Flexible pressure sensor

Abstract

The invention provides a flexible pressure sensor, which comprises a flexible support body provided with a sensing area; the sensing layer is arranged in the flexible supporting body and located in the sensing area, the sensing layer comprises a plurality of sensing bodies, the sensing bodies are stretchable conductors, each sensing body comprises two interface parts, two connecting parts and a sensing part, the two interface parts are connected with one ends of the two connecting parts respectively, the other ends of the two connecting parts are connected with the two ends of the sensing part respectively, and the sensing parts are connected with the flexible supporting body. The two interface parts are used for being connected with external equipment, the sensing part is bent between the two interface parts in a preset shape, and the sensing part is used for sensing external pressure. The sensor is long in service life, and the flexible material can bear omnidirectional force in a measuring range without being damaged; the sensor is soft and can be integrated with clothes and other soft materials; in addition, the sensor is stable in temperature and humidity and is less affected by environment temperature and humidity.

Description

Technical Field

[0001] The invention relates to the field of pressure sensors, and in particular to a flexible pressure sensor. Background Art

[0002] Thin-film pressure sensors use one or more layers of thin-film materials to sense deformation or resistance changes caused by external pressure and convert non-electrical quantities into electrical output. When pressure is applied, the film deforms, causing its resistance or capacitance to change, and this change is converted into an electrical signal through a circuit.

[0003] However, although traditional thin film pressure sensors have excellent sensitivity, they have a short lifespan. The structure of the thin film makes it easy to be damaged when subjected to non-vertical forces, even if the force is very small. Thin film pressure sensors are relatively hard and cannot be directly applied to areas that come into direct contact with the human body, such as clothing, as they will feel obvious discomfort from hard objects. In addition, thin film pressure sensors are sensitive to temperature and humidity, and will have a greater impact on measurement accuracy in a non-constant temperature and humidity environment. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the related art, an object of the present invention is to provide a flexible pressure sensor.

[0005] To achieve the above-mentioned purpose and other related purposes, the present invention provides a flexible pressure sensor including: a flexible support body, wherein the flexible support body is provided with a sensing area; a sensing layer, which is arranged inside the flexible support body and located in the sensing area, the sensing layer including a plurality of sensing bodies, the sensing bodies being stretchable conductors, the sensing bodies including two interface parts, two connecting parts and a sensing part, the two interface parts are respectively connected to one end of the two connecting parts, the other ends of the two connecting parts are respectively connected to two ends of the sensing part, the two interface parts are used to connect to an external device, the sensing part is bent between the two interface parts in a preset shape, and the sensing part is used to sense external pressure.

[0006] Optionally, at least one sensing portion of the sensing body is disposed on the left and right sides of the center of the sensing area, respectively, and at least one sensing portion of the sensing body is disposed above the center of the sensing area.

[0007] Optionally, the sensing portion is disposed at the center of the sensing area, and the sensing portions of the remaining plurality of sensing bodies are disposed at left and right sides of the center of the sensing area.

[0008] Optionally, the sensing part of the sensing body arranged at the center of the sensing area is surrounded by the sensing parts of multiple sensing bodies on the left and right sides on at least the upper side, and the relatively inner sensing part of the sensing parts of multiple sensing bodies on the left and right sides is surrounded by the relatively outer sensing part on at least the upper side.

[0009] Optionally, the sensing parts of the multiple sensing bodies all surround the center of the sensing area and are arranged in sequence from the center to the edge of the sensing area, and the relatively inner sensing parts of the multiple sensing parts of the sensing bodies are at least partially surrounded by the relatively outer sensing parts.

[0010] Optionally, the sensing portion in the sensing layer is a symmetrical structure.

[0011] Optionally, the sensing portion of at least part of the sensing body is in a reciprocating bending structure.

[0012] Optionally, the sensing body may be bent along a curved surface.

[0013] Optionally, when the stretchable conductor is subjected to force in any direction, the stretchable conductor is stretched or compressed to generate deformation so that its own electrical properties change.

[0014] Optionally, the material of the stretchable conductor is liquid metal.

[0015] Optionally, the material of the stretchable conductor includes conductive ink, silver paste material, stretchable carbon nanomaterial or stretchable conductive polymer.

[0016] Optionally, the number of the sensing layers is multiple, the multiple sensing layers are stacked, and a protective layer is arranged between two adjacent sensing layers.

[0017] Optionally, the flexible support body comprises a base layer and a packaging layer, the sensing layer is arranged between the base layer and the packaging layer, and protective layers are arranged on both sides opposite to the base layer and the packaging layer.

[0018] Optionally, the flexible pressure sensor is further provided with an array of protrusions, the protrusions are provided on the flexible support body, and are used to enlarge the deformation space of the sensing body; the protrusions have a connecting surface and a protruding surface.

[0019] Optionally, the protrusion is a hard protrusion.

[0020] Optionally, the protrusions are soft protrusions.

[0021] Optionally, the convex surface of the protrusion faces the pressure contact surface.

[0022] Optionally, a convex surface of the protrusion faces the sensing body.

[0023] As described above, the flexible pressure sensor of the present invention has the following beneficial effects: the flexible pressure sensor adopts a stretchable conductor, so the service life is long, and the flexible material can withstand omnidirectional force within the measuring range without damage. The flexible pressure sensor is soft and can be integrated with other soft materials such as clothing to ensure good skin-friendliness and comfort. The flexible pressure sensor has stable temperature and humidity and is less affected by ambient temperature and humidity. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Shown is a schematic diagram of a flexible pressure sensor in an embodiment of the present invention.

[0025] Figure 2 It is a schematic diagram showing the arrangement of the sensing parts in the first embodiment of the present invention.

[0026] Figure 3 It is a schematic diagram showing the arrangement of the sensing parts in the second embodiment of the present invention.

[0027] Figure 4 It is a schematic diagram showing the arrangement of the sensing parts in the third embodiment of the present invention.

[0028] Component number description

[0029] 100, sensing area; 10, interface part; 20, connection part; 30, sensing part; 40, base layer; 50, protection layer; 60, packaging layer. DETAILED DESCRIPTION

[0030] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0031] For example, when describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional view showing the device structure will not be partially enlarged according to the general scale, and the schematic view is only an example, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional space dimensions of length, width and depth should be included.

[0032] For ease of description, spatial relational terms such as "under", "below", "below", "below", "above", "on", etc. may be used herein to describe the relationship of one element or feature shown in the drawings to other elements or features. It will be understood that these spatial relational terms are intended to include other directions of the device in use or operation in addition to the directions depicted in the drawings. In addition, when a layer is referred to as being "between" two layers, it can be the only layer between the two layers, or there can be one or more intervening layers. As used herein, "between..." means including the end point values.

[0033] In the context of the present application, a structure in which a first feature is described as being "above" a second feature may include embodiments in which the first and second features are formed in direct contact, and may also include embodiments in which additional features are formed between the first and second features, such that the first and second features may not be in direct contact.

[0034] It should be noted that the illustrations provided in this embodiment are only used to illustrate the basic concept of the present invention in a schematic manner, and therefore the illustrations only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0035] like Figure 1 As shown, this embodiment provides a flexible pressure sensor, which can be used as a fingertip sensor, a resistive strain sensor, a pressure strain sensor, and a tactile sensor. The flexible pressure sensor includes a flexible support body and a sensing layer. The flexible support body is provided with a sensing area 100, the sensing layer is arranged inside the flexible support body and located in the sensing area 100, the sensing layer includes a plurality of sensing bodies, the sensing bodies are stretchable conductors, the sensing bodies include two interface parts 10, two connecting parts 20 and a sensing part 30, the two interface parts 10 are respectively connected to one end of the two connecting parts 20, the other ends of the two connecting parts 20 are respectively connected to the two ends of the sensing part 30, the two interface parts 10 are used to connect to an external device, the sensing part 30 is bent between the two interface parts 10 in a preset shape, the sensing parts 30 of the plurality of sensing bodies are axially symmetrically distributed, and the sensing part 30 is used to sense external pressure.

[0036] In this embodiment, when a stretchable conductor is subjected to force in any direction, the stretchable conductor is stretched or compressed to produce deformation so that its own electrical properties change. As an example, after the stretchable conductor is subjected to force, its own resistance changes; specifically, the resistance value of the stretchable conductor changes, and the pressure is obtained based on the corresponding relationship between the changed resistance value and the force. Since the stretchable conductor can be subjected to force in all directions, the sensor can avoid detection blind spots and improve detection accuracy.

[0037] When detecting pressure, when external pressure is applied to the sensing part 30, the sensing part 30 is deformed and thus causes a change in its own resistance, thereby generating an electrical signal, which is transmitted to an external device through the connecting part 20 and the interface part 10 for collection and analysis. Since the sensing body is a stretchable conductor, the sensing body can be bent at will without being easily damaged. Since there are multiple sensing bodies and the sensing part 30 of each sensing body is set in a bent shape, it is not only beneficial to increase the sensing range but also to improve the sensing accuracy.

[0038] In this embodiment, the sensing portion 30 in the sensing layer is a symmetrical structure. By arranging the plurality of sensing portions 30 in an axisymmetric shape, the sensing accuracy can be improved.

[0039] In this embodiment, the sensing body can be bent along a curved surface. Since the sensing body can be bent along a curved surface, the sensing body can be arranged along the curved surface, so that the sensor can detect forces on non-planar surfaces. In the flexible pressure sensor of the present invention, both the support body and the sensing layer have flexible characteristics and a wide range of applications. As an example, it can also be better applied to rigid surfaces such as robots, such as being wrapped around the fingers of a robot as a fingertip sensor for tactile perception. As an example, it is attached to a flexible substrate at the fingertips for pressure perception at the fingertips of a person. As an example, a flexible pressure sensor is disposed at the fingertips of a data glove for pressure capture and interaction at the fingertips.

[0040] The flexible support body includes a base layer 40 and an encapsulation layer 60. For example, the flexible pressure sensor of this embodiment is used to detect fingertip pressure. At this time, the base layer 40 and the encapsulation layer 60 are configured to be able to cover the fingertips and finger pulps. The sensing layer is arranged between the base layer 40 and the encapsulation layer 60, and a protective layer 50 is arranged on both sides opposite to the base layer 40 and the encapsulation layer 60. The base layer 40, the protective layer 50 and the encapsulation layer 60 are all made of flexible materials and have properties such as stretchability and flexibility. Specifically, the base layer 40 is a polymer material such as cloth or a flexible substrate material. The protective layer 50 is an adhesive film, which can improve the adhesion strength between the sensing body and the base layer 40 and the encapsulation layer 60, improve the stability of the sensor, and extend the service life. The encapsulation layer 60 can be CR chloroprene rubber, or can be polydimethylsiloxane, natural rubber, polyurethane, polyethylene, polyvinyl alcohol, polytetrafluoroethylene, polyimide, polystyrene, polyethylene terephthalate, polylactic acid, polyglycolic acid, polylactic acid glycolic acid copolymer, polylactic acid caprolactone, poly-L-lactide caprolactone, polyvinyl chloride and polycaprolactone, but the present embodiment is not limited thereto.

[0041] Since the flexible support body has the characteristic of flexibility, when the sensing body is arranged on the flexible support body, the flexible pressure sensor can be used to detect the pressure of a non-planar surface.

[0042] In one embodiment, the material of the stretchable conductor includes conductive ink, electrosilver paste material, stretchable carbon nanomaterial or stretchable conductive polymer. In another embodiment, the material of the stretchable conductor includes liquid metal. As an example, the liquid metal can be gallium indium, gallium tin, gallium indium tin or gallium zinc alloy, wherein the advantage of using liquid metal material is that it has good conductivity, stretching durability and biosafety.

[0043] Specifically, the method of disposing the sensing body on the base layer 40 of the present embodiment includes, but is not limited to, one or more of drawing, spraying, screen printing, inkjet printing, and microfluidic patterning.

[0044] In this embodiment, there are many ways to arrange the multiple sensing bodies, and the specific arrangement methods are as follows.

[0045] First embodiment

[0046] like Figure 2 As shown, at least one sensing portion 30 of a sensing body is respectively disposed on the left and right sides of the center of the sensing area 100 , and at least one sensing portion 30 of a sensing body is disposed above the center of the sensing area 100 .

[0047] Specifically, there are four sensing bodies, and the four sensing bodies include eight interface parts 10, eight connecting parts 20 and four sensing parts 30. In order to save space, some interface parts 10 can be connected to two connecting parts 20, among which interface parts 10 No. 2 and interface parts 10 No. 5 are respectively connected to two connecting parts 20, and the rest are respectively connected to one connecting part 20. In this case, the number of interface parts 10 is six. For the convenience of description, the six interface parts 10 are numbered and described, and the numbers are as follows: Figure 2 shown.

[0048] The connection parts 20 on the No. 1 interface part 10 and the No. 2 interface part 10 are connected to a sensing part 30, the connection parts 20 on the No. 2 interface part 10 and the No. 3 interface part 10 are connected to a sensing part 30, the connection parts 20 on the No. 4 interface part 10 and the No. 5 interface part 10 are connected to a sensing part 30, and the connection parts 20 on the No. 5 interface part 10 and the No. 6 interface part 10 are connected to a sensing part 30. Among them, the sensing part 30 between the No. 1 interface part 10 and the No. 2 interface part 10 is located on the left side of the sensing area 100, the sensing part 30 between the No. 5 interface part 10 and the No. 6 interface part 10 is located on the right side of the sensing area 100, the sensing part 30 between the No. 2 interface part 10 and the No. 3 interface part 10 is located at the upper left of the sensing area 100, and the sensing part 30 between the No. 4 interface part 10 and the No. 5 interface part 10 is located at the upper right of the sensing area 100. The four sensing parts 30 are used to sense pressure in different areas. For example, the sensing parts 30 located at the upper left and upper right of the sensing area 100 are used to sense the force of the fingertips, and the sensing parts 30 located at the left and right sides of the sensing area 100 are used to sense the force of the sides of the fingertips. In this embodiment, based on the arrangement of the multiple sensing parts 30, the flexible pressure sensor is called an X-type fingertip sensor. In this embodiment, the four sensing parts 30 are all bent back and forth along the up and down direction of the base layer 40.

[0049] Second embodiment

[0050] like Figure 3 As shown, the sensing portion 30 of one of the plurality of sensing bodies is disposed at the center of the sensing area 100, and the sensing portions 30 of the remaining plurality of sensing bodies are disposed at the left and right sides of the center of the sensing area 100. The sensing portion 30 of the sensing body disposed at the center of the sensing area is at least surrounded on the upper side by the sensing portions 30 of the plurality of sensing bodies on the left and right sides, and the sensing portions 30 on the relatively inner side of the sensing portions 30 of the plurality of sensing bodies on the left and right sides are at least surrounded on the upper side by the sensing portions 30 on the relatively outer side.

[0051] Specifically, there are five sensing bodies, one of which is disposed at the center of the sensing area 100, and the remaining four sensing bodies are symmetrically disposed on the left and right sides of the center of the sensing area 100. The relatively outer sensing part 30 of the two sensing parts 30 on the left surrounds the relatively inner sensing part 30, and the relatively outer sensing part 30 of the two sensing parts 30 on the right surrounds the relatively inner sensing part 30. Specifically, the five sensing bodies include ten interface parts 10, ten connecting parts 20 and five sensing parts 30. In order to save space, two connecting parts 20 can be connected to some of the interface parts 10. In this case, the number of the interface parts 10 is eight. For ease of description, the eight interface parts 10 are numbered and described respectively, and the numbers are as follows: Figure 3 The No. 2 interface part 10 and the No. 7 interface part 10 are respectively connected to two connection parts 20 , and the others are respectively connected to one connection part 20 .

[0052] The connecting part 20 on interface part No. 1 10 and interface part No. 2 10 is connected to a sensing part 30, the connecting part 20 on interface part No. 2 10 and interface part No. 3 10 is connected to a sensing part 30, the connecting part 20 on interface part No. 4 10 and interface part No. 5 10 is connected to a sensing part 30, the connecting part 20 on interface part No. 6 10 and interface part No. 7 10 is connected to a sensing part 30, and the connecting part 20 on interface part No. 7 10 and interface part No. 8 10 is connected to a sensing part 30. Among them, the sensing part 30 between the interface part No. 1 10 and the interface part No. 2 10 is located on the outside of the left side of the sensing area 100, and is used to detect the force condition of the left outer edge area of ​​the fingertip; the sensing part 30 between the interface part No. 2 10 and the interface part No. 3 10 is located on the inside of the left side of the sensing area 100, and is used to detect the force condition of the area between the left outer edge area and the central area of ​​the fingertip; the sensing part 30 between the interface part No. 4 10 and the interface part No. 5 10 is located at the center of the sensing area 100, and is used to detect the force condition of the central area of ​​the fingertip; the sensing part 30 between the interface part No. 6 10 and the interface part No. 7 10 is located on the inside of the right side of the sensing area 100, and is used to detect the force condition of the area between the right outer edge area and the central area of ​​the fingertip; the sensing part 30 between the interface part No. 7 10 and the interface part No. 8 10 is located on the outside of the right side of the sensing area 100, and is used to detect the force condition of the right outer edge area of ​​the fingertip. In this embodiment, based on the arrangement of multiple sensing parts 30, the flexible pressure sensor is called a polar coordinate fingertip sensor. The five sensing parts 30 are used to obtain the force data in the five blocks, and accurately determine the force change or force translation from the inner fingertips to the outer finger edges.

[0053] Third embodiment

[0054] like Figure 4 As shown, the sensing parts 30 of the plurality of sensing bodies surround the center of the sensing area 100 and are arranged sequentially from the center to the edge of the sensing area 100. The sensing parts 30 on the relatively inner side of the sensing parts 30 of the plurality of sensing bodies are at least partially surrounded by the sensing parts 30 on the relatively outer side. As an example, the structure of the sensing parts 30 in the sensing body is as follows: Figure 4 As shown, other fingerprint-like surrounding structure designs may also be used, but are not limited thereto.

[0055] Specifically, the number of sensing bodies is three, and there are six interface parts 10 in total. For ease of description, the six interface parts 10 are numbered and described respectively, as shown in the following figure: Figure 4 shown.

[0056] The connection part 20 on the interface part 10 and the interface part 2 is connected to a sensing part 30, which is located in the outermost circle, and the sensing part 30 is bent back and forth around the center of the sensing area 100 in an arc shape. The connection part 20 on the interface part 3 and the interface part 4 is connected to a sensing part 30, which is located in the middle circle, and the sensing part 30 is bent back and forth around the center of the sensing area 100 in an arc shape. The connection part 20 on the interface part 5 and the interface part 6 is connected to a sensing part 30, which is located in the innermost circle, and the sensing part 30 is bent back and forth around the center of the sensing area 100 in an arc shape. In the above arrangement, the flexible pressure sensor is called a fingerprint-like fingertip sensor, the number of winding turns and the total length of the sensing part 30 are larger, the detection is more sensitive, the detection accuracy is also higher, and more horizontal and oblique forces can be detected.

[0057] Based on the arrangement of the sensing unit 30, no matter which implementation method is used, it can be selected according to the usage scenario. If you want to distinguish whether it is a tip press or a side press, you can use an X-type fingertip sensor. If it is a rolling press, that is, the force will go from the side of the finger to the fingertip and then to the side of the finger, a polar coordinate fingertip sensor can be used. If you want to detect the force in the horizontal and oblique directions, you can use a fingerprint-like fingertip sensor.

[0058] Based on the application scenario, the number of sensing layers can be multiple layers, and the multiple sensing layers are stacked, for example, stacked together by heat pressing. A protective layer 50 is provided between two adjacent sensing layers. It can be understood that the sensing part 30 in each sensing layer adopts a different layout method, that is, the flexible pressure sensor at this time includes any two or three of the above three sensing part 30 layout methods.

[0059] Specifically, an array of protrusions is also provided on the flexible pressure sensor. The protrusions can be provided on the outer surface or the inner surface of the encapsulation layer 60 to enlarge the deformation space of the sensing body. The protrusions can be in a rectangular array or a circular array. The flexible pressure sensor of the present invention enlarges the deformation space of the sensing body by providing an array of protrusions, improves the detection accuracy of the sensor, and improves the perception ability as a tactile sensor. Among them, the shape of the protrusion can be hemispherical or rectangular, etc. The protrusion has a connecting surface and a protruding surface. The connecting surface is the side facing the encapsulation layer 60, and the protruding surface is the side away from the encapsulation layer 60. The protrusion can be a hard protrusion or a soft protrusion. As an example, the protrusion is a hard protrusion, which can enlarge the deformation space of the sensing body. As another example, the protrusion is a soft protrusion, which can provide a deformation space for the sensing body.

[0060] Specifically, the protrusion is arranged on the outer surface of the encapsulation layer 60, and the protrusion surface of the protrusion faces the pressure contact surface, thereby expanding the contact surface of the flexible pressure sensor when sensing pressure. As an example, as a tactile sensor of a robot hand, the protrusion surface faces the grasped object, and the protrusion increases the contact surface between the robot hand and the object, thereby improving the perception ability of the flexible pressure sensor. Specifically, the protrusion surface of the protrusion faces the sensing body, thereby increasing the unit deformation depth of the sensing body. As an example, as a fingertip sensor of the fingertip of a motion capture glove, the protrusion surface faces the sensing body, and the protrusion increases the deformation depth of the sensing body, thereby improving the pressure perception sensitivity and accuracy of the flexible pressure sensor. As an example, flexible pressure sensors of different structures can be stacked or adjacently arranged, flatly arranged, etc.; when stacked, the protrusion can be arranged between the interlayers of two flexible pressure sensors, which can not only expand the contact surface of the flexible pressure sensor, but also increase the unit deformation depth of the sensing body. It should be noted that the shape, arrangement design, number, etc. of the protrusion are not specifically limited.

[0061] The present embodiment also provides a finger-cuff-type flexible pressure sensing device, which includes the above-mentioned flexible pressure sensor, for example, there are two flexible pressure sensors, which are sewn into a finger-cuff form; or a part of the finger-cuff is formed by the first flexible pressure sensor, and the second flexible pressure sensor is sewn to the base layer 40 or the packaging layer 60 of the first flexible pressure sensor; or the finger-cuff-type flexible pressure sensing device includes a finger-cuff and two flexible pressure sensors, and the two flexible pressure sensors are both sewn on the finger-cuff, and can be both located on the inside, or both located on the outside, or respectively located on the inner and outer sides of the same side, or on the inner and outer sides of different sides, and so on.

[0062] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A flexible pressure sensor, characterized in that: include: A flexible support body, wherein the flexible support body is provided with a sensing area; The sensing layer is arranged inside the flexible support body and located in the sensing area. The sensing layer includes a plurality of sensing bodies. The sensing bodies are stretchable conductors. The sensing bodies include two interface parts, two connecting parts and a sensing part. The two interface parts are respectively connected to one end of the two connecting parts, and the other ends of the two connecting parts are respectively connected to two ends of the sensing part. The two interface parts are used to connect to external equipment. The sensing part is bent between the two interface parts in a preset shape, and the sensing part is used to sense external pressure.

2. The flexible pressure sensor according to claim 1, characterized in that: At least one sensing portion of the sensing body is disposed on the left and right sides of the center of the sensing area, respectively, and at least one sensing portion of the sensing body is disposed above the center of the sensing area.

3. The flexible pressure sensor according to claim 1, characterized in that: The sensing portion of one of the sensing bodies is disposed at the center of the sensing area, and the sensing portions of the remaining sensing bodies are disposed at left and right sides of the center of the sensing area.

4. The flexible pressure sensor according to claim 3, characterized in that: The sensing portion of the sensing body arranged at the center of the sensing area is surrounded by the sensing portions of the multiple sensing bodies on the left and right sides at least on the upper side, and the relatively inner sensing portion of the multiple sensing portions of the sensing bodies on the left and right sides is surrounded by the relatively outer sensing portion at least on the upper side.

5. The flexible pressure sensor according to claim 1, characterized in that: The sensing parts of the plurality of sensing bodies surround the center of the sensing area and are arranged sequentially from the center to the edge of the sensing area. The relatively inner sensing parts of the plurality of sensing bodies are at least partially surrounded by the relatively outer sensing parts.

6. The flexible pressure sensor according to any one of claims 1 to 5, characterized in that: The sensing portion in the sensing layer has a symmetrical structure.

7. The flexible pressure sensor according to claim 1, characterized in that: The sensing portion of at least a portion of the sensing body is in a reciprocating bending structure.

8. The flexible pressure sensor according to claim 1, characterized in that: The sensing body can be bent along a curved surface.

9. The flexible pressure sensor according to claim 1, characterized in that: The stretchable conductor is used to be stretched or compressed to generate deformation when subjected to force in any direction, so that its own electrical properties change.

10. The flexible pressure sensor according to claim 1, characterized in that: The material of the stretchable conductor is liquid metal.

11. The flexible pressure sensor according to claim 1, characterized in that: The material of the stretchable conductor includes conductive ink, silver paste material, stretchable carbon nanomaterial or stretchable conductive polymer.

12. The flexible pressure sensor according to claim 1, characterized in that: The number of the sensing layers is multiple, the multiple sensing layers are stacked, and a protective layer is arranged between two adjacent sensing layers.

13. The flexible pressure sensor according to claim 1, characterized in that: The flexible support body comprises a base layer and a packaging layer. The sensing layer is arranged between the base layer and the packaging layer, and protective layers are arranged on both sides opposite to the base layer and the packaging layer.

14. The flexible pressure sensor according to claim 1, characterized in that: The flexible pressure sensor is also provided with an array of protrusions, which are arranged on the flexible support body and are used to enlarge the deformation space of the sensing body; the protrusions have a connecting surface and a protruding surface.

15. The flexible pressure sensor according to claim 14, characterized in that: The protrusions are hard protrusions.

16. The flexible pressure sensor according to claim 14, characterized in that: The protrusions are soft protrusions.

17. The flexible pressure sensor according to claim 15 or 16, characterized in that: The protrusion surface of the protrusion faces the pressure contact surface.

18. The flexible pressure sensor according to claim 15 or 16, characterized in that: A convex surface of the protrusion faces the sensing body.

Images