Folded tactile sensor

Abstract

In the tactile sensor (10), the tactile sensor includes electrical contacts (6) and a carrier that holds the contacts (6) in a predetermined arrangement structure, and the carrier is elastically deformable such that the contacts (6) can move relative to each other between a first position in contact with each other and a second position in separation from each other. The present invention proposes that the carrier has a tensioned, pre-stretched elastic surface element (1) which is fixedly connected to a support structure (2) and automatically achieves a three-dimensional shape determined by the support structure (2) after relaxation.

Description

Technical Field

[0001] The present invention relates to a tactile sensor according to the preamble of claim 1. Background Technology

[0002] Such sensors are known in practice in various construction schemes. For example, in the form of a switch bar, it is constructed as a normally closed contact with a series of electrical contacts held together under preload, for example, by being connected in series to an elastic, stretched strip. Based on the stretch of the strip, after the electrical contacts are assembled, the strip automatically contracts together, causing adjacent contacts to come into contact. A force acting transversely to the longitudinal direction on the switch bar causes the adjacent contacts to separate and interrupts the quiescent current, which otherwise flows through the contacting contacts. Furthermore, a switch bar is known to be constructed as a normally open contact with two elongated contacts on an elastically deformable carrier, extending along the length of the switch bar. A force acting transversely to the longitudinal direction on the switch bar causes the two contacts to come into contact, allowing current to flow through them.

[0003] The mentioned switch bar relates to the field of safety technology, and in the case of the switch bar, corresponding changes in the switch state can be used for this purpose in the case of normally closed contacts and normally open contacts, or directly, for example by current interruption or indirectly, for example by means of analysis and processing circuitry, for issuing alarm signals and / or for slowing down and / or completely shutting off the driver of movable elements. Summary of the Invention

[0004] The present invention is based on the aim of improving this type of tactile sensor so that it can be manufactured in a number of different construction schemes in a cost-effective manner and with the least possible weight, for example, with different sizes and / or different trigger forces, wherein the sensor is robust, particularly against point-type mechanical loads, and has high responsiveness under planar mechanical loads.

[0005] This objective is achieved by a sensor having the features of claim 1 and by its application to 4D textiles according to claim 21. Advantageous construction options are described in the dependent claims.

[0006] A first aspect of the invention relates to a tactile sensor comprising electrical contacts and a carrier that holds the contacts in a predetermined arrangement, and the carrier being elastically deformable such that the contacts are movable relative to each other between a first position of mutual contact and a second position of mutual separation, wherein the carrier has tensioned, pre-stretched elastic surface elements fixedly connected to a support structure and automatically achieving a three-dimensional shape determined by the support structure upon relaxation.

[0007] In other words, the present invention proposes using an elastic surface element, such as a film or textile material, like woven fabric, warp-knitted fabric, or weft-knitted fabric, as the carrier for the electrical contacts of a tactile sensor, and first stretching the surface element, either in one direction or in two directions, for example, in two directions that extend laterally relative to each other. The stretching is achieved within the elastic range of the surface element, so that after stretching, if the force causing the stretching is reduced, the surface element tends to automatically return to its initial size.

[0008] In a stretched state, the surface element is fixedly connected to the supporting structure. Only after this connection is established is the load on the surface element removed, causing it to automatically contract. The supporting structure thus impedes the surface element, causing it to fold automatically. The interruption or weakening lines between the various sections of the supporting structure—for example, lines with reduced material cross-sections—serve as hinge lines, determining the type of fold. The folding process is, in principle, automatic based on the restoring force acting in the surface element, i.e., without the application of additional external forces. If, for example, the initial deformation resistance of the supporting structure must be overcome, an external force can naturally be applied to initiate the folding process, or an external force can be applied to determine the folding direction along the hinge lines.

[0009] Regarding the arrangement, shape, and rigidity of the various sections of the support structure, the construction scheme of the support structure here allows for the pre-calculation of the shape of the folded surface elements and the folding process, that is, estimating how the surface elements will behave under load removal, thereby pre-determining the desired three-dimensional shape. In the sense of a process called "seif assembly," in a construction scheme, the desired three-dimensional structure can be generated virtually without any additional external action when the surface elements shrink. Alternatively, the folding process of a specific portion of the surface element with the support structure can be determined by external force, or by corresponding manual post-processing, for example in the case of a small number of pieces, or thereby causing the surface element with the support structure to move along a determined transport direction and on a guide surface, which causes the desired folding process along its respective desired folding direction.

[0010] For example, individual point-like tips or protrusions, or elongated ribs, can be realized, extending straight, curved, or seemingly arbitrarily. Thus, a carrier for the contact points of a tactile sensor can be realized, which has a very small weight and whose size can be arbitrarily scaled in practice, because flexible two-dimensional surface elements can be economically purchased as commodities sold by the meter and only require appropriately cut elements with corresponding support structures.

[0011] The possibility of manufacturing tactile sensors with very small structural dimensions enables their application in areas where the sensors should be as inconspicuous as possible or completely invisible for visual reasons, such as in the home industry as switches for lighting that should be turned on when operating doors, or as safety mechanisms for cutting and pressing edges of furniture, such as in the case of removable or retractable displays or height-adjustable desks.

[0012] On the other hand, sensors with deliberately large structural dimensions and small economic costs can also be manufactured. This allows tactile sensors to be mounted on movable elements, for example, in the field of safety technology, enabling a relatively large follow-through. Such tactile sensors can be equipped on movable elements used in industrial and logistics fields, such as robotic arms and vehicles, especially autonomous vehicles. In this case, the sensor is positioned at the front of the movable element along the direction of movement, so that the sensor contacts the obstacle before the movable element itself does. The greater the distance between the trigger surface of the tactile sensor and the movable element itself, the more time remains for braking of the movable element between the triggering switching process—that is, if the sensor contacts the obstacle—and the contact between the obstacle and the movable element itself.

[0013] The small weight and easily achievable deformability of the sensor according to the invention enable its adaptation to components of various shapes. Particularly if the movable component does not perform linear motion but rather oscillating motion, as is the case with a robotic arm, then the small weight of the sensor can be advantageous: with increasing distance from the oscillation axis, a fixed weight generates an increasingly larger inertial torque, which restrains the acceleration of the movable component. The square of the distance from the point of rotation or oscillation is incorporated into the calculation of this inertial torque, thus the weight saving on the sensor is particularly advantageous in this or similar applications. The tactile sensor—which is used to brake the movable component as quickly as possible in the event of a collision—is typically located on the outer end of the component, such as a robotic arm, and therefore at the maximum distance from the point of rotation or oscillation. Unlike in the case of linearly movable components, such as in autonomous land transport vehicles, the weight saving of the sensor at the free end of an oscillating robotic arm is therefore significantly advantageously proportional.

[0014] The aforementioned distance between the trigger surface of the tactile sensor and the movable element itself is called the back travel, which can be used to brake the movable element to a non-dangerous speed level or even to a stop before it comes into contact with an obstacle and causes property damage or personal injury. The sensor according to the invention can be constructed such that it can be flattened and retracted from its unfolded three-dimensional form, thus giving the sensor an integrated back travel. Additionally, the back travel can be achieved through structural measures regarding the sensor's mounting location in a manner known to itself, for example, by using a compressible element, such as, for example, an elastomer hollow profile, a foam rubber profile, an elastic support buffer, or such a load-bearing sensor, thereby forming the aforementioned back travel segment available for compression of the involved element after sensor triggering, which can be used to reduce the speed of the movable element. The sensor's construction according to the invention and the integrated back travel therein can provide a longer back travel without altering the application of the compressible element, or the compressible element can be constructed to a smaller size or, if possible, omitted entirely.

[0015] The elastic surface element contributes to the robustness of the sensor's construction because it allows for a very large number of load changes. For example, it acts as a hinge, allowing the tactile sensor to deform upon contact with an obstacle and always providing a restoring force so that, for example, a sensor flattened and compressed together returns to its three-dimensional form. Furthermore, this deformability also makes the sensor insensitive to point loads, thus making it robust in this respect as well. While insensitive to the risk of mechanical damage, the sensor exhibits high sensitivity in terms of responsiveness, i.e., triggering a switching process upon mechanical contact with an obstacle. The deformability of the sensor enables the electrodes to be arranged such that the switching process is triggered after a short deformation displacement, either by separating the electrodes in the normally closed contact state or by contacting them in the normally open contact state.

[0016] Flexible surface elements enable cost-effective substrates for three-dimensional folded sensors, allowing for the creation of sensors of varying sizes or folds simply by applying different support structures. The support structures themselves can be manufactured at low cost in terms of the amount of material used and processing, supporting the economic manufacturability of the sensor, and in the sense of different sensor variants.

[0017] Flexible surface elements can also be used to mount sensors: surface elements, whose dimensions are appropriately determined based on their elastic stretchability, can extend beyond the sensor and, for example, form an annular sleeve, which can be fitted onto a movable component, such as a robotic arm, thereby mounting the sensor onto the robotic arm. In this way, sensors can be mounted onto components of different sizes or shapes without the need for self-matching rigid mounting or connecting components, such as mounting rails or the like, thus making assembly simple and cost-effective. Furthermore, the number of components required for assembly can be reduced, which advantageously impacts procurement and storage costs.

[0018] Therefore, flexible surface elements also allow sensors to be mounted in locations that are otherwise difficult to access. If the surface element is pulled onto the hinge, for example as a flexible sleeve, the hinge is always movable, whereas with rigid assembly or connecting members, this mobility can be limited if possible, and therefore it would be impossible to mount the sensor in that position.

[0019] The anti-slip coating on surface elements and / or movable components ensures that the sensor maintains its position and remains in the desired location during normal use of the movable components. However, in the event of a collision with an obstacle, the retaining force of the sleeve on the component may be exceeded, causing the sensor to not only trigger a switching signal but also be moved. This can help prevent further damage to the sensor, thereby avoiding sensor repair or replacement if possible.

[0020] Due to its deformability, if the face element forms a ring-shaped or hose-like sleeve, it can be rolled up, thus interchangeing the inner and outer sides. This allows the electrical contacts, initially located on the outside, to be positioned more protectively on the inner side of the sleeve, forming an outer protective layer to protect the contacts from contamination and moisture. Furthermore, it simplifies sensor assembly by allowing the sleeve to be unfolded onto the moving component instead of linearly fitting it, and thus rolled up. This is particularly advantageous when the sleeve rests non-slip against the moving component, ensuring the sensor maintains its position. Additionally, the unfolding motion, unlike a linear push-fit movement, prevents the electrical contacts located inside and thus facing the moving component from rubbing against the component, which can cause premature contact wear.

[0021] The sensor can be mounted within a safety member, which is fitted onto a movable element, such as a crash bar made of an elastomeric material, particularly a deformable hollow profile. If the sensor is mounted forward within the safety member along the direction of movement, i.e., at a distance from the movable element, the response time for triggering the sensor in the event of contact with an obstacle is short, and the size of the safety member allows for the largest possible rear travel. Alternatively, the sensor can also be mounted rearward within the safety member, thus positioned forward along the direction of movement, with the safety member providing the highest possible mechanical protection for the sensor.

[0022] The deliberately large structural dimensions of the tactile sensor, which facilitate a larger backstroke, naturally mean that the sensor according to the invention can be constructed significantly smaller compared to other sensor configurations. The sensor—which can be practically flattened based on its three-dimensional unfolded shape—already provides a larger backstroke for the same cross-sectional dimensions, in which the rigid element can be pushed aside but not compressed. Compared to sensors with classic normally closed contacts that have movable but rigid contact elements, the sensor according to the invention significantly alters its shape to a greater extent.

[0023] In one construction scheme, the surface element can be configured as a textile material.

[0024] The surface element cannot be constructed as a membrane, but rather as a textile material. The high elasticity of textiles can arise first from the stretchability of the applied fibers—monofilaments or yarns—and secondly from the three-dimensional structure of the interwoven fibers. Textile materials, through a correspondingly large number of operating cycles, enable the surface element, as a carrier of electrical sensor contacts, to have a long service life. Furthermore, high elasticity ensures, through high reset force, that the sensors reliably return to their initial positions after triggering. The porous structure of the textile further simplifies the fixed connection by means of form-locking connections and support structures, eliminating the need to introduce holes or cuts into the surface element, thus minimizing the risk of cracking and reliably achieving the aforementioned longest possible service life.

[0025] In one construction scheme, the surface element can be configured as a plain knit fabric, especially a single-sided plain knit fabric.

[0026] The elastic stretchability of the face element can be ensured by applying suitable stretchable materials, such as stretchable membranes, or, in the case of textiles, stretchable fibers. In one construction scheme, the face element is constructed as a woven weft-knitted fabric, for example, in the form of a plain knit, and particularly as a single-sided plain knit, because this textile structure has high stretchability.

[0027] In one construction scheme, the contact points and surface elements can be stitched together.

[0028] Electrical contacts can be connected to flexible surface elements in various ways, such as by bonding or by thermal or ultrasonic welding. In one construction, the contacts are sewn to the surface element. This connection method is suitable for textile materials, and is therefore advantageous, especially if the textile is used as a carrier.

[0029] In one construction scheme, the contacts can be fixed to a support structure, such as a contact combination stitched with a surface element, or alternatively.

[0030] In another construction scheme, the electrical contacts are fastened to a support structure and / or formed by conductive segments of the support structure. Because the support structure has significantly higher resistance to deformation compared to an elastic planar element, and thus can be stretched less, the contacts themselves can be securely fastened to the support structure particularly reliably if they are also limited to being deformable and, for example, not constructed as conductive wires, but rather as planar elements, molded parts, or the like. For example, the contacts can be made of a metal alloy or a plastic material containing conductive particles.

[0031] If the electrical contacts are fastened to a support structure and / or constructed as conductive sections of the support structure, then the safest possible contact between adjacent electrical contacts can be supported, such that the support structure has adjacent, relatively movable elements that are constructed as contact carriers at the locations of the electrical contacts. For example, such contact carriers can be wider than the area of ​​the support structure to which they are connected, so as to ensure safe and reliable contact between two separate but electrically connected sections of the support structure through a correspondingly large contact area. Alternatively, adjacent contact carriers can have protrusions facing each other, for example, in the form of ridges. If the sensor is constructed as normally closed contacts, then after the surface element has three-dimensionally folded the sensor based on its reset force, for example, after triggering in use due to corresponding deformation of the sensor, the two electrical contacts are securely abutted against each other by the protrusions. If the sensor is constructed as normally open contacts, if the sensor deforms during use and thus triggers a switching process, then the two contacts are securely in contact by protrusions provided at corresponding other locations.

[0032] Electrical contacts are connected to electrical conductors so that, depending on the sensor's construction, the contacts can be interconnected if possible, i.e., in the case of normally closed contacts, and so that the sensor can be connected to a current source or voltage source, or to analysis and processing circuitry, or the like. Compared to electrical conductors, electrical contacts are larger contact areas to ensure reliable coverage contact between adjacent contacts, given the sensor's mobility and the relative mobility of the contacts.

[0033] In one construction scheme, the contacts can be formed by the electrical conductor itself, by extending the conductor in a spiral, sawtooth, meandering, or planar pattern where the contact area should be achieved, and between the contact areas the conductor extends linearly and narrowly. At turning points, such as inflection points—where the conductor bends by 90° or more—large resistance naturally often occurs.

[0034] In one design, the contacts can be configured as conductive planar elements.

[0035] Contacts, as conductive surface elements, can be constructed, for example, as strips and / or sheets made of highly conductive metals such as aluminum, copper, silver, and / or gold, and / or highly conductive plastic materials. Electrical conductors are used to connect such surface contact areas to each other.

[0036] In one construction scheme, contacts can be configured to connect to the conductive area of ​​the surface element.

[0037] When using multilayer films as a carrier, electrical conductors and / or wider contacts can be formed by correspondingly configuring the film layers into conductive regions. When using textile materials, conductors and / or contacts can be formed from the fibers of the material, similar to patterns known from different colors of textile materials and achieved through suitable weaving methods, such as warp or weft knitting. This is achieved by using fibers that are not only conductive but also electrically insulating in the manufacture of the corresponding textile material.

[0038] In one configuration, the wires can be connected to the contacts.

[0039] The wire can be made of various materials, such as metal, carbon fiber, or conductive plastic. The electrical conductor, thus forming elements beyond the surface element itself, allows for selection of the surface element independently of its electrical characteristics. Given the stretchability of the surface element, interruptions in the electrical conductor can be reliably prevented by a separate wire, which could otherwise occur due to excessive stretching in the conductive areas of the surface element. Using metal wire as the electrical conductor, for example, enables the application of such fine wires that they can be sewn together, particularly supporting suitable material construction schemes for the sensor when using textile materials as flexible surface elements.

[0040] Wires are connected to contacts for interconnection, such as in the case of a contact chain of normally closed contacts, or for connecting sensors to external components, such as current or voltage sources, electronic analysis and processing circuits, controllers, or the like. Wires can be connected to individual planar contacts or to contact areas formed by the planar element itself.

[0041] In one construction scheme, the contacts can be configured to form a normally closed contact arrangement and preferably interconnected by meandering electrical conductors.

[0042] Advantageously, the contacts form a normally closed contact arrangement. The deformability of the folded structure allows for a sensor configuration where two electrical contacts are in contact, located on two different sections of the folded carrier, and separated from each other when the carrier deforms. In a sensor configuration of the point-button type, the sensor has only these two contacts. In a configuration of an elongated sensor of the switch bar type, the sensor has multiple contacts on each of the two different sections, and the contacts are preferably interconnected in a meandering manner by electrical conductors, thereby realizing a continuous electrical circuit that always alternates from one section of the carrier to another, which is interrupted when the only contact pair is separated, thus changing the switching state of the sensor.

[0043] In addition, the contacts can be configured to form a normally open contact arrangement.

[0044] As an alternative to the normally closed contact configuration, the sensor can be configured as a normally open contact, wherein the two contacts are positioned at a distance from each other and come into contact with each other in the event of deformation of the carrier.

[0045] Furthermore, there is the possibility of combining two switching circuits, namely a normally closed contact circuit and a normally open contact circuit, to generate a dual-channel, multi-redundant sensor. Combined with a corresponding controller, this can achieve a very high level of safety.

[0046] In one construction scheme, the surface elements and contacts can be arranged in a resiliently deformable enclosure.

[0047] For example, the carrier and contacts are housed in a resiliently deformable sheath. The sheath provides mechanical protection, which is particularly advantageous if the sensor is delicately constructed and lightweight. The resilient deformability of the sheath allows for the deformation of the sensor and its subsequent return to its original position immediately after contact with an obstacle is eliminated.

[0048] In addition, the casing can be designed to be circumferentially sealed and moisture-proof.

[0049] In one design, the resilient sheath is circumferentially sealed and moisture-proof. This circumferential sealing prevents the ingress of foreign objects that could damage the electrical connections of adjacent electrical contacts and / or the deformability of the sensor. Furthermore, it prevents the ingress of moisture, which could damage electrical conductors or contacts through oxidation, or cause unwanted electrical short circuits and subsequently sensor malfunction.

[0050] In one improvement, the sheath can be configured to be a long, flexible tube, and preferably, the contacts are arranged such that the sensor is constructed as a switch bar.

[0051] The sheath can be constructed in a generally point-like manner, such as circular, hemispherical, or similar shapes, allowing the sensor to function as a button. In one construction, the sheath is constructed as a long, flexible tube, thus the sensor is preferably used as a switch bar in safety technology, for example, as a clamping protection or as protection in the case of freely moving objects. The flexible tube construction of the sheath results in a circumferentially closed cross-section, so that after the long sensor is inserted into the tube, the sheath must only be closed at its two ends, for example, by a castable sealing material or sealing plugs. The flexible tube construction of the sheath can be achieved through a single hollow profile, resulting in a seamless cross-section and thus providing optimized moisture protection. In another construction, the flexible tube construction is achieved through a two-piece cross-section of the sheath, simplifying the insertion of the sensor into the sheath. The two cross-sectional sections of the sheath can then be connected to each other moisture-proofly by vulcanization or bonding.

[0052] Large-area sensors, which can be used as switch pads, can be realized by correspondingly large cuts in the elastic surface element. Alternatively, the switch pad can be realized by a parallel arrangement of multiple switch strips or by a serpentine extension of individual switch strips of corresponding length or multiple successively arranged switch strips. The sheath in the case of the switch pad is constructed as large as the switch pad itself, wherein this can be the sole sheath for the sensor, or the sheath, the size of the switch pad, is an outer wrapping layer within which switch strips with their own sheaths can be arranged. Furthermore, in one construction, the switch pad can have multiple individual, spaced-apart sensors distributed across the surface of the switch pad. Simple operation of these multiple individual sensors is thus achieved, i.e., these sensors do not necessarily need to be manufactured and operated individually, but are constructed as local segments of large elastic surface elements with their own corresponding support structures and locally arranged contacts.

[0053] In one construction scheme, the surface elements and contacts can be arranged in a sleeve formed of foam material.

[0054] In addition, the sensor can be configured as a so-called collision buffer or switch buffer.

[0055] The support structure is fixedly connected to the surface element, thereby locally preventing the previously stretched surface element from contracting together and thus enabling folding into the desired three-dimensional form of the sensor. Different connection techniques are considered depending on the construction scheme of the elastic surface element to fix the support structure to it. For example, the elements of the support structure can be bonded to the surface element, where an elastic adhesive can be used. While the support structure prevents movement of the elastic surface element, the elastic characteristics of the adhesive help avoid stress spikes that could cause the surface element to undesirably detach from the support structure. Alternatively, if the aforementioned problem of detachment does not occur, an adhesive with less elasticity but as rigid as possible after curing can be used, so that the rigidity of the adhesive can, as unrestricted as possible, restrict the desired movement of the surface element that should be achieved by means of the support structure.

[0056] Alternatively, the support structure can be welded to the surface element, for example, through thermal action or ultrasonic welding. In this case, the heating of the surface element should be limited as precisely as possible to the area in contact with the support structure, because the elastic stretchability of the surface element is no longer possible through contact with the support structure. However, outside this contact area, thermal action can cause the surface element to bend or significantly alter its elastic characteristics, potentially leading to damage during use when the sensor undergoes repeated deformation. Damage may occur on the surface element in areas of low elasticity that are not stabilized by the support structure, for example, in the form of cracks or fractures.

[0057] The advantage is that, regardless of the connection technology used in the application, the surface element retains elastic deformability and stretchability outside the contact surface abutting the support structure.

[0058] The support structure can be composed of prefabricated components, which is beneficial for minimizing the required time for sensor manufacturing. For example, the support structure can be manufactured by injection molding, especially when sensors should be manufactured in large quantities.

[0059] In one construction scheme, the support structure does not just abut one side of the surface element, but rather abuts both sides. If, for example, a hinge line is achieved on one side by having an interruption in the support structure along a continuous imaginary line, then a support structure can be provided on the opposite side of the surface element, extending beyond that hinge line. In this way, folding of the surface element is possible only along a defined, predetermined folding direction, and the hinge is blocked along another undesired folding direction, thereby automatically taking the desired three-dimensional shape in the sense of the already mentioned "self-assembly" principle, without requiring additional externally applied forces to initiate or fully implement the defined folding process.

[0060] If support structures are to be provided on both sides of the face element, these support structures can be mechanically interconnected, for example, by snap-fit, thus eliminating the need for a direct connection between the support structures and the face element. For example, one side of the face element may have an arrow-like protrusion, and the opposing support structure may have an opening that engages with it. In this case, point drilling through the face element is not problematic in the case of textile materials, for example, and will not cause tearing of the face element if the protrusion extends through the holes in the textile without damaging the fibers. Alternatively, the support structures may have grooves, for example, with a dovetail-shaped cross-section, and the opposing support structures may have ribs that engage with them, thereby clamping, but not penetrating, the face element extending between the two support structures.

[0061] In one construction scheme, the support structure can be configured to be printed onto the surface element as a 3D printed part.

[0062] Therefore, the support structure is generated only at the moment of contact with the surface element, and is printed onto the surface element as a 3D printed part. In the first undisclosed experiment, it has been demonstrated that the support structure can be formed from relatively flat lines, thus allowing 3D printing to be implemented with minimal time expenditure. The scalability of the support structure—either through replication and interconnection of individual segments or through proportional scaling—can be achieved at a low cost using 3D printing, allowing the support structure to be matched without problems to the desired size of the sensor to be implemented. Furthermore, the triggering pressure determined by the construction scheme of the support structure can also be matched to the desired characteristics of the sensor through the variability of 3D printing, with similar ease.

[0063] Depending on the construction scheme of the 3D printed part, different materials are considered for the support structure, such as metals, but also plastic materials, such as those based on PLA or ABS. In the first experiment, PETG has proven suitable as a plastic material for the support structure because it not only achieves the desired rigidity of the support structure to ensure the sensor's folding process and the retention of the desired form, but also provides sufficient flexibility compared to materials with higher bending stiffness to prevent the face element from undesirably detaching from the support structure. The face element is stretched and held in this stretched state, for example, by spreading the face element open on one side. The degree of stretching is related to the construction scheme of the elastic face element and the resulting restoring force, and can be, for example, 30% to 80%. The fixed connection to the support structure can be achieved through form locking and / or material locking.

[0064] Printing molten plastic material onto stretched face elements causes the plastic material to either enter the structure of the textile face element based on its flow characteristics or fuse with the film forming the face element based on its heat, such as a laminate of a multilayer film, wherein the laminate has a suitable low melting point to allow for tight bonding with the material of the supporting structure. Furthermore, when using textile materials for face elements, if the textile material has fibers or fiber components with a suitable melting point, then in addition to the molten plastic material locking into the textile structure, a material-locking connection can also be achieved.

[0065] In one improvement, the relaxed folded surface element can be configured to have elongated ribs having a substantially V-shaped cross-section forming two inclined planes.

[0066] In one design of the sensor, the surface element and the support structure are coordinated such that the surface element, after becoming relaxed and undergoing three-dimensional deformation based on the support structure, forms an elongated rib, preferably with a substantially V-shaped cross-section having two bevels. A sensor with such ribs can thus be easily deformed such that applying pressure to the tip of the V-shape causes the two bevels to open.

[0067] Alternatively, the surface element and support structure can be coordinated such that they form an elongated member in a relaxed, folded state, having a generally circular, elliptical, or rectangular cross-section. The basic shape of this elongation can extend in a straight or curved manner, which can also be determined by the construction scheme of the support structure and / or the stretching method of the surface element. This basic shape is well-suited for using the sensor in security technology as a component of a switch bar, for example, with an external sheath.

[0068] Unlike the basic shape that forms an elongated shape, the surface elements and supporting structures can be coordinated in such a way that they take on a roughly circular, petal-like shape in a relaxed folded state and have multiple protrusions, which can be similarly deformed under pressure, for example, as described above for the elongated ribs.

[0069] By ingeniously constructing the support structure, the sensor according to the invention can also be deformable in general, such that the sensor can extend, for example, about a radius, and, in the case of a corresponding matching construction scheme of the support structure, about an angle, for example, a 90° angle.

[0070] Advantageously, the sensor can be configured as a normally open contact with two adjacent ribs, the contacts being arranged adjacent to each other at a distance between their tips, such that their slopes are opened by pressing on the ribs and the contacts of the ribs come into contact with the contacts of the adjacent ribs.

[0071] In one design, such a sensor forms a normally open contact by having two adjacent ribs. Upon contact with an obstacle, the two ribs deform accordingly, and through the opening of the ramps, the two adjacent, mutually facing ramps, previously spaced apart, come into contact with each other. Electrical contacts positioned on these two mutually facing ramps can then come into contact with each other through this movement, thereby changing the sensor's switching state from "open" to "closed".

[0072] In addition, the sensor can be configured as a normally closed contact with contacts on the inner side of two inclined surfaces, so that the two opposing contacts are in contact in principle, and the inclined surfaces are opened by pressing on the ribs and the two contacts are spaced apart.

[0073] Alternatively, such a ribbed sensor forms normally closed contacts. For this purpose, two inclined planes carry electrical contacts on their respective inner sides—their opposing inclined planes. Thus, if no external force is applied to the sensor, the two contacts are in principle in contact. However, if the inclined planes are opened by pressing against the ribs, the contacts are thus separated, thereby changing the sensor's switching state from "closed" to "open".

[0074] The second aspect of the invention relates to the application of elastic surface elements, particularly 4D textiles, as carriers for the contact points of tactile sensors.

[0075] The technology of 4D textiles is known in principle. One aspect of the present invention is to use 4D textiles as a carrier for the contact points of a tactile sensor.

[0076] The continuous manufacturing of sensors can thus be achieved by using only natural materials for surface elements, such as cotton, and the desired stretchability can also be achieved in the form of cotton jerseys. Moreover, the support structure can be made of biodegradable materials for the continuous manufacturing of sensors, such as by using biodegradable filaments in the case of 3D printed support structures.

[0077] In order to purposefully apply elastic restoring force and achieve predetermined folding of 4D textiles, thereby enabling the sensor to automatically adopt the desired 3D shape through a "self-assembly" process while the surface elements are relaxed, with the need for additional external influences as much as possible, the following measures can be applied in addition to the above:

[0078] - Two or more separate surface elements can be applied. For example, two different types of surface elements can be applied. These two types can be made of different materials, for example, by differing in their restoring force. However, these two types can also be constructed identically and differ only in that they are stretched in different directions before being connected to the supporting structure, thereby causing folding in different directions in the event of relaxation of the surface elements.

[0079] For example, the first type of surface element can cover the entire surface and should have a supporting structure, while the second type of surface element can be provided only in a strip-like manner where there are hinge lines on the structure, so that each causes a folding of the supporting structure in a defined direction.

[0080] - Surface elements can be stretched in two or more steps.

[0081] After the first stretching, the face element is connected to the first part of the support structure. Then, in a second step, the face element is stretched, either more forcefully in the same direction as in the first stretching step, or in a different direction than in the first step, and then connected to the second part of the support structure. Alternatively, the face element is connected to the first part of the support structure after the first stretching and then relaxed, with the relaxation partially prevented by the first part of the support structure. Now, in the second step, the face element is stretched in the same or different direction as in the first stretching step, connected to the second part of the support structure, and then relaxed. Variations are thus possible, i.e., the aforementioned stretching can be achieved in each of the stretching steps, either in a single direction or in two or more directions.

[0082] - The support structure can be set on both sides of the surface element as already mentioned above.

[0083] For example, the first layer of the support structure can be generated in 3D printing, then surface elements are placed on this layer of the support structure, and finally the second layer of the support structure is generated on the surface elements in 3D printing.

[0084] Alternatively, the prepared first part of the support structure can be applied to the surface element on the first side of the surface element or already connected to the surface element, and then the prepared second part of the support structure can be applied to the surface element on the second side opposite to the surface element and connected to the first part of the support structure or to the surface element.

[0085] Furthermore, for other reasons, two or more separate surface elements may be applied: one of the surface elements may form a protective layer on the completed sensor, or form a protective layer on the inside of the sensor, where electrical contacts may be located, thus mechanically protecting these electrical contacts if the sensor is pressed flat; or form a protective layer on the outside of the sensor, thus protecting the sensor from external influences such as moisture or dirt, and if an additional outer casing is not necessary.

[0086] The measures can be based on independent inventive value.

[0087] In one construction scheme, the rib's cross-section can be configured to have a tip and two foot points, wherein the sensor rests against the support surface with the foot points, and the rib has at least one sliding pad at at least one foot point, which slides along the support surface on it during use in the event of sensor deformation.

[0088] The sensor can be constructed as described above, allowing for planar compression of the sensor upon contact with an obstacle, wherein the sensor is compressed relative to a supporting surface. In one configuration, the sensor has a sliding pad that either continuously or at least in contact with the supporting surface when the sensor deforms, allowing the sliding pad to slide on the supporting surface during sensor deformation. This reduces or even completely eliminates friction between the surface element and the supporting surface, preventing premature wear of the surface element and maximizing the sensor's lifespan. The sliding pad can be part of the support structure or made of the same or another, particularly sliding-friendly material. Advantageously, the sliding pad can be fastened to the surface element together with the support structure in the same working steps, thereby minimizing the cost in sensor manufacturing. Attached Figure Description

[0089] The invention is further illustrated below with reference to purely schematic diagrams. Wherein:

[0090] Figure 1 A top view of the arrangement structure consisting of stretched flexible surface elements, support structures, electrical conductors, and electrical contacts is shown.

[0091] Figure 2 Shown after the surface element relaxes Figure 1 A perspective view of the layout structure;

[0092] Figure 3 Show Figure 2 The fold is a perspective view of the sensor arrangement structure, in which the sensor is shown in its rest position;

[0093] Figure 4 Showing something similar to Figure 3 The view shows the sensor in its trigger position;

[0094] Figure 5 A cross-section of the switch bar is shown, in which each element is shown spaced apart from the others;

[0095] Figure 6 and 7 The second and third embodiments of the switch bar are shown;

[0096] Figure 8 and 9 Two embodiments are shown, in which each sensor is disposed in a collision buffer;

[0097] Figure 10 A fourth embodiment of the switch bar is shown;

[0098] Figure 11 A partial view of the fifth embodiment, viewed from the support structure side, is shown;

[0099] Figure 12 Shown from the opposite side Figure 11 A view of an embodiment;

[0100] Figure 13 A partial view of the sixth embodiment from the support structure side is shown; and

[0101] Figure 14 Shown from the opposite side Figure 13 A view of an embodiment. Detailed Implementation

[0102] Figure 1A top view of a stretched facet element 1 is shown, which extends onto a plate, which can, for example, serve as a printing platform for a 3D printed part. In the illustrated embodiment, the facet element 1 is formed from a textile material in the form of a single-sided plain knit fabric. In this stretched state, a support structure 2 is printed onto the facet element, i.e., printed from PLA filaments using a 3D printing method. The support structure 2 consists of a plurality of generally semi-circularly extending arcuate portions 3, wherein each arcuate portion 3 is always separated from each other by a small distance. The separation points 4 thus achieved constitute a hinge line along which the facet element automatically folds if it is removed from the plate and shrinks in an effort to regain its initial size.

[0103] An electrical conductor 5 is applied to the surface element 1. In the illustrated embodiment, the electrical conductor is constructed in the form of a wire, i.e., an enameled wire. Furthermore, the surface element 1 carries electrical contacts 6, which in the illustrated embodiment are constructed as planar segments of a metal film, i.e., a copper film, and these electrical contacts are electrically connected to the electrical conductor 5.

[0104] In the illustrated embodiment of the support structure 2, the two inner arcuate portions 3 are positioned opposite each other such that they collectively form approximately a row of circles. At each end of this row, the arcuate portions 3 are not formed to a semicircle, but are bent at an angle to form the stabilizing end connecting pieces 7 of the support structure 2. Purely exemplary, the surface element 2 extends outward beyond the end connecting pieces 7, however, this corresponding extension of the surface element 2 may be omitted in a manner different from the illustrated embodiment.

[0105] Furthermore, the support structure 2 has two outwardly curved portions 3, which are separated from each other by a middle curved portion 3. Each of the outwardly curved portions, unlike the middle curved portion 3, has a middle connecting piece 8. This middle connecting piece stabilizes the support structure 2 at the outer edge of the surface element 1. This stabilization prevents the sensor from bending along its longitudinal direction after the surface element 1 relaxes. Additionally, the middle connecting piece 8 is used to secure the electrical contacts 6 by providing a closed surface, for example, unlike the textile structure of the surface element 2, and thus providing the largest possible surface area for bonding.

[0106] Figure 2 Shown after being removed from the board Figure 1 The surface element 1, which was initially stretched onto the plate, automatically deforms under an elastic restoring force, attempting to regain its initial dimensions. This restoring force is indicated by four arrows pointing from the outside of the surface element 1 towards its center. The restoring deformation of the elastic surface element 1 is prevented by a more rigid support structure 2, thus the separation points 4, each located in a row, act as hinge lines around which the surface element 1 automatically folds.

[0107] The arc-shaped portion 3 between the two rows forms a rib, which has a substantially V-shaped cross-section and two bevels 9. This is purely exemplary and for better clarity... Figure 2 The image shows that the two outer curved portions 3 fold outwards. Furthermore, for clarity... Figure 2 Electrical conductor 5 and contact 6 are not shown.

[0108] Figure 3 In Figure 2 The same schematic view, i.e., without electrical conductors 5 and contacts 5, illustrates that the two outer curved portions 3 fold inward, thus realizing the sensor 10 now ready for operation. The sensor 10 is formed by triangular ribs in cross-section and has two inner surfaces 11 and 12 within the two outer inclined surfaces 9, each disposed... Figure 1 The outer arc-shaped part 3. As from... Figure 1 Clearly visible, the two outer curved portions 3 carry electrical contacts 6 on the intermediate connecting piece 8, thus allowing the contacts 6 on the two inner surfaces 11 and 12 to come into contact with each other. In the perspective view, Figure 3 The following is illustrated in a very simplified cross-sectional view: how the contact 6 of the short inner surface 11 abuts against the contact 6 of the long inner surface 12.

[0109] Unlike the illustrated embodiment, the two inner surfaces 11 and 12 can be constructed to the same length. The inner surface 11 or 12 that is folded inward last is stopped in its movement by the other inner surface 11 or 12 that has been folded inward previously, so that if the sensor 10 is constructed as a normally closed contact, then the contacts 6 are in contact with each other.

[0110] Electrical conductor 5 in Figure 1 The layout shown results in a continuous electrical circuit along the length of sensor 10, wherein the various circuit segments alternate, extending either on the shorter inner surface 10 or the longer inner surface 11 and each connecting in the region of the two contacting contacts 6 to a separately adjacent circuit segment on the other inner surface 12 or 11. Sensor 10 is thus configured as a normally closed contact, through which a quiescent current flows during use, and which generates a switching signal if the quiescent current is interrupted by interrupting the aforementioned electrical circuit. Figure 3 The sensor 10 is shown in its stationary position, in which the contacts 6 are in contact with each other and the electrical circuit is open.

[0111] Figure 2 and 3 This is an idealized view. The elastic surface element 1, based on its restoring force, results in, for example, the upper edge of the sensor 10 extending not in a straight line along the tip of the rib as shown in the figure, but concavely inward between adjacent arcuate portions 3 of the support structure 2.

[0112] Figure 4Shown in a similar Figure 3 Sensor 10 in the view, wherein pressure is applied to the tip of the triangular rib, as indicated by the arrow. Figure 4 As indicated in the diagram. Under this pressure, the sensor 10 deforms by the restoring force of the two inclined surfaces 9 relative to the elastic surface element 2, which is spread apart around a hinge line. This hinge line is achieved by the separation point 4 of the intermediate arcuate portion 3. Because the two inner surfaces 11 and 12 are connected to the two mutually distant lower ends of the inclined surfaces 9, this spreading movement also causes the two inner surfaces 11 and 12 to move apart relative to each other. The separation surface 4 between the intermediate arcuate portion and the outer arcuate portion 3 also serves as a hinge line here, enabling the movement of the inner surfaces 11 and 12 relative to the inclined surfaces 9 to which they are connected.

[0113] By moving the two inner surfaces 11 and 12 apart, the distance between the previously abutting contacts 6 is also achieved, thereby interrupting the static current flowing through the electrical circuit. This is in Figure 4 The cross-sectional sketch, as indicated by the schematic diagram, is identifiable. Sensor 10 is therefore compared to... Figure 3 The switch state is changed by opening contact 6, thereby Figure 4 Unlike Figure 3 The stationary position indicates the trigger position of sensor 10.

[0114] Figure 5 A cross-section of the switch bar 14 is shown, wherein the switching mechanism is composed of... Figures 1 to 4 The sensor 10 is implemented. For clarity, the various structural elements are shown with a small distance between them, rather than directly touching each other. The sensor 10 is implemented according to... Figure 5 Located in it also from Figure 3 In a visible, stationary position, sensor 10 is housed within a sleeve 15, which is constructed in a flexible, tubular manner, i.e., as an elongated hollow profile with a circumferentially closed cross-section. The sleeve 15 is made of an elastomeric material and is correspondingly deformable, allowing pressure to be applied to the tip of sensor 10 upon contact with an obstacle, potentially triggering the switching process of sensor 10.

[0115] The sleeve 15 can be directly fastened to the component, which should be provided with a switch strip 14. In the illustrated embodiment, the sleeve 15 is bonded to an adapter profile 16, wherein the adapter profile 16 consists of essentially three sections: an adhesive surface 17 for connecting to the sleeve 15, a retaining surface 18 for connecting the adapter profile 16 itself to a suitable bracket, and a middle section of the adapter profile 16 serving as a distance retainer 19 so that the adhesive surface 17 and the retaining surface 18 are spaced apart from each other.

[0116] The retaining surface 18 is housed within a C-shaped metal profile 20, and the distance retainer 19 ensures, based on the wall thickness of the metal profile 20, that the adapter profile 16 can be seamlessly inserted into the metal profile 20. The sleeve 15 can be cost-effectively manufactured as an elastomer profile in large lengths and can be adapted to match the desired length of each switch bar 14. The sleeve, in conjunction with the sensor 10 disposed therein, ensures consistent and standardized characteristics across different switch bars 14.

[0117] By applying different adapter profiles 16, if the switch bar 14 is not directly mounted on the component to be protected, it can be matched with different supports, such as different metal profiles or grooves, which are set in the item to be protected to secure the switch bar 14. Furthermore, the adapter profile 16 can be composed of a material that allows for low-resistance insertion into the metal profile 20.

[0118] Since the switch bar 14 is not directly mounted on the component to be protected, for example, by bonding it to the component, the switch bar 14 can be quickly and cost-effectively replaced in case of damage. This is done by the switch bar being removed from the bracket, as shown in the metal profile 20, using the adapter profile 16, and being replaced with an undamaged switch bar 14.

[0119] Unlike the illustrated embodiment, the sleeve 15, the adapter profile 16, the retaining surface 18, and the distance retainer 19 can be one piece and made of the same material, or, for example, made of different materials, such as plastics with different Shore hardnesses, by means of co-extrusion. Such a one-piece profile simplifies manufacturing because the different components do not need to be joined together to form the profile. The retaining surface 18 allows such a co-extruded profile to be pushed into a receiving groove, as in… Figure 5 Among the metal profiles shown.

[0120] The metal profile 20 or a similar receiving groove enables time-saving replacement of the sleeve 15 along with the sensor 10 and the adapter profile 16, which can be advantageous in harsh operating environments where, predictably, damage to the switch bar 14 frequently occurs. Unlike the illustrated embodiment, if a consistently secure fit and the smallest possible size for the sensor 10 are desired, then the metal profile 20 and the adapter profile 16 can be omitted.

[0121] Figure 6 As shown, instead of receiving a recess—as it is for example in… Figure 5 This is achieved in the metal profile 20—a connecting plate 21 protruding from the side can be used to fasten the switch bar 14 to the movable element 22. The connecting plate 21, together with the base 23, is made of a harder material, which, together with the softer sheath 15, is co-extruded.

[0122] also Figure 6As shown, the sensor 10 is positioned rearward within the housing 15, that is, closer to the movable element 22 than to the free end of the housing 15 that is furthest from the movable element 22. Even so, to ensure the switch bar 14 responds as sensitively and promptly as possible in the event of contact with an obstacle, the rod 24 extends rearward from the free end of the front of the housing 15 to the sensor 10. To ensure that the rod 24 does not deviate from the sensor 10, it is guided on both sides by a crossbeam 25. The crossbeam 25, together with the housing 15, defines a sensor cavity 26 within the switch bar 14, in which the sensor 10 is disposed.

[0123] Figure 7 The cross-section of the switch bar 14 is shown, wherein fastening is achieved by means of the retaining surface 18 as in Figure 5 This is implemented as in the embodiment. The sensor cavity 26 and the sensor 10 disposed therein are located at the free end of the front portion within the sleeve 15. This ensures that the sensor 10 responds quickly in the event of contact with an obstacle, and that the sleeve travels backward until the length of the retaining surface 18 is determined, which is available for braking of the movable element until the element itself contacts the obstacle.

[0124] Figure 8 An arrangement is shown in which the sensor 10 is not disposed in the switch bar on the movable element 22, but rather in the collision buffer 27. A sensor cavity containing the sensor 10 is located in a segment 28 of foam material at the front of the collision buffer 27. A rear segment 29 of the collision buffer 27 is fastened, for example, to the movable element 22, and its length determines the aforementioned rear travel distance. The rear segment 29 may be composed of the same foam material as the front segment 28 or a different material, such as a foam material with a different spatial weight.

[0125] Figure 9 An arrangement is shown in which sensor 10 is mounted on a movable element 22 within a one-piece collision buffer 27, i.e., at the rear, wherein sensor cavity 26 is rearwardly constrained by the movable element 22 itself. Sensitive response performance of sensor 10 can also be achieved in this case, depending on the strength of the deformable material comprising the collision buffer 27—typically foam—by changing its on / off state as quickly as possible after the collision buffer 27 comes into contact with an obstacle.

[0126] Figure 10 A schematic arrangement is shown in which a sensor 10 is disposed on a movable element 22 within a switch bar 14. The structural form of the sensor 10 corresponds in principle to that according to... Figures 1 to 5 The structural form is explained. The dimensions of the inclined plane 9 and the inner surfaces 11 and 12, as well as the matching dimensions of the casing 15, differ from those of the others. Figure 5 This choice of location results in the switch bar 14 having a large structural depth, similar to that of... Figure 9 Visible collision buffer 27. Accordingly, material for the collision buffer 27, such as the aforementioned foam material, can be saved, enabling a construction scheme with a particularly low overall weight. The specific construction scheme of the inner surfaces 11 and 12 of the sensor 10 and the electrical contacts 6 is determined here: after what deformation displacement of the switch bar 14 the contacts 6 open and the sensor 10 thus changes its switching state. In this way, a sensor device with a low weight can be achieved compared to a similarly large collision buffer, which, compared to a typically smaller switch bar, achieves the same long after-travel stroke as when a collision buffer is applied.

[0127] Figure 11 A partial view of another embodiment of the sensor 10, viewed from the side of the support structure 2, is shown. In this embodiment, the surface element 1 is constructed in the form of a textile, and the support structure 2 is produced as a 3D-printed portion of the surface element 1. Furthermore, in this embodiment, the support structure 2 forms a plurality of arcuate portions 3. The sensor 10... Figure 11 The portion shown includes two ribs that extend parallel to each other and terminate in adjacent arcuate portions 3, the ends of which connect to each other and each form a contact carrier 30. Each contact carrier 30 has a generally triangular cross-section and thus forms a protrusion that extends from the planes of the two associated arcuate portions 30 toward the adjacent contact carrier 30. The contact carrier 30 is formed in a relatively large section within the support structure 2 and can be fitted with planar contact elements, such as molded parts made of conductive materials, film segments or sheets made of such materials, or the like.

[0128] In use, the contact carrier 30 is located at the tip of the corresponding rib. In the sensor 10... Figure 11 In the portion shown, two ribs are located within the figure portion, and to realize a large-area sensor 10, for example in the form of a switch pad, multiple ribs can be arranged to extend side by side. This can be achieved by selecting correspondingly large-area surface elements 1 or by connecting multiple surface elements 1 to each other. In the illustrated embodiment, the surface elements 1 are constructed as textiles, and adjacent surface elements 1 can be sewn together to realize a correspondingly large-area sensor 10.

[0129] At the point where the arc-shaped portion 3 terminates and connects with the contact carrier 30, Figure 11In the illustrated embodiment, there are the tips of two ribs. Conversely, corresponding foot points of the ribs are present at the apex of the arcuate portion 3. In the illustrated embodiment, adjacent ribs are not directly connected to each other, but rather a narrow intermediate space is provided between them, in which a sliding pad 31 is disposed. The sliding pad 31 is not connected to the support structure 2, but like the support structure 2—that is, in the same working process—it is generated by 3D printing of the surface element 1 and connected to the surface element 1.

[0130] Unlike the illustrated embodiment, the sliding pad 31 can also be constructed as a segment of the support structure 2. If pressure is applied to the tip of the rib by contacting an obstacle with the sensor 10, the rib slides on the support surface with at least one of its two feet, the feet of the rib resting against the support surface. This minimizes wear on the sensor 10, allowing the sliding movement and thus friction to occur on the sliding pad 31, which is specifically designed for this purpose.

[0131] Figure 12 This is shown in the same partial view, that is, from the opposite side of surface element 1. Figure 11 In this embodiment, the support structure 2, though identifiable, is covered by the surface element 1. The two parallel ribs of the sensor 10 are identifiable, with the pair of contact types 30 clearly visible at the corresponding tips of the ribs, and the sliding pad 31 clearly visible between the feet of adjacent ribs.

[0132] Figure 13 Partially shown, yet similar to Figure 11 Another embodiment of sensor 10 as viewed from the side of support structure 2. Sensor 10 is similar to... Figure 11 It is configured as in the embodiment, however, it has two different types of contact carriers 30: a wide contact carrier 30 with a generally triangular cross-section—different from the one in the embodiment. Figure 11 As in the embodiment—not disposed at the end of the arc-shaped portion 3, but rather the intermediate connecting piece 8 is located at... Figure 2 In one embodiment, the arcuate portion 3 extends further from the apex to the tip of the corresponding rib and forms a wide contact carrier 30 there.

[0133] A contact carrier 30 is also present at the end of the arc-shaped portion 3, but it is constructed to be significantly narrower than the wide contact carrier 30 on the intermediate connecting piece 8. The wide contact carrier 30 has a triangular cross-section and therefore has bulges toward each other in use, while the narrow contact carriers 30 are not aligned and opposite each other at the end of the arc-shaped portion 3, but are staggered with each other in a toothed manner.

[0134] Figure 13 Implementation examples and Figure 11The difference in the embodiments is that the intermediate connecting piece 8 supports an arrangement of all ribs as flat as possible, and therefore supports a construction scheme for a flat sensor 10, while... Figure 11 In this embodiment, the ribs extend in a bending manner based on the restoring force of the surface element 1, for example, to form the sensor 10, which conforms as closely as possible to the bent movable member. Furthermore, the narrow contact carrier 30... Figure 13 In this embodiment, the high trigger sensitivity of sensor 10 is caused by the length along the rib compared to Figure 11 The embodiments increase the number of contact points.

[0135] Figure 14 Shown from the opposite side Figure 13 The sensor 10, i.e., looking at the surface element 1, is identifiable by the support structure 2 passing through the surface element 1. The arc-shaped portion 3, the intermediate connecting piece 8, the wide and narrow contact carriers 30, and the sliding pad 31 are identifiable.

[0136] List of reference numerals

[0137] 1-sided element

[0138] 2 Support Structure

[0139] 3 arc-shaped part

[0140] 4 separation points

[0141] 5 Electrical conductors

[0142] 6 electrical contacts

[0143] 7-end connector

[0144] 8 intermediate connecting pieces

[0145] 9 bevel

[0146] 10 sensors

[0147] 11 Short inner surfaces

[0148] 12 long inner face

[0149] 14 switch bars

[0150] 15 packs

[0151] 16 compatible profiles

[0152] 17 Adhesive Surface

[0153] 18 Keep the surface

[0154] 19 Distance Holder

[0155] 20 Metal Profiles

[0156] 21 connecting plate

[0157] 22 movable components

[0158] 23 bases

[0159] 24 strokes

[0160] 25 crossbeams

[0161] 26 sensor cavities

[0162] 27 Collision Buffer

[0163] 28. The front section

[0164] 29. Rear section

[0165] 30-point carrier

[0166] 31 Sliding Pad

Claims

1. Tactile sensor (10), -Including electrical contacts (6). -and including the carrier, The carrier holds the contact (6) in a predetermined arrangement, and The carrier can elastically deform, allowing the contact points (6) to move relative to each other between a first contact position and a second separation position, characterized in that... The carrier has a tensioned, pre-stretched elastic surface element (1), which is fixedly connected to the support structure (2) and automatically achieves a three-dimensional shape determined by the support structure (2) after relaxation.

2. The sensor according to claim 1, characterized in that, The surface element (1) is constructed of textile material.

3. The sensor according to claim 2, characterized in that, The surface element (1) is constructed as a plain knit fabric, particularly as a single-sided plain knit fabric.

4. The sensor according to any one of the preceding claims, characterized in that, The contact point (6) is stitched to the surface element (1).

5. The sensor according to any one of claims 1 to 3, characterized in that, The contact (6) is fastened to the support structure (2).

6. The sensor according to any one of the preceding claims, characterized in that, The contact (6) is constructed as a conductive planar element.

7. The sensor according to any one of the preceding claims, characterized in that, The wire is connected to the contact (6).

8. The sensor according to any one of the preceding claims, characterized in that, The contact (6) is connected to the conductive area of ​​the surface element (1).

9. The sensor according to any one of the preceding claims, characterized in that, The contacts (6) form a normally closed contact arrangement and are interconnected in a meandering manner by electrical conductors (5).

10. The sensor according to any one of claims 1 to 8, characterized in that, The contact (6) forms a normally open contact arrangement structure.

11. The sensor according to any one of the preceding claims, characterized in that, The surface element (1) and the contact (6) are disposed in an elastically deformable sleeve (15).

12. The sensor according to claim 11, characterized in that, The sheath (15) is constructed to be circumferentially closed and moisture-proof.

13. The sensor according to claim 11 or 12, characterized in that, The sheath (15) is a long, flexible tube, and the contact (6) is configured such that the sensor (10) is constructed as a switch bar (14).

14. The sensor according to any one of claims 11 to 13, characterized in that, The surface element (1) and the contact (6) are disposed in a sleeve (15) formed of foam material.

15. The sensor according to any one of claims 11 to 14, characterized in that, The sensor (10) is constructed as a so-called collision buffer or switch buffer.

16. The sensor according to any one of the preceding claims, characterized in that, The support structure (2) is printed onto the surface element (1) as a 3D printed part.

17. The sensor according to any one of the preceding claims, characterized in that, The relaxed folded surface element (1) has elongated ribs with a substantially V-shaped cross section forming two inclined planes (9).

18. The sensor according to claim 17, characterized in that, The cross-section of the rib has a tip and two foot points, wherein the sensor (10) rests against the support surface with the foot points, and the rib has at least one sliding pad (31) at at least one foot point, the sliding pad sliding along the support surface in use when the sensor (10) is deformed.

19. The sensor according to claim 17 or 18, characterized in that, The sensor (10) is constructed as a normally open contact and has two adjacent ribs. The contacts (6) are arranged adjacent to each other at a distance between the tips of the ribs, such that the inclined surface (9) of the rib is opened by pressing on the rib and the contacts (6) of the rib contact with the contacts (6) of the adjacent rib.

20. The sensor according to claim 17 or 18, characterized in that, The sensor (10) is constructed as a normally closed contact, and contacts (6) are respectively provided on the inner side of the two inclined surfaces (9), so that the two opposing contacts (6) are in contact in principle, and the inclined surface (9) of the rib is opened by pressing on the rib and the two contacts (6) are spaced apart from each other.

21. Application of elastic surface elements (1), especially 4D textiles, as carriers for contacts (6) of tactile sensors (10).

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