Electronic skin force feedback module and manufacturing method

Abstract

The invention discloses an electronic skin force feedback module and a manufacturing method, and relates to the technical field of electronic skin, the electronic skin force feedback module comprises a force feedback glove and a force unit control chip, the force feedback glove is composed of a plurality of force units; the force unit control chip comprises a signal acquisition and amplification unit, an analog-to-digital conversion unit, a digital filtering unit, a data analysis processing unit, a control signal output unit and a feedback adjustment unit; according to the invention, the humanoid robot has a tactile sensing system comparable to human beings, and a sensing medium for tactile communication is provided between the virtual world and the real world. The sensor can be widely applied to various fields of digital economy and entity economy, becomes an indispensable core sensor for two core industries of artificial intelligence and element universe, provides powerful support for the generation of global industry revolution, and creates huge economic value.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic skin, and more particularly to an electronic skin force feedback module and a manufacturing method thereof. Background Art

[0002] At present, with the continuous development of human-computer interaction technology, electronic skin, as a technology that can simulate the perception and feedback functions of human skin, has received widespread attention. However, the existing electronic skin force feedback module has many shortcomings in the manufacturing process of the force unit and the performance of the control chip. The traditional force unit manufacturing method is difficult to achieve high-precision, high-sensitivity and miniaturized force sensor preparation, resulting in limited force feedback accuracy and response speed of electronic skin. At the same time, the design of the force unit control chip is not optimized enough, and there are defects in signal processing, power consumption control and complex force field analysis, which cannot meet the growing human-computer interaction for accurate, fast and diversified force feedback needs.

[0003] Therefore, how to improve the performance and reliability of the force feedback module to achieve a more accurate and efficient human-computer interaction experience is an issue that technical personnel in this field urgently need to solve. Summary of the invention

[0004] In view of this, the present invention provides an electronic skin force feedback module and a manufacturing method to solve the problems existing in the background technology.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] An electronic skin force feedback module comprises a force feedback glove and a force unit control chip, wherein the force feedback glove is composed of a plurality of force units; the force unit control chip comprises a signal acquisition and amplification unit, an analog-to-digital conversion unit, a digital filtering unit, a data analysis and processing unit, a control signal output unit, and a feedback adjustment unit;

[0007] The signal acquisition and amplification unit is connected to the electrode interface of the force unit, and is used to acquire the charge signal generated by the force unit when it is subjected to force, and convert it into an analog voltage signal for amplification;

[0008] The analog-to-digital conversion unit converts the amplified analog voltage signal into a digital signal;

[0009] The digital filtering unit uses a digital filter to perform denoising and spectrum shaping on the digital signal to extract useful force signal feature information;

[0010] The data analysis and processing unit analyzes and processes the filtered digital force signal feature information based on the pre-stored force field model and algorithm library;

[0011] The control signal output unit generates a corresponding control signal according to the results of force field analysis and algorithm processing, so as to drive an external force feedback actuator to realize force feedback to the user;

[0012] The feedback adjustment unit monitors the output state of the force feedback actuator in real time through the feedback sensor, and feeds it back to the control system to form a closed-loop control circuit to adjust and optimize the control signal in real time.

[0013] Optionally, the amplifier in the signal acquisition and amplification unit adopts a differential amplification structure to effectively suppress common-mode noise and interference signals.

[0014] Optionally, an automatic gain control unit is also included, which can automatically adjust the amplification factor according to the strength of the input signal to ensure that the output signal always remains within the specified range under the action of different force sizes.

[0015] Optionally, the digital filtering unit uses a finite impulse response or infinite impulse response filter algorithm to perform denoising and spectrum shaping processing on the signal, remove interference components, and extract useful force signal feature information.

[0016] Optionally, the force field model is established according to the application scenario of the electronic skin and the expected force conditions; the algorithm library contains a variety of signal processing algorithms, through which the force signals are analyzed and calculated in real time to determine the size, direction, distribution and change trend information of the force acting on the surface of the electronic skin.

[0017] Optionally, the output of the control signal adopts pulse width modulation or digital-to-analog conversion to control the output force size and direction of the actuator, so that it can simulate a force feedback effect that matches the actual force situation.

[0018] A method for manufacturing an electronic skin force feedback module, comprising:

[0019] Material selection and pretreatment: Select composite materials with piezoelectric properties as raw materials; first grind and screen the raw materials; then use chemical treatment processes to enhance the piezoelectric performance and stability of the raw materials so that they can generate accurate and stable charge signals under different stress conditions;

[0020] Micro-nano structure processing: using micro-nano processing technology to manufacture micro-nano structure arrays on the surface of pre-treated materials;

[0021] Electrode preparation and integration: Use physical vapor deposition or electroplating to deposit a layer of metal electrodes on the surface of the micro-nano structure array; then, integrate the prepared electrode force unit material with the flexible substrate material, and use hot pressing or glue bonding to ensure the close combination between the force unit and the substrate, while maintaining the flexibility and stretchability of the force unit to adapt to application scenarios with different shapes and curved surfaces;

[0022] Packaging and testing: The integrated force unit is packaged using waterproof, breathable and biocompatible packaging materials to protect the force unit from interference and damage from the external environment; during the packaging process, an electrode connection interface is reserved for connection to an external circuit.

[0023] Optionally, after packaging is completed, the force unit is fully tested using force measurement equipment and signal detection instruments, including sensitivity test, linearity test, hysteresis characteristic test and stability test, to screen out force unit products with excellent performance, and calibrate and record their performance parameters.

[0024] Through the above technical solutions, it can be known that compared with the prior art, the present invention discloses an electronic skin force feedback module and a manufacturing method, including a force feedback glove and a force unit control chip, wherein the force feedback glove is composed of a number of force units; the force unit control chip includes a signal acquisition and amplification unit, an analog-to-digital conversion unit, a digital filtering unit, a data analysis and processing unit, a control signal output unit, and a feedback adjustment unit; by optimizing the force unit manufacturing process and the performance of the control chip, the preparation of a high-precision, high-sensitivity and miniaturized force sensor is achieved, and the signal processing, power consumption control and complex force field analysis capabilities are improved, thereby improving the performance and reliability of the force feedback module. The present invention will enable humanoid robots to have a tactile perception system comparable to that of humans, and also provide a tactile communication perception medium between the virtual world and the real world. It can be widely used in various fields of the digital economy and the real economy, and become an indispensable core sensor for the two core industries of artificial intelligence and the metaverse, providing strong support for the occurrence of the global industrial revolution and creating huge economic value. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0026] Figure 1 A schematic diagram of the structure of the force unit control chip provided by the present invention;

[0027] Figure 2A physical picture of a force feedback glove including a force unit and a force unit control chip provided by the present invention;

[0028] Figure 3 A schematic diagram of the palm portion of a glove composed of force units provided by the present invention. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] The embodiment of the present invention discloses an electronic skin force feedback module, such as Figure 1 and Figure 2 As shown, it includes a force feedback glove and a force unit control chip, wherein the force feedback glove is composed of a plurality of force units; the force unit control chip includes: a signal acquisition and amplification unit, an analog-to-digital conversion unit, a digital filtering unit, a data analysis and processing unit, a control signal output unit, and a feedback adjustment unit;

[0031] Signal acquisition and amplification unit: The built-in high input impedance, low noise preamplifier is connected to the electrode interface of the force unit to collect the weak charge signal generated by the force unit when it is subjected to force, and convert it into a voltage signal for preliminary amplification. The amplifier adopts a differential amplification structure to effectively suppress common-mode noise and interference signals, and improve the quality and stability of the signal. At the same time, the chip integrates an automatic gain control circuit, which can automatically adjust the amplification factor according to the strength of the input signal, ensuring that the output signal always remains within the appropriate range under different force sizes to avoid signal saturation or distortion.

[0032] The analog-to-digital conversion unit, after amplification, the analog voltage signal enters the high-speed analog-to-digital converter (ADC) to convert it into a digital signal for subsequent digital signal processing. The ADC adopts a high-precision, high-sampling rate design to ensure that the fast-changing details of the force signal can be accurately captured.

[0033] The digital filtering unit adopts a digital filter and utilizes a finite impulse response (FIR) or infinite impulse response (IIR) filter algorithm to perform denoising and spectrum shaping on the digital signal, remove interference components such as high-frequency noise and low-frequency drift, extract useful force signal feature information, and improve signal clarity and resolution.

[0034] The data analysis and processing unit further analyzes and processes the filtered digital force signal feature information based on the force field model and algorithm library pre-stored in the chip. The force field model is established according to the application scenario of the electronic skin and the expected force conditions. For example, in virtual reality interaction, the force feedback model for virtual objects of different shapes and materials when they come into contact with the user is modeled and stored. The algorithm library contains a variety of signal processing algorithms, such as force direction judgment algorithm, force magnitude normalization algorithm, and force dynamic compensation algorithm. Through these algorithms, the force signal is analyzed and calculated in real time to determine the magnitude, direction, distribution, and change trend of the force acting on the surface of the electronic skin, providing accurate data basis for subsequent force feedback control.

[0035] The control signal output unit generates corresponding control signals based on the results of force field analysis and algorithm processing, which are used to drive external force feedback actuators, such as piezoelectric actuators, electromagnetic coils or shape memory alloy drivers, to achieve force feedback to the user. The output of the control signal uses pulse width modulation (PWM) or digital-to-analog conversion (DAC) and other technologies to accurately control the output force and direction of the actuator, so that it can simulate the force feedback effect that matches the actual force situation.

[0036] The feedback regulation unit monitors the output status of the force feedback actuator in real time through the feedback sensor, and feeds it back to the control system to form a closed-loop control loop, adjusts and optimizes the control signal in real time, ensures the accuracy and stability of force feedback, and improves the realism and immersion of force perception during human-computer interaction.

[0037] The force unit control chip adjusts the corresponding pressure of the force unit according to the single-point pressure value data obtained during the human-computer interaction process to act on the surface of the human hand to make the hand feel pressure. For example, when a human touches an apple in the virtual world wearing a VR helmet and force feedback data gloves, the gloves will produce pressure on the area where the fingers and palms touch the virtual apple, so that the experiencer has the feeling of touching the apple. On the other hand, making these force units into electronic skin and installing them on the hands of humanoid robots can give the humanoid robot feedback of the pressure value when touching an object, so that the humanoid robot can perceive the objects it touches in the real world.

[0038] The glove composed of force units is shown in the palm part as follows Figure 3As shown, these force units can form a whole set of clothing or a whole set of electronic skin covering the whole body of a person or robot to complete the tactile perception of the virtual world and the perception of the real physical world by humanoid robots in the real world. For ease of understanding, these force units are like the lattices of an LCD screen. Each lattice has independent color display and can form a beautiful picture when combined. The force unit control chip is like an LED color display chip that can independently control each lattice. The force unit control chip can independently control each force unit to generate pressure and sense pressure.

[0039] A method for manufacturing an electronic skin force feedback module, comprising:

[0040] Material selection and pretreatment: Select composite materials with highly sensitive piezoelectric properties, such as composite materials of piezoelectric ceramics doped with specific metal ions and flexible polymers. First, finely grind and screen the raw materials to ensure particle uniformity and purity, and then use special chemical treatment processes to enhance the piezoelectric properties and stability of the materials, so that they can generate stable and accurately measurable charge signals under different stress conditions.

[0041] Micro-nano structure processing: Using advanced micro-nano processing technologies, such as photolithography, electron beam etching and nanoimprinting, specific micro-nano structure arrays are manufactured on the surface of pre-treated materials. These micro-nano structures include but are not limited to nano-pillars, micro-grooves and micro-bumps, etc., which are designed to increase the surface area and stress concentration effect of the material, thereby improving the efficiency and sensitivity of force-to-electricity conversion. By precisely controlling the processing parameters, highly ordered arrangement of micro-nano structures and precise control of their size can be achieved, so that they can produce significant piezoelectric response under the action of tiny forces.

[0042] Electrode preparation and integration: Use physical vapor deposition or electroplating to deposit an ultra-thin, highly conductive metal electrode, such as gold, silver or platinum, on the surface of the micro-nano structure. The pattern design of the electrode is adapted to the micro-nano structure to ensure good electrical contact and signal conduction. At the same time, by optimizing the electrode preparation process, the resistance and noise of the electrode are reduced, and the signal-to-noise ratio of the signal is improved. Next, the force unit material with the prepared electrode is integrated with the flexible substrate material, and hot pressing or glue bonding is used to ensure the close bonding and good mechanical properties between the force unit and the substrate, while maintaining the flexibility and stretchability of the force unit to adapt to application scenarios of different shapes and surfaces.

[0043] Packaging and testing: The integrated force unit is packaged using waterproof, breathable and biocompatible packaging materials, such as silicone rubber or polyurethane, to protect the force unit from interference and damage from the external environment. During the packaging process, an electrode connection interface is reserved for connection to the external circuit. After packaging, the force unit is fully tested using high-precision force measurement equipment and signal detection instruments, including sensitivity testing, linearity testing, hysteresis characteristics testing, and stability testing, etc., to select force unit products with excellent performance, and accurately calibrate and record their performance parameters to provide reliable data support for subsequent applications.

[0044] In a specific embodiment, in the actual implementation process, firstly, according to the steps of the force unit manufacturing method, material preparation, micro-nano structure processing, electrode preparation and integration, and packaging testing are carried out in a clean laboratory environment, and the parameters and conditions of each process link are strictly controlled to ensure the performance consistency and reliability of the force unit. For the force unit control chip, advanced integrated circuit design and manufacturing technology are adopted to integrate various functional modules on a chip, and the chip layout design, wafer manufacturing and packaging testing are carried out to optimize the performance and power consumption of the chip. After the preparation of the force unit and the control chip is completed, they are integrated and debugged with other components of the electronic skin, such as flexible circuit boards, microcontrollers and communication modules, to establish a complete electronic skin force feedback module system. By conducting comprehensive performance testing and optimization of the system, it can meet the requirements of force feedback accuracy, response speed and stability in different application scenarios, providing users with a more real, natural and comfortable human-computer interaction experience.

[0045] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0046] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An electronic skin force feedback module, characterized in that: It includes a force feedback glove and a force unit control chip, wherein the force feedback glove is composed of a plurality of force units; the force unit control chip includes: a signal acquisition and amplification unit, an analog-to-digital conversion unit, a digital filtering unit, a data analysis and processing unit, a control signal output unit, and a feedback adjustment unit; The signal acquisition and amplification unit is connected to the electrode interface of the force unit, and is used to acquire the charge signal generated by the force unit when it is subjected to force, and convert it into an analog voltage signal for amplification; The analog-to-digital conversion unit converts the amplified analog voltage signal into a digital signal; The digital filtering unit uses a digital filter to perform denoising and spectrum shaping on the digital signal to extract useful force signal feature information; The data analysis and processing unit analyzes and processes the filtered digital force signal feature information based on the pre-stored force field model and algorithm library; The control signal output unit generates a corresponding control signal according to the results of force field analysis and algorithm processing, so as to drive an external force feedback actuator to realize force feedback to the user; The feedback adjustment unit monitors the output state of the force feedback actuator in real time through the feedback sensor, and feeds it back to the control system to form a closed-loop control circuit to adjust and optimize the control signal in real time.

2. The electronic skin force feedback module according to claim 1, characterized in that: The amplifier in the signal acquisition and amplification unit adopts a differential amplification structure to effectively suppress common-mode noise and interference signals.

3. The electronic skin force feedback module according to claim 1, characterized in that: It also includes an automatic gain control unit that can automatically adjust the amplification factor according to the strength of the input signal to ensure that the output signal always remains within the specified range under the action of different force sizes.

4. The electronic skin force feedback module according to claim 1, characterized in that: The digital filtering unit adopts a finite impulse response or infinite impulse response filter algorithm to perform denoising and spectrum shaping processing on the signal, remove interference components, and extract useful force signal characteristic information.

5. The electronic skin force feedback module according to claim 1, characterized in that: The force field model is established according to the application scenario of the electronic skin and the expected force conditions; the algorithm library contains a variety of signal processing algorithms, through which the force signal is analyzed and calculated in real time to determine the magnitude, direction, distribution and change trend information of the force acting on the surface of the electronic skin.

6. The electronic skin force feedback module according to claim 1, characterized in that: The output of the control signal adopts pulse width modulation or digital-to-analog conversion to control the output force size and direction of the actuator, so that it can simulate the force feedback effect that matches the actual force situation.

7. A method for manufacturing an electronic skin force feedback module, characterized in that: An electronic skin force feedback module for manufacturing any one of claims 1 to 6, comprising: Material selection and pretreatment: Select composite materials with piezoelectric properties as raw materials; first grind and screen the raw materials; then use chemical treatment processes to enhance the piezoelectric performance and stability of the raw materials so that they can generate accurate and stable charge signals under different stress conditions; Micro-nano structure processing: using micro-nano processing technology to manufacture micro-nano structure arrays on the surface of pre-treated materials; Electrode preparation and integration: Use physical vapor deposition or electroplating to deposit a layer of metal electrodes on the surface of the micro-nano structure array; then, integrate the prepared electrode force unit material with the flexible substrate material, and use hot pressing or glue bonding to ensure the close combination between the force unit and the substrate, while maintaining the flexibility and stretchability of the force unit to adapt to application scenarios with different shapes and curved surfaces; Packaging and testing: The integrated force unit is packaged using waterproof, breathable and biocompatible packaging materials to protect the force unit from interference and damage from the external environment; during the packaging process, an electrode connection interface is reserved for connection to an external circuit.

8. The method for manufacturing an electronic skin force feedback module according to claim 7, characterized in that: After packaging is completed, the force unit is fully tested using force measurement equipment and signal detection instruments, including sensitivity test, linearity test, hysteresis characteristic test and stability test, to screen out force unit products with excellent performance, and calibrate and record their performance parameters.

Images