Preparation method of Hilbert tactile sensor, sensor, circuit and system

Abstract

The invention discloses a preparation method of a Hilbert tactile sensor, a sensor, a circuit and a system. The method comprises the following steps: determining the order, the structure and the size of the Hilbert tactile sensor to be prepared according to the control requirement of an application scene; a straight line is converted into a Hilbert curve of a corresponding order through fractal recursion, and the unit length and the line width required by the Hilbert curve of the corresponding order are deduced; respectively depositing conductive films on the two substrates according to the Hilbert curves of the corresponding orders in the step S2, heating and curing, leading out double electrodes, and packaging; and setting the at least two conductive films to be in mirror symmetry, and adding a gasket with a certain thickness to enable the at least two conductive films to be in a non-contact state, thereby obtaining the Hilbert tactile sensor. The Hilbert tactile sensor is designed into different resolutions through fractal recursion, so that multifunctional application of the tactile sensor is realized.

Description

Technical Field

[0001] The present application relates to the field of hardware circuit design, and in particular to a method for preparing a Hilbert tactile sensor, a tactile sensor, a voltage divider circuit, a control circuit and a control system. Background Art

[0002] Intelligent tactile perception can accurately understand the user's intention and respond quickly by perceiving human tactile information, thus achieving a more natural and efficient interaction method. Intelligent devices are usually used to capture, process and interpret tactile signals to achieve accurate and stable intelligent tactile perception. In response to the development needs of multiple categories of application scenarios, intelligent devices not only need to be versatile and programmable, but also require to be developed quickly. Demand-based reverse design, as a method of predicting input parameters from expected outputs, reduces material waste and effort in the development process compared to forward design, so that the design and development of intelligent devices can be completed in a shorter time. In the field of intelligent tactile perception, the inverse design method has not been widely accepted, mainly because it involves multiple disciplines and materials, making its implementation relatively challenging. In order to efficiently realize intelligent tactile perception, it is necessary to develop a reverse design paradigm for tactile sensor design.

[0003] In order to realize intelligent tactile perception in the inverse design method, it is a common strategy to integrate the sensing units into an array as an intelligent device. For example, the sensor arrays are densely integrated together to manufacture customizable tactile gloves as intelligent devices according to the needs, and object classification is realized through cross addressing. However, in this way, the perception of external touch by a large number of sensor arrays is accompanied by a considerable number of multidimensional signals, which aggravates the difficulty of data processing. In order to reduce the dimensionality of the signal, the four-wire touch panel is used as another typical structure to prepare intelligent devices with data dimensionality reduced to four dimensions. By decoupling and analyzing the electrical signals of the four electrodes, the touch position is determined to achieve high-resolution tactile perception and multifunctional applications. However, the preparation of such high-resolution intelligent devices increases the complexity of device design, which may become a burden when meeting applications with low resolution requirements. Therefore, there is a great contrast between the progress of inverse design of intelligent devices and the actual needs of intelligent tactile perception. In addition to flexibility, high stability, responsiveness and programmability, intelligent devices also need to be scalable and personalized to adapt to the further development of intelligent tactile perception in various scenarios. Summary of the invention

[0004] In view of the above problems, the present application provides a preparation method of a Hilbert tactile sensor that can be reverse-designed according to needs, so as to solve the problems of complex design and poor scalability of existing tactile sensors.

[0005] In a first aspect, the present application provides a method for preparing a Hilbert tactile sensor, comprising the following steps:

[0006] S1: Determine the order, structure and size of the Hilbert tactile sensor to be prepared according to the control requirements of the application scenario;

[0007] S2: Convert a straight line into a Hilbert curve of the corresponding order through fractal recursion, and derive the unit length and line width required for the Hilbert curve of the corresponding order;

[0008] S3: depositing conductive films on the two substrates according to the Hilbert curves of corresponding orders in step S2, heating and curing, leading out double electrodes and encapsulating;

[0009] S4: at least two conductive films are arranged to be mirror-symmetrical, and a gasket of a certain thickness is added to make at least two conductive films be in a non-contact state, so as to obtain a Hilbert tactile sensor.

[0010] Optionally, step S1 includes:

[0011] The order, structure and size of the Hilbert tactile sensor to be prepared are determined according to whether the terminal device corresponding to the application scenario is a curved surface and / or whether a sliding sensing function is required. The structure of the Hilbert tactile sensor includes a parallel dual-electrode structure or a double-layer separation structure.

[0012] Optionally, the terminal device is a password protection system, and step S2 includes:

[0013] Through fractal recursion, a straight line is transformed into multiple Hilbert curves of different orders. The sizes of multiple Hilbert curves of different orders remain consistent, and the unit length and line width required for the Hilbert curves of the corresponding order are derived;

[0014] Step S3 includes:

[0015] According to multiple Hilbert curves, a corresponding screen printing plate is customized, PEDOT:PSS slurry is selected as the conductive ink, and it is printed on a flexible substrate with a thickness of 0.075 mm to form a Hilbert conductive pattern. Multiple Hilbert curves of each order correspond to two Hilbert conductive patterns.

[0016] The conductive ink on the flexible substrate was placed in an oven at 120 degrees Celsius for 18 minutes to cure, and then the electrodes were drawn out at the head and tail ends of the Hilbert pattern with conductive metal paste and heated to cure, and then the electrodes were encapsulated with 10:1 PDMS and placed in an oven at 120 degrees Celsius for 5 minutes;

[0017] Step S4 includes:

[0018] All the Hilbert conductive patterns corresponding to each other on the flexible substrate are arranged relative to each other, and foam double-sided tape is used as a gasket to keep the two upper and lower adjacent Hilbert conductive patterns in a non-contact state, thereby forming Hilbert tactile sensors of different orders.

[0019] Optionally, the multiple Hilbert curves of different orders include a second-order Hilbert curve, a third-order Hilbert curve, a fourth-order Hilbert curve and a fifth-order Hilbert curve, and the Hilbert tactile sensors of different orders include a second-order Hilbert tactile sensor, a third-order Hilbert tactile sensor, a fourth-order Hilbert tactile sensor and a fifth-order Hilbert tactile sensor.

[0020] Optionally, the terminal device is a handwriting recognition system;

[0021] Step S2 includes:

[0022] A straight line is transformed into a fourth-order Hilbert curve through fractal recursion, and the side length of the fourth-order Hilbert curve is set to 114 mm, the unit length is 7.5 mm, and the line width is 1.5 mm;

[0023] Step S3 includes:

[0024] A corresponding screen printing plate was customized according to the Hilbert curve, and PEDOT:PSS slurry was selected as the conductive ink, which was printed on a flexible substrate with a thickness of 0.075 mm to form a Hilbert conductive pattern;

[0025] The conductive ink on the flexible substrate was placed in an oven at 120 degrees Celsius for 20 minutes to cure, and then the electrodes were drawn out at the beginning and end of the Hilbert pattern with conductive metal paste and heated to cure, and then the electrodes were encapsulated with 10:1 PDMS and placed in an oven at 120 degrees Celsius for 5 minutes;

[0026] Step S4 includes:

[0027] The conductive patterns corresponding to each other on the flexible substrate are arranged opposite to each other, and a foam double-sided tape is used as a gasket to keep the conductive patterns in a non-contact state, thereby obtaining a fourth-order Hilbert tactile sensor.

[0028] Optionally, step S4 includes:

[0029] Put two conductive films together directly, select a foam double-sided tape of appropriate thickness, and first stick the foam double-sided tape around one of the conductive films as a spacing layer;

[0030] Slowly move the other conductive film down to ensure that the two conductive films are facing each other, and stick the other conductive film face to face on the other side of the foam double-sided tape.

[0031] In a second aspect, the present application provides a Hilbert tactile sensor, which is prepared according to the preparation method described in the first aspect of the present application.

[0032] In a third aspect, the present application provides a voltage divider circuit, the voltage divider circuit is used to generate different voltage-divided analog signals, the voltage divider circuit comprising:

[0033] A Hilbert tactile sensor, which is the Hilbert tactile sensor as described in the second aspect of the present application;

[0034] The voltage-dividing resistor is connected to one of the electrodes of the Hilbert tactile sensor and a power source, and the other electrode of the tactile sensor is connected to the power source to form a loop.

[0035] In a fourth aspect, the present application provides a control circuit, the control circuit comprising:

[0036] The voltage divider circuit is the voltage divider circuit described in the third aspect of the present application;

[0037] The Arduino development board comprises a power module, an analog-to-digital converter and a microcontroller, wherein the analog-to-digital converter is used to convert the divided voltage analog signal received from the divided voltage circuit into a digital signal, the microcontroller is used to process the digital signal, and the power module is used to provide power for the divided voltage circuit, the analog-to-digital converter and the microcontroller.

[0038] In a fifth aspect, the present application provides a control system, the control system comprising:

[0039] A control circuit, which is the control circuit as described in the fourth aspect of the present application;

[0040] The terminal device is communicatively connected with the microcontroller of the control circuit.

[0041] Different from the prior art, the above technical solution involves a method for preparing a Hilbert tactile sensor, a sensor, a circuit and a system, the method comprising: determining the order, structure and size of the Hilbert tactile sensor to be prepared according to the control requirements of the application scenario; converting a straight line into a Hilbert curve of the corresponding order through fractal recursion, and deriving the unit length and line width required for the Hilbert curve of the corresponding order; depositing conductive films on two substrates according to the Hilbert curve of the corresponding order in step S2, heating and curing, and leading out double electrodes and encapsulating; setting at least two conductive films to be mirror-symmetrical, adding a gasket of a certain thickness so that at least two conductive films are in a non-contact state, and obtaining a Hilbert tactile sensor. This application designs Hilbert tactile sensors with different resolutions through fractal recursion, realizes touch position recognition by generating differentiated electrical signals by pressing different points, and realizes a one-to-one correspondence between touch and command through programming to cope with different application scenarios, realizing the multifunctional application of tactile sensors.

[0042] The above-mentioned records related to the invention content are only an overview of the technical solution of the present application. In order to enable ordinary technicians in the field to more clearly understand the technical solution of the present application, and then implement it according to the text of the specification and the contents recorded in the drawings, and to make the above-mentioned purpose and other purposes, features and advantages of the present application easier to understand, the following is an explanation in combination with the specific implementation mode and drawings of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings are only used to illustrate the principles, implementation methods, applications, characteristics and effects of the specific embodiments of the present invention and other related contents, and shall not be considered as limiting the present application.

[0044] In the drawings of the specification:

[0045] Figure 1 A flow chart of a method for preparing a Hilbert tactile sensor according to a first exemplary embodiment of the present application;

[0046] Figure 2 This is a flow chart of a method for preparing a Hilbert tactile sensor according to a second exemplary embodiment of the present application;

[0047] Figure 3 A flow chart of a method for preparing a Hilbert tactile sensor according to a third exemplary embodiment of the present application;

[0048] Figure 4 A flowchart of a method for relatively arranging conductive patterns of a Hilbert tactile sensor according to the present application;

[0049] Figure 5 A module diagram of a voltage divider circuit according to an exemplary embodiment of the present application;

[0050] Figure 6 A schematic diagram of a control circuit according to an exemplary embodiment of the present application;

[0051] Figure 7 A schematic diagram of a control system according to an exemplary embodiment of the present application;

[0052] Figure 8 A schematic diagram of the principle of design conditions for line width and unit length of a Hilbert curve involved in an exemplary embodiment of the present application;

[0053] Fig. 9 is a top cross-sectional view of a first-order Hilbert tactile sensor according to Embodiment 1 of the present application;

[0054] Fig.10 is a front cross-sectional view of a first-order Hilbert tactile sensor according to Embodiment 1 of the present application;

[0055] Fig.11 This is a module diagram of a control system when the terminal device involved in Example 1 of the present application is a globe;

[0056] Fig.12 is a top cross-sectional view of a second-order Hilbert tactile sensor according to Embodiment 2 of the present application;

[0057] Fig.13 is a front cross-sectional view of the second-order Hilbert tactile sensor involved in Example 2 of the present application;

[0058] Fig.14 This is a module diagram of a control system in which the terminal device involved in Example 2 of the present application is a scientific calculator;

[0059] Fig.15 is a top cross-sectional view of a second-order Hilbert tactile sensor according to Embodiment 3 of the present application;

[0060] Fig.16 This is a module diagram of a control system when the terminal device involved in Example 3 of the present application is a chess game;

[0061] Fig.17 is a top cross-sectional view of a second-order Hilbert tactile sensor according to Embodiment 4 of the present application;

[0062] Fig.18 is a top cross-sectional view of a third-order Hilbert tactile sensor according to Embodiment 4 of the present application;

[0063] Fig.19 is a top view of a cross-sectional view of a fourth-order Hilbert tactile sensor according to Embodiment 4 of the present application;

[0064] Fig. 20is a top cross-sectional view of a fifth-order Hilbert tactile sensor according to Embodiment 4 of the present application;

[0065] Fig.21 This is a module diagram of a control system when the terminal device involved in Example 4 of the present application is a password protection system;

[0066] Fig. 22 This is a module diagram of a control system when the terminal device involved in Example 5 of the present application is a handwriting recognition system.

[0067] The reference numerals in the above drawings are described as follows:

[0068] 1. Flexible substrate; 2. Foam double-sided tape; 3. Electrode; 4. Conductive metal paste; 5. Gasket;

[0069] 10. Voltage divider circuit; 100. Hilbert tactile sensor; 101. Voltage divider resistor;

[0070] 20. Arduino development board; 201. power module; 202. analog-to-digital converter; 203. microcontroller;

[0071] 30. Control circuit; 40. Terminal device; 50. Control system. DETAILED DESCRIPTION

[0072] In order to explain in detail the possible application scenarios, technical principles, specific schemes that can be implemented, and the purposes and effects that can be achieved, the following is a detailed description of the specific embodiments listed in conjunction with the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0073] Reference to "embodiment" herein means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The term "embodiment" appearing in various places in the specification does not necessarily refer to the same embodiment, nor does it particularly limit its independence or association with other embodiments. In principle, in the present application, as long as there is no technical contradiction or conflict, the various technical features mentioned in the embodiments can be combined in any way to form a corresponding implementable technical solution.

[0074] Unless otherwise defined, the technical terms used in this document have the same meanings as those generally understood by those skilled in the art to which this application belongs; the use of relevant terms in this document is only for describing specific embodiments and is not intended to limit this application.

[0075] In the description of this application, the term "and / or" is an expression used to describe the logical relationship between objects, indicating that three relationships may exist, for example, A and / or B, which means: A exists, B exists, and A and B exist at the same time. In addition, the character " / " in this article generally indicates that the objects before and after are in an "or" logical relationship.

[0076] In the present application, terms such as “first” and “second” are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship of quantity, priority or sequence between these entities or operations.

[0077] Without further limitations, in this application, the words "include", "comprises", "has" or other similar open-ended expressions used in sentences are intended to cover non-exclusive inclusion. These expressions do not exclude the presence of additional elements in the process, method or product including the elements, so that the process, method or product including a series of elements may include not only those limited elements, but also other elements not explicitly listed, or also include elements inherent to such process, method or product.

[0078] In this application, expressions such as "greater than", "less than", "exceed" and the like are understood to exclude the number itself; expressions such as "above", "below", "within" and the like are understood to include the number itself. In addition, in the description of the embodiments of this application, "multiple" means more than two (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups", "multiple times", etc., unless otherwise clearly and specifically limited.

[0079] In the description of the embodiments of the present application, space-related expressions used, such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "vertical", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or position relationship based on the orientation or position relationship shown in the specific embodiments or drawings, and are only for the convenience of describing the specific embodiments of the present application or facilitating the reader's understanding, and do not indicate or imply that the referred device or component must have a specific position, a specific orientation, or be constructed or operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0080] Unless otherwise expressly specified or limited, in the description of the embodiments of the present application, the terms such as "install", "connect", "connect", "fix", "set", etc. used should be understood in a broad sense. For example, the "connection" can be a fixed connection, a detachable connection, or an integrated setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For technicians in the technical field to which the present application belongs, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0081] In the first aspect, Figure 1 As shown, the present application provides a method for preparing a Hilbert tactile sensor, comprising the following steps:

[0082] S1: Determine the order, structure and size of the Hilbert tactile sensor to be prepared according to the control requirements of the application scenario;

[0083] S2: Convert a straight line into a Hilbert curve of the corresponding order through fractal recursion, and derive the unit length and line width required for the Hilbert curve of the corresponding order;

[0084] S3: depositing conductive films on the two substrates according to the Hilbert curves of corresponding orders in step S2, heating and curing, leading out double electrodes and encapsulating;

[0085] S4: at least two conductive films are arranged to be mirror-symmetrical, and a gasket of a certain thickness is added to make at least two conductive films be in a non-contact state, so as to obtain a Hilbert tactile sensor.

[0086] In step S1, the control requirements of the application scenario can be determined according to the terminal device with which the prepared Hilbert tactile sensor needs to interact, and the order of the Hilbert tactile sensor can be 1st order, 2nd order, 3rd order, etc.

[0087] In some embodiments, step S1 includes: determining the order, structure and size of the Hilbert tactile sensor to be prepared according to whether the terminal device corresponding to the application scenario is a curved surface and / or whether a sliding sensing function is required.

[0088] Optionally, the structure of the Hilbert tactile sensor includes a parallel dual-electrode structure or a double-layer separation structure. The size of the Hilbert tactile sensor can be determined according to the actual application scenario, and is usually set to match the size of the touch area of ​​the interactive terminal device.

[0089] In step S2, fractal recursion is a unique method of fractal mathematics. In fractal mathematics, fractal recursion refers to a method of generating fractal structures by repeatedly applying the same or similar rules or processes. This recursive nature makes fractals show similar complexity and morphology at all scales. In the fractal recursion of the Hilbert curve, its initial shape is a straight line; it is turned into a first-order Hilbert curve by increasing the dimension, and further recursively according to the Hilbert fractal rules, and terminated according to the required conditions.

[0090] In this application, the generation principle of the Hilbert curve is as follows:

[0091] Fractal geometry is a field of mathematics that studies complex and irregular structures. It involves a special type of geometric figures and mathematical objects called fractals. Fractal mathematics is often used to describe structures that are similar at all scales, that is, these structures will repeat in a similar way whether they are enlarged or reduced. The Hilbert curve is a fully continuous space-filling curve that fills the unit square. It is one of the important concepts in fractal geometry. Specifically, the first-order Hilbert curve (H 1 ) is a unit line segment. For the nth order Hilbert curve (H n ), it can be recursively constructed by following the steps below: Rotate the (n-1)-order Hilbert curve 90 degrees and place it on the four vertices of a square; Connect the four (n-1)-order Hilbert curves to form a new curve, which is the n-order Hilbert curve.

[0092] The Hilbert curve has the following properties:

[0093] Space-filling property: The Hilbert curve is a space-filling curve, which means that it can fill any finite region in two-dimensional space. No matter how small the region is, it can be completely covered by appropriately scaling and rotating the Hilbert curve.

[0094] Self-similarity: The Hilbert curve exhibits self-similarity, which means that when you look at this curve at different scales, its shape and structure repeats itself. Even if you zoom in or out, the overall shape and properties of the curve remain the same.

[0095] Fractal characteristics: As a fractal curve, the Hilbert curve can be recursively extended to the next-order curve, showing characteristics similar to complex structures.

[0096] Therefore, the tactile sensor can be designed according to the Hilbert curve, and the number of its functional contacts N = 4^n, where n is the Hilbert order. The specific number is shown in the following table:

[0097] Table of Hilbert curves of various orders and their functional contact numbers

[0098]

[0099] In the present application, the unit length is the side length of the first-order Hilbert curve in each order Hilbert curve, and the line width is the line width of the entire Hilbert curve. The two values ​​can be designed according to the size of the contact to achieve specific functions.

[0100] The present invention designs the conditions according to the required line width and unit length as follows:

[0101] Assume that the contact area of ​​the touch point is a regular circle with a radius of r. There are three extreme cases when touching the Hilbert tactile sensor, which are as follows: Figure 8 shown.

[0102] In order to ensure full contact, the line width w and unit length l of the Hilbert curve must at least meet the following conditions:

[0103] Condition 1:

[0104] Condition 2: r>(lw);

[0105] Condition 3:

[0106] Obviously, satisfying the above condition 1 can satisfy the conditions 2 and 3. On the contrary, if the functional contacts need to be customized, the greater than sign in each of the above conditions can be changed to a less than sign.

[0107] In step S3, the conductive ink can be deposited on two flexible substrates according to the Hilbert curve pattern to form a mirror-symmetrical conductive path film. Subsequently, the substrates are placed in an oven for heating and curing, and then electrodes are drawn on each substrate.

[0108] The above method utilizes the fractal recursive characteristics of the Hilbert curve to design a continuous Hilbert curve according to the actual application scenario requirements, prepares two mirror-symmetrical conductive patterns on a flexible substrate according to the designed Hilbert curve and leads to dual electrodes, and places tape between the flexible substrates as a spacer layer to complete the preparation of the Hilbert tactile sensor. Through fractal recursion, the Hilbert tactile sensor of the present invention can be designed to have different resolutions. Touch position recognition is achieved by generating differentiated electrical signals by pressing different points, and a one-to-one correspondence between touch and command is achieved through programming to cope with different application scenarios, proving the versatility of the sensor.

[0109] In some embodiments, the terminal device is a password protection system, such as Figure 2 As shown, step S2 includes:

[0110] Step S201: converting a straight line into multiple Hilbert curves of different orders through fractal recursion, the sizes of the multiple Hilbert curves of different orders are kept consistent, and deriving the unit length and line width required for the Hilbert curves of corresponding orders;

[0111] Step S3 includes:

[0112] Step S301: Customize a corresponding screen printing plate according to a plurality of Hilbert curves, select poly (3,4-ethylenedioxythiophene)-polystyrene sulfonate slurry as a conductive ink, and print it on a flexible substrate with a thickness of 0.075 mm to form a Hilbert conductive pattern, wherein each order of the plurality of Hilbert curves corresponds to two Hilbert conductive patterns; poly (3,4-ethylenedioxythiophene)-polystyrene sulfonate is PEDOT:PSS;

[0113] Step S302: The conductive ink on the flexible substrate is placed in an oven at 120 degrees Celsius for 18 minutes to be cured, and then the electrodes are drawn out at the head and tail ends of the Hilbert pattern using conductive metal paste and heated to cure, and then the electrodes are encapsulated with 10:1 polydimethylsiloxane and placed in an oven at 120 degrees Celsius for 5 minutes; polydimethylsiloxane is PDMS;

[0114] Step S4 includes:

[0115] Step S401: All the Hilbert conductive patterns corresponding to each other on the flexible substrate are arranged relative to each other, and a foam double-sided tape is used as a gasket to keep two upper and lower adjacent Hilbert conductive patterns in a non-contact state, thereby forming Hilbert tactile sensors of different orders.

[0116] Preferably, the multiple Hilbert curves of different orders include a second-order Hilbert curve, a third-order Hilbert curve, a fourth-order Hilbert curve and a fifth-order Hilbert curve, and the Hilbert tactile sensors of different orders include a second-order Hilbert tactile sensor, a third-order Hilbert tactile sensor, a fourth-order Hilbert tactile sensor and a fifth-order Hilbert tactile sensor.

[0117] In this embodiment, Hilbert tactile sensors of different orders have the function of capturing the position of the touch sequence, which ensures that the touch sensor can be used as a private key in the cryptographic matrix to achieve multi-dimensional encryption.

[0118] In some embodiments, the terminal device is a handwriting recognition system. Figure 3 As shown, step S2 includes:

[0119] Step S202: converting a straight line into a fourth-order Hilbert curve through fractal recursion, and setting the side length of the fourth-order Hilbert curve to 114 mm, the unit length to 7.5 mm, and the line width to 1.5 mm;

[0120] Step S3 includes:

[0121] Step S303: Customize a corresponding screen printing plate according to the Hilbert curve, select PEDOT:PSS slurry as the conductive ink, and print it on a flexible substrate with a thickness of 0.075 mm to form a Hilbert conductive pattern;

[0122] Step S304: The conductive ink on the flexible substrate is placed in an oven at 120 degrees Celsius for 20 minutes to be cured, and then the electrodes are respectively drawn out at the head and tail ends of the Hilbert pattern using conductive metal paste and heated for curing, and then the electrodes are encapsulated with 10:1 PDMS and placed in an oven at 120 degrees Celsius for 5 minutes;

[0123] Step S4 includes:

[0124] Step S402: The conductive patterns corresponding to each other on the flexible substrate are arranged opposite to each other, and a foam double-sided tape is selected as a gasket to keep the conductive patterns in a non-contact state, thereby obtaining a fourth-order Hilbert tactile sensor.

[0125] The Hilbert tactile sensor of this embodiment can cover the traversal resolution from low dimensions to high dimensions, and realizes the same sliding information capture as a touch screen, proving that it has broad development potential in the field of smart devices.

[0126] In some embodiments, Figure 4 As shown, step S4 includes:

[0127] Step S403: directly attach two conductive films, select a foam double-sided tape of appropriate thickness, and first attach the foam double-sided tape around one of the conductive films as a spacing layer;

[0128] Step S404: slowly move down another conductive film to ensure that the two conductive films are facing each other, and stick the other conductive film face to face on the other side of the foam double-sided tape.

[0129] In a second aspect, the present application provides a Hilbert tactile sensor, which is prepared according to the preparation method described in the first aspect of the present application.

[0130] In the third aspect, Figure 5 As shown, the present application provides a voltage divider circuit 10, the voltage divider circuit is used to generate different voltage-divided analog signals, and the voltage divider circuit 10 includes:

[0131] The Hilbert tactile sensor 100 is the Hilbert tactile sensor as described in the second aspect of the present application;

[0132] The voltage-dividing resistor 101 is connected to one of the electrodes of the Hilbert tactile sensor and a power source, and the other electrode of the tactile sensor is connected to the power source to form a loop.

[0133] In the fourth aspect, Figure 6 As shown, the present application provides a control circuit 30, and the control circuit 30 includes:

[0134] The voltage divider circuit 10 is the voltage divider circuit described in the third aspect of the present application;

[0135] The Arduino development board 20 includes a power module 201, an analog-to-digital converter 202 and a microcontroller 203. The analog-to-digital converter 202 is used to convert the voltage-divided analog signal received from the voltage-dividing circuit 10 into a digital signal. The microcontroller 203 is used to process the digital signal. The power module 201 is used to provide power for the voltage-dividing circuit 10, the analog-to-digital converter 202 and the microcontroller 203.

[0136] Preferably, the power supply voltage provided by the power module 201 is 5 V. The microcontroller can be implemented by software, hardware, firmware or a combination thereof, and can use at least one of a circuit, a single or multiple application-specific integrated circuits (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a central processing unit (CPU), and a microprocessor.

[0137] In the fifth aspect, Figure 7 As shown, the present application provides a control system 50, the control system comprising:

[0138] The control circuit 30 is the control circuit as described in the fourth aspect of the present application;

[0139] The terminal device 40 is communicatively connected with the microcontroller 203 of the control circuit 30 .

[0140] Preferably, the terminal device can be a mobile terminal, a computer or other device with signal interaction function, such as chess, a globe, a password protection system, etc. By programming the touch sensor to generate electrical signals with different intensity characteristics at different points, signal input and control of the terminal device can be achieved.

[0141] like Figure 9-Figure 22 As shown, the Hilbert sensor and its preparation method involved in the present application are specifically described below in combination with Examples 1-5:

[0142] Example 1

[0143] The application terminal of Example 1 (i.e. the terminal device mentioned above) is a globe, and accordingly, the preparation method of the Hilbert sensor is as follows:

[0144] (1) According to the control requirements of the four functional contacts of the globe, a first-order Hilbert curve is designed by increasing the dimension of the straight line;

[0145] (2) According to the control requirements of finger touch, the unit length of the Hilbert curve is set to 20 mm and the line width is set to 4 mm;

[0146] (3) A screen printing plate was customized according to two conductive paths, poly(3,4-ethylenedioxythiophene):polystyrene sulfonic acid (PEDOT:PSS) slurry was selected as the conductive ink, and it was printed on a flexible transparent polyethylene terephthalate (PET) substrate with a thickness of 0.025 mm to form a Hilbert conductive pattern;

[0147] (4) The conductive ink on the flexible substrate is placed in an oven at 120 degrees Celsius for 20 minutes to cure, and then the electrodes are drawn out at the head and tail ends of the Hilbert pattern using conductive copper paste and heated to cure; the electrodes are then encapsulated with 10:1 polydimethylsiloxane (PDMS) and placed in an oven at 120 degrees Celsius for 5 minutes to ensure that the electrodes are not easily damaged.

[0148] (5) The conductive patterns on the two flexible substrates obtained in step (4) are arranged opposite to each other, and a 3 mm foam double-sided tape is used as a gasket to ensure that the conductive patterns remain non-contacting, thereby forming a first-order Hilbert tactile sensor.

[0149] The Hilbert tactile sensor obtained according to the first five steps is as follows: Fig. 9 and Fig.10 As shown, the Hilbert tactile sensor includes a flexible substrate 1 (made of transparent PET), an electrode 3 is led out through a conductive metal paste 4 (preferably a conductive copper-silver paste), and then the electrode is reinforced with PDMS. The two facing conductive films are filled with a foam double-sided tape 2 and separated by a gasket 5 to form an air layer.

[0150] The first-order Hilbert tactile sensor prepared in this embodiment 1 can be attached to clothing, and can also be used to control a globe. Fig.11 As shown, the prepared first-order Hilbert tactile sensor is connected to an external voltage divider resistor, an Arduino control board, and a PC processing terminal. The first-order Hilbert tactile sensor is connected in series with the voltage divider resistor, and the 5V power supply is provided by the Arduino. The analog signal at both ends of the voltage divider resistor is connected to the analog port of the Arduino, and the digital signal is obtained through digital-to-analog conversion and transmitted to the PC processing terminal, and finally used for globe control according to the defined program.

[0151] Example 2

[0152] The application terminal of Example 2 (i.e. the terminal device mentioned above) is a scientific calculator. Accordingly, the preparation method of the Hilbert sensor is as follows:

[0153] (1) According to the control requirements of the sixteen functional contacts of a scientific calculator, a second-order Hilbert curve is designed through the dimension increase and fractal of a straight line;

[0154] (2) Due to the need for curved surface interaction, the Hilbert tactile sensor is designed as a parallel double-sided structure. The bottom is set to a pattern with a unit length of 24 mm and a line width of 4 mm. The top is a second-order Hilbert curve with a unit length of 24.857 mm and a line width of 12.49 mm. The pattern is a square with a side length of 84 mm, as shown in Fig.12 As shown;

[0155] (3) A screen printing plate was customized according to the two patterns at the bottom and top, PEDOT:PSS slurry was selected as the conductive ink, and it was printed on a flexible PET substrate with a thickness of 0.0125 mm to form a specific Hilbert conductive pattern;

[0156] (4) The conductive ink on the top flexible substrate and the bottom flexible substrate was placed in an oven at 115 degrees Celsius for 22 minutes and then cured. Then, the electrodes were drawn out at the head and tail ends of the Hilbert pattern using conductive copper paste and heated for curing. Then, the electrodes were encapsulated with 10:1 polydimethylsiloxane (PDMS) and placed in an oven at 120 degrees Celsius for 5 minutes to ensure that the electrodes were not easily damaged.

[0157] (5) The flexible substrate used as the bottom in step (4) is pre-attached to the curved surface, and a 5 mm foam double-sided tape is selected as a gasket to be attached to the bottom substrate. Subsequently, the top flexible substrate obtained in step (4) is arranged opposite to the bottom to form a second-order Hilbert tactile sensor.

[0158] The Hilbert tactile sensor obtained according to the first five steps is as follows: Fig.12 and Fig.13As shown, it includes a flexible substrate 1 (made of transparent PET), an electrode 3 is led out through a conductive metal paste 4 (preferably a conductive copper-silver paste), and then the electrode is reinforced with PDMS. The two facing conductive films are filled with a foam double-sided tape 2 and separated by a gasket 5 to form an air layer.

[0159] The second-order Hilbert tactile sensor prepared in this embodiment 2 can be applied to the control of scientific calculators.

[0160] The prepared second-order Hilbert tactile sensor can be attached to a cylinder with a diameter of 15 cm, and connected to a voltage divider resistor, an Arduino control board, and a PC processing terminal. Among them, the first-order Hilbert tactile sensor is connected in series with the voltage divider resistor, and the 5V power supply is provided by the Arduino. The analog signal at both ends of the voltage divider resistor is connected to the analog port of the Arduino, and the digital signal is obtained through digital-to-analog conversion and transmitted to the processing terminal. Finally, it is used for scientific computing control according to the defined program, such as Fig.14 shown.

[0161] Example 3

[0162] The application terminal of Example 3 (i.e. the terminal device mentioned above) is a chess piece. Accordingly, the preparation method of the Hilbert sensor is as follows:

[0163] (1) According to the control requirements of the 64 functional touch points of chess interaction, a third-order Hilbert curve is designed through the dimension increase and fractal of the straight line;

[0164] (2) According to the control requirements of finger touch, the unit length of the Hilbert curve is set to 20 mm, the line width is set to 4 mm, and the pattern is a square with a side length of 87 mm;

[0165] (3) A screen printing plate was customized according to the two conductive paths, PEDOT:PSS slurry was selected as the conductive ink, and it was printed on a flexible transparent poly PET substrate with a thickness of 0.075 mm to form a Hilbert conductive pattern;

[0166] (4) The conductive ink on the flexible substrate is placed in an oven at 118 degrees Celsius for 20 minutes and then cured. Then, the electrodes are drawn out at the head and tail ends of the Hilbert pattern using conductive copper paste and heated for curing. Then, the electrodes are encapsulated with 10:1 PDMS and placed in an oven at 120 degrees Celsius for 5 minutes to ensure that the electrodes are not easily damaged.

[0167] (5) The conductive patterns on the two flexible substrates obtained in step (4) are arranged opposite to each other, and a 3 mm foam double-sided tape is used as a gasket to ensure that the conductive patterns remain non-contacting, thereby forming a third-order Hilbert tactile sensor.

[0168] The Hilbert tactile sensor obtained according to the first five steps is as follows: Fig.15 As shown, it includes a flexible substrate 1 (made of transparent PET), an electrode 3 is led out through a conductive metal paste 4 (preferably a conductive copper-silver paste), and then the electrode is reinforced with PDMS. The two facing conductive films are filled with a foam double-sided tape 2 and separated by a gasket 5 to form an air layer.

[0169] The first-order Hilbert tactile sensor of this embodiment can be applied to interactive control of chess. The prepared first-order Hilbert tactile sensor is attached to clothing, and is externally connected to a voltage divider resistor, an Arduino control board, and a PC processing terminal. The first-order Hilbert tactile sensor is connected in series with the voltage divider resistor, and a 5V power supply is provided by the Arduino. The analog signal at both ends of the voltage divider resistor is connected to the analog port of the Arduino, and the digital signal obtained after digital-to-analog conversion is transmitted to the PC processing terminal, and finally used to control the sixty-four points of the chess according to the defined program, such as Fig.16 shown.

[0170] Example 4

[0171] The password protection system of Example 4 (i.e. the terminal device mentioned above) is a password protection system. Accordingly, the preparation method of the Hilbert sensor is as follows:

[0172] (1) According to the requirements of the multi-dimensional password protection system, the second-order, third-order, fourth-order and fifth-order Hilbert curves are designed through the dimensionality increase and fractal of the straight line. The sizes of Hilbert curves of different orders are consistent;

[0173] (2) In the design of step (1), the side length of each Hilbert curve graph is designed to be 114 mm; wherein, the unit length of the second-order Hilbert tactile sensor is 36.146 mm, and the line width is 5.561 mm; the unit length of the third-order Hilbert tactile sensor is 19 mm, and the line width is 3.167 mm; the unit length of the fourth-order Hilbert tactile sensor is 7.5 mm, and the line width is 1.5 mm; the unit length of the fifth-order Hilbert tactile sensor is 4.385 mm, and the line width is 0.781 mm;

[0174] (3) Customizing corresponding screen printing plates according to four Hilbert curves of different orders, selecting PEDOT:PSS slurry as the conductive ink, and printing it on a flexible transparent polyPET substrate with a thickness of 0.075 mm to form a Hilbert conductive pattern;

[0175] (4) The conductive ink on the flexible substrate is placed in an oven at 120 degrees Celsius for 18 minutes to cure, and then the electrodes are drawn out at the head and tail ends of the Hilbert pattern using conductive copper paste and heated to cure; then the electrodes are encapsulated with 10:1 PDMS and placed in an oven at 120 degrees Celsius for 5 minutes to ensure that the electrodes are not easily damaged;

[0176] (5) The eight corresponding conductive patterns on the flexible substrates obtained in step (4) are arranged relative to each other, and a 3 mm foam double-sided tape is used as a gasket to ensure that the conductive patterns remain non-contacting, thereby forming second-order, third-order, fourth-order and fifth-order Hilbert tactile sensors.

[0177] The Hilbert tactile sensor obtained according to the first five steps is as follows: Figure 17-Figure 20 As shown, it includes a flexible substrate 1 (made of transparent PET), an electrode 3 is led out through a conductive metal paste 4 (preferably a conductive copper-silver paste), and then the electrode is reinforced with PDMS. The two facing conductive films are filled with a foam double-sided tape 2 and separated by a gasket 5 to form an air layer.

[0178] The four Hilbert tactile sensors of this embodiment can be used as hardware keys in a multi-dimensional password protection system.

[0179] For example, the prepared second-order Hilbert tactile sensor is connected to an external voltage divider resistor, an Arduino control board, and a PC processing terminal. The Hilbert tactile sensor is connected in series with the voltage divider resistor, and a 5V power supply is provided by the Arduino. The analog signal at both ends of the voltage divider resistor is connected to the analog port of the Arduino, and the digital signal is obtained through digital-to-analog conversion and transmitted to the processing terminal, and finally used in a multi-dimensional password protection system according to the defined program. The second-order Hilbert tactile sensor is pre-set as the correct hardware key, and a specific touch sequence is defined as the software key. When the hardware key is entered correctly and the software key is entered incorrectly, the result of an incorrect password will appear; when the hardware key is entered correctly and the software key is entered correctly, the result of a correct password will appear; when the hardware key is entered correctly and the software key is entered incorrectly, the result of a password leak will appear. This result is due to the fact that Hilbert tactile sensors of different orders have similar touch position sequence perception functions under the same size conditions. When touching the same position sequence, they produce similar response resistance relationships, which ensures the self-analysis capability of the Hilbert sensor, thereby identifying the possibility of a touch position sequence leak, such as Fig.21 shown.

[0180] The password protection system involved in the above scheme is designed through fractal recursion to design M Hilbert tactile sensors of the same size and order as hardware keys, and to design a specific touch position sequence as a software key. If the touch position sequence has N possibilities, the password complexity is designed to be M x N dimensions, thereby enhancing the password protection system. In addition, by utilizing the characteristics of Hilbert curves of the same size and different orders having the same touch position sequence perception function, the possibility of password leakage can be analyzed to a certain extent, further enhancing the security of the password.

[0181] Example 5

[0182] The application terminal of Example 5 (i.e. the terminal device mentioned above) is a handwriting recognition system. Accordingly, the preparation method of the Hilbert sensor is as follows:

[0183] (1) According to the requirements of the handwriting recognition system, a fourth-order Hilbert curve is designed through the dimension increase and fractal of the straight line;

[0184] (2) In the design of step (1), the side length of the fourth-order Hilbert curve is designed to be 114 mm, the unit length is 7.5 mm, and the line width is 1.5 mm;

[0185] (3) Customizing the corresponding screen printing plate according to the Hilbert curve, selecting PEDOT:PSS slurry as the conductive ink, and printing it on a flexible transparent poly PET substrate with a thickness of 0.075 mm to form a Hilbert conductive pattern;

[0186] (4) The conductive ink on the flexible substrate is placed in an oven at 120 degrees Celsius for 20 minutes to be cured, and then the electrodes are drawn out at the head and tail ends of the Hilbert pattern using conductive copper paste and heated to cure; then the electrodes are encapsulated with 10:1 PDMS and placed in an oven at 120 degrees Celsius for 5 minutes to ensure that the electrodes are not easily damaged;

[0187] (5) The conductive patterns corresponding to each other on the flexible substrate obtained in step (4) are arranged relative to each other, and a 3 mm foam double-sided tape is used as a gasket to ensure that the conductive patterns remain in a non-contact state, a fourth-order Hilbert tactile sensor.

[0188] The Hilbert tactile sensor obtained according to the first five steps includes a flexible substrate 1 (made of transparent PET), an electrode 3 is led out through a conductive metal paste 4 (preferably a conductive copper-silver paste), and then the electrode is reinforced with PDMS. The two facing conductive films are filled with a foam double-sided tape 2 and separated by a gasket 5 to form an air layer.

[0189] The fourth-order Hilbert tactile sensor of this embodiment can be used as a touch screen in a handwriting recognition system.

[0190] The prepared fourth-order Hilbert tactile sensor is connected to an external voltage divider resistor, an Arduino control board, and a PC processing terminal. The Hilbert tactile sensor is connected in series with the voltage divider resistor, and the 5V power supply is provided by the Arduino. The analog signal at both ends of the voltage divider resistor is connected to the analog port of the Arduino, and the digital signal is obtained through digital-to-analog conversion and transmitted to the neural network. After the neural network judges, the result is transmitted to the processing terminal.

[0191] Specifically, 7 letters "A", "B", "C", "D", "X", "M", and "U" from the 26 letters were selected as samples, and their voltage characteristic signals were collected. In order to ensure the accuracy of information transmission, a machine learning algorithm is used to distinguish the sensor signal characteristics. One-dimensional convolutional neural network (1DCNN) is a type of machine learning algorithm that can effectively capture local relationships in signals and is good at solving complex classification challenges, so it was selected as the model of the system. First, the sliding features of the characters on the Hilbert tactile sensor are obtained in the form of analog signals, and then converted into digital signals by the analog-to-digital converter of the microcontroller. During the data collection process, 100 data samples of each letter feature are collected to create a dataset, which is divided into training set, test set, and validation set in a ratio of 7:2:1. Subsequently, the 1DCNN model reads and trains these digital signals from the microcontroller, using the Adam algorithm as the gradient descent algorithm for training. After about 600 training steps, the accuracy of both the training set and the validation set exceeded 98.6%. The module diagram of the handwriting recognition system is shown in the figure. Fig. 22 shown.

[0192] The tactile sensor prepared by this embodiment 5 can fully capture the finger sliding information when applied to the handwriting recognition system, and the size is determined by the unit length and line width of the Hilbert curve. By collecting the handwriting behavior characteristic signal on the Hilbert tactile sensor and converting it into the corresponding digital signal and analyzing it in combination with the one-dimensional convolutional neural network model, a more sensitive handwriting recognition function can be achieved.

[0193] The beneficial effects of the present invention are as follows:

[0194] (1) The present invention relates to a Hilbert tactile sensor that can be reverse-designed according to needs. Compared with other traditional sensors, it has a great advantage of being able to speed up design efficiency according to the Hilbert fractal characteristics.

[0195] (2) The Hilbert tactile sensor of the present invention has a dual-electrode and / or dual-layer separation structure, which enables it to generate a signal only when it is touched. Compared with other traditional sensors, the amount of data is greatly reduced.

[0196] (3) The Hilbert tactile sensor prepared by the present invention has strong applicability and can meet the needs of various scenarios from low resolution to high resolution.

[0197] (4) The Hilbert tactile sensor prepared by the present invention has the function of capturing sliding information and touch position sequences, can capture specific behaviors through programming, and has the ability of self-analysis.

[0198] (5) The Hilbert tactile sensor prepared by the present invention has the advantages of fast response time, high sensitivity, fast response, etc., and has broad application prospects in the field of intelligent tactile perception.

[0199] Finally, it should be noted that although the above embodiments have been described in the specification and drawings of this application, this does not limit the scope of patent protection of this application. All technical solutions generated by replacing or modifying equivalent structures or equivalent processes based on the essential concept of this application using the contents recorded in the specification and drawings of this application, as well as directly or indirectly implementing the technical solutions of the above embodiments in other related technical fields, are included in the scope of patent protection of this application.

Claims

1. A method for preparing a Hilbert tactile sensor, characterized in that: The following steps are involved: S1: Determine the order, structure and size of the Hilbert tactile sensor to be prepared according to the control requirements of the application scenario; S2: Convert a straight line into a Hilbert curve of the corresponding order through fractal recursion, and derive the unit length and line width required for the Hilbert curve of the corresponding order; S3: depositing conductive films on the two substrates according to the Hilbert curves of corresponding orders in step S2, heating and curing, leading out double electrodes and encapsulating; S4: at least two conductive films are arranged to be mirror-symmetrical, and a gasket of a certain thickness is added to make at least two conductive films be in a non-contact state, so as to obtain a Hilbert tactile sensor.

2. The method for preparing the Hilbert tactile sensor according to claim 1, characterized in that: Step S1 comprises: The order, structure and size of the Hilbert tactile sensor to be prepared are determined according to whether the terminal device corresponding to the application scenario is a curved surface and / or whether a sliding sensing function is required. The structure of the Hilbert tactile sensor includes a parallel dual-electrode structure or a double-layer separation structure.

3. The method for preparing the Hilbert tactile sensor according to claim 2, characterized in that: The terminal device is a password protection system, and step S2 includes: Through fractal recursion, a straight line is transformed into multiple Hilbert curves of different orders. The sizes of multiple Hilbert curves of different orders remain consistent, and the unit length and line width required for the Hilbert curves of the corresponding order are derived; Step S3 includes: A corresponding screen printing plate is customized according to a plurality of Hilbert curves, poly (3,4-ethylenedioxythiophene)-polystyrene sulfonate slurry is selected as a conductive ink, and is printed on a flexible substrate with a thickness of 0.075 mm to form a Hilbert conductive pattern, wherein a plurality of Hilbert curves of each order correspond to two Hilbert conductive patterns; The conductive ink on the flexible substrate was placed in an oven at 120 degrees Celsius for 18 minutes to cure, and then the electrodes were drawn out with conductive metal paste at the head and tail ends of the Hilbert pattern and heated to cure, and then the electrodes were encapsulated with 10:1 polydimethylsiloxane and placed in an oven at 120 degrees Celsius for 5 minutes; Step S4 includes: All the Hilbert conductive patterns corresponding to each other on the flexible substrate are arranged relative to each other, and foam double-sided tape is used as a gasket to keep the two upper and lower adjacent Hilbert conductive patterns in a non-contact state, thereby forming Hilbert tactile sensors of different orders.

4. The method for preparing the Hilbert tactile sensor according to claim 3, characterized in that: The multiple Hilbert curves of different orders include a second-order Hilbert curve, a third-order Hilbert curve, a fourth-order Hilbert curve and a fifth-order Hilbert curve, and the Hilbert tactile sensors of different orders include a second-order Hilbert tactile sensor, a third-order Hilbert tactile sensor, a fourth-order Hilbert tactile sensor and a fifth-order Hilbert tactile sensor.

5. The method for preparing the Hilbert tactile sensor according to claim 2, characterized in that: The terminal device is a handwriting recognition system; Step S2 includes: A straight line is transformed into a fourth-order Hilbert curve through fractal recursion, and the side length of the fourth-order Hilbert curve is set to 114 mm, the unit length is 7.5 mm, and the line width is 1.5 mm; Step S3 includes: A corresponding screen printing plate was customized according to the Hilbert curve, and PEDOT:PSS slurry was selected as the conductive ink, which was printed on a flexible substrate with a thickness of 0.075 mm to form a Hilbert conductive pattern; The conductive ink on the flexible substrate was placed in an oven at 120 degrees Celsius for 20 minutes to cure, and then the electrodes were drawn out at the beginning and end of the Hilbert pattern with conductive metal paste and heated to cure, and then the electrodes were encapsulated with 10:1 PDMS and placed in an oven at 120 degrees Celsius for 5 minutes; Step S4 includes: The conductive patterns corresponding to each other on the flexible substrate are arranged opposite to each other, and a foam double-sided tape is used as a gasket to keep the conductive patterns in a non-contact state, thereby obtaining a fourth-order Hilbert tactile sensor.

6. The method for preparing the Hilbert tactile sensor according to claim 1, characterized in that: Step S4 includes: Put two conductive films together directly, select a foam double-sided tape of appropriate thickness, and first stick the foam double-sided tape around one of the conductive films as a spacing layer; Slowly move the other conductive film down to ensure that the two conductive films are facing each other, and stick the other conductive film face to face on the other side of the foam double-sided tape.

7. A Hilbert tactile sensor, characterized in that: The Hilbert tactile sensor is prepared according to the preparation method according to any one of claims 1 to 6.

8. A voltage divider circuit, characterized in that: The voltage divider circuit is used to generate analog signals with different voltage dividers, and the voltage divider circuit includes: A Hilbert tactile sensor, which is the Hilbert tactile sensor as claimed in claim 7; The voltage-dividing resistor is connected to one of the electrodes of the Hilbert tactile sensor and a power source, and the other electrode of the tactile sensor is connected to the power source to form a loop.

9. A control circuit, characterized in that: The control circuit comprises: The voltage divider circuit is the voltage divider circuit as claimed in claim 8; The Arduino development board comprises a power module, an analog-to-digital converter and a microcontroller, wherein the analog-to-digital converter is used to convert the divided voltage analog signal received from the divided voltage circuit into a digital signal, the microcontroller is used to process the digital signal, and the power module is used to provide power for the divided voltage circuit, the analog-to-digital converter and the microcontroller.

10. A control system, characterized in that: The control system comprises: The control circuit is the control circuit as claimed in claim 9; The terminal device is communicatively connected with the microcontroller of the control circuit.

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