to the pressure strain layer; a first contact, the first contact being disposed on the substrate and configured to deform in a first horizontal direction when subjected to a force in a first horizontal direction; a first strain gauge, wherein the first strain gauge is disposed on the first contact to detect deformation of the first contact; a second contact, the second contact being disposed on the substrate and configured to deform in a second horizontal direction when subjected to a force in a second horizontal direction; A second strain gauge is provided on the second contact to detect deformation of the second contact.

4. The two-dimensional tactile array sensor according to claim 3, characterized in that: The first contacts are arranged in multiple rows and columns.

5. The two-dimensional tactile array sensor according to claim 4, characterized in that: The cross section of the first contact includes a length direction and a width direction. The length direction of the first contact is greater than the width direction of the first contact. The width direction of the first contact is parallel to the first horizontal direction.

6. The two-dimensional tactile array sensor according to claim 3, characterized in that: The second contacts are arranged in multiple rows and columns.

7. The two-dimensional tactile array sensor according to claim 6, characterized in that: The cross section of the second contact includes a length direction and a width direction. The length direction of the second contact is greater than the width direction of the second contact. The width direction of the second contact is parallel to the second horizontal direction.

8. The two-dimensional tactile array sensor according to claim 3, characterized in that: The vertical force array detection device comprises: a force transmission rod, the force transmission rod passing through the shielding plate and the base plate and being movable in a vertical direction relative to the shielding plate; and A third strain gauge is arranged on the pressure strain layer to detect the pressure transmitted by the force transmission rod.

9. The two-dimensional tactile array sensor according to claim 8, characterized in that: The pressure strain layer is provided with a square through hole, and two opposite side walls of the square through hole extend toward the center of the square through hole to form a first deformation portion and a second deformation portion; wherein a gap is provided between the first deformation portion and the second deformation portion.

10. The two-dimensional tactile array sensor according to claim 1, characterized in that: The force transmission rods are arranged in multiple rows and columns.

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