Anti-interference and self-driven electronic skin and remote control car
By designing a composite membrane structure and hydrogel electrodes, the stability and anti-interference issues of electronic skin under strain and temperature changes were solved, achieving self-driving and stable output in complex environments.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-19
- Publication Date
- 2026-03-10
AI Technical Summary
Existing electronic skins lack stability and anti-interference capabilities under strain and temperature changes, which affects their application in real life.
The composite film structure includes an elastic polymer substrate, a hydrogel electrode, and flexible friction layers with different dielectric constants. It converts mechanical energy into electrical energy through triboelectric and electrostatic induction coupling to achieve self-drive, and improves conductivity and mechanical properties through molecular design of the hydrogel electrode.
It maintains stable output under 200% strain and 50℃ temperature change, reduces sensitivity to strain and temperature, improves the stability and anti-interference ability of electronic skin, and realizes self-driven design.
Smart Images
Figure CN223986435U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of electronic skin technology, and more particularly to an anti-interference and self-driving electronic skin and a remote-controlled vehicle. Background Technology
[0002] With the rapid development of technology, flexible electronics technology has made significant strides, with products such as the Internet of Things (IoT) and robots playing a crucial role in production and daily life. Flexible electronic skin, without sacrificing freedom of movement or comfort, enables direct interaction between users and devices and responds to external stimuli such as pressure, strain, and temperature, bringing convenience to human life and attracting considerable attention. However, physical and chemical interferences are ubiquitous, greatly impacting the practical application of electronic skin. For example, when electronic skin is applied to human skin, the skin's stretchable and bendable surface makes strain on the electronic skin unavoidable. Therefore, reducing the sensitivity of electronic skin to strain and improving its stability and anti-interference capabilities have become pressing issues in this field. Utility Model Content
[0003] This invention provides an anti-interference and self-driving electronic skin and remote-controlled vehicle, which reduces the sensitivity of the electronic skin to strain and improves the stability and anti-interference capability of the electronic skin.
[0004] In a first aspect, this utility model provides an electronic skin, comprising: a composite film layer and a first flexible friction layer disposed independently of each other;
[0005] The composite film layer includes: an elastic polymer substrate, at least one hydrogel electrode, and a second flexible friction layer stacked sequentially; each hydrogel electrode is laid flat on the surface of the elastic polymer substrate, and when multiple hydrogel electrodes are provided, each hydrogel electrode is spaced apart; the second flexible friction layer is bonded to the elastic polymer substrate through the hydrogel electrode.
[0006] The second flexible friction layer has a different dielectric constant than the first flexible friction layer. The first flexible friction layer and the second flexible friction layer come into contact and separate under the action of external force.
[0007] In a second aspect, this utility model embodiment provides a remote control vehicle, including: a processor, a vehicle, and electronic skin as described in the first aspect above, wherein the processor is connected to a plurality of hydrogel electrodes in the electronic skin and the vehicle respectively;
[0008] The processor is used for:
[0009] When an electrical signal is received from the hydrogel electrode at any position, the control signal corresponding to the hydrogel electrode that outputs the electrical signal is determined according to the pre-configured correspondence between the hydrogel electrode and the control signal.
[0010] The vehicle is controlled to move based on the determined control signals.
[0011] The beneficial effects of this utility model are as follows:
[0012] This utility model provides an anti-interference and self-driving electronic skin and remote control car. The electronic skin includes a composite film layer and a first flexible friction layer that are independently arranged. The composite film layer includes: an elastic polymer substrate, at least one hydrogel electrode and a second flexible friction layer arranged in sequence. When multiple hydrogel electrodes are provided, each hydrogel electrode is arranged at intervals. The dielectric constant of the second flexible friction layer is different from that of the first flexible friction layer. The first flexible friction layer and the second flexible friction layer come into contact and separate under the action of external force. The second flexible friction layer is bonded to the elastic polymer substrate via a hydrogel electrode, achieving stable contact and bonding between the elastic polymer substrate, the hydrogel electrode, and the second flexible friction layer. When the elastic polymer substrate comes into contact with human skin, the hydrogel electrode, due to its good flexibility, will not slip during stretching. They can be stretched or compressed together, with their areas increasing or decreasing simultaneously. However, the first flexible friction layer will not be stretched. Consequently, when the second and first flexible friction layers rub against each other, the contact area between the two flexible friction layers remains unchanged, so the amount of charge generated can remain essentially constant. This allows the electronic skin to maintain a relatively stable output even when stretched, reducing its sensitivity to strain and improving its stability and anti-interference capabilities. Attached Figure Description
[0013] Figure 1 This is a schematic diagram of the structure of an electronic skin provided in an embodiment of this utility model;
[0014] Figure 2 This is a schematic diagram provided in an embodiment of the present utility model;
[0015] Figure 3 The output results of the electronic skin under different strains provided in the embodiments of this utility model;
[0016] Figure 4 This is a graph showing the relationship between the mass percentage of conductive material in the hydrogel electrode and its conductivity, as provided in the embodiments of this utility model.
[0017] Figure 5 These are scanning electron microscope images provided in the embodiments of this utility model;
[0018] Figure 6 This is a schematic diagram showing the hydrogel electrode provided in this embodiment of the invention being printed on the surface of a polyacrylate elastomer.
[0019] Figure 7 The output results of the electronic skin at different temperatures provided in the embodiments of this utility model;
[0020] Figure 8 This is another schematic diagram provided in an embodiment of the present utility model;
[0021] Figure 9 The output performance of the electronic skin provided in this embodiment of the utility model;
[0022] Figure 10 The output results of electronic skin under hydrogel electrodes of different sizes provided in the embodiments of this utility model;
[0023] Figure 11 The output results of the electronic skin under different pressures provided in the embodiments of this utility model;
[0024] Figure 12 This is a schematic diagram of the structure of a remote-controlled car provided in an embodiment of the present utility model;
[0025] Figure 13 This is a schematic diagram illustrating the movement of the electronic skin-controlled vehicle provided in this embodiment of the present invention. Detailed Implementation
[0026] The following description, in conjunction with the accompanying drawings, details the specific implementation of an anti-interference and self-driving electronic skin and remote-controlled car provided by this utility model. It should be noted that the described embodiments are merely some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.
[0027] This utility model embodiment provides an electronic skin, such as Figure 1 As shown, it may include: a composite film layer m0 and a first flexible friction layer 40 disposed independently of each other; the composite film layer m0 includes: an elastic polymer substrate 10, at least one hydrogel electrode 20 and a second flexible friction layer 30 disposed sequentially; each hydrogel electrode 20 is laid flat on the surface of the elastic polymer substrate 10, and when multiple hydrogel electrodes 20 are disposed, each hydrogel electrode 20 is disposed at intervals; the second flexible friction layer 30 is bonded to the elastic polymer substrate 10 through the hydrogel electrodes 20; the dielectric constant of the second flexible friction layer 30 is different from that of the first flexible friction layer 40, and the first flexible friction layer 40 and the second flexible friction layer 30 come into contact and separate under the action of external force.
[0028] Combination Figure 2 The schematic diagram shown is as follows. Figure 2 (a) is a top view of the composite film m0 when it is not stretched. Figure 2 (b) is a top view of the composite film m0 when it is stretched. Figure 2 (c) in the figure is a cross-sectional view of the composite film m0 when it is not stretched. Figure 2 (d) is a cross-sectional view of the composite film layer m0 when stretched; because the second flexible friction layer 30 is bonded to the elastic polymer substrate 10 through the hydrogel electrode 20, the elastic polymer substrate 10, the hydrogel electrode 20, and the second flexible friction layer 30 achieve stable contact and bonding with each other; when the elastic polymer substrate 10 comes into contact with human skin, due to the good softness of the hydrogel electrode 20, it can move along the skin. Figure 2 When the arrow shown in (b) is stretched, the elastic polymer substrate 10, hydrogel electrode 20 and the second flexible friction layer 30 will not slip against each other and can be stretched or compressed together, and the area will increase or decrease at the same time. However, the first flexible friction layer 40 will not be stretched. Therefore, when the second flexible friction layer 30 and the first flexible friction layer 40 rub against each other, the contact area between the two flexible friction layers does not change, so the amount of charge generated can remain basically unchanged. Thus, even when the electronic skin is stretched, it can maintain a relatively stable output, reduce the sensitivity to strain, and improve the stability and anti-interference ability of the electronic skin.
[0029] For example, see Figure 3 The strain test results shown are based on an externally applied pressure of 10 N and a hydrogel electrode area of 10 × 10 mm. 2 When the composite film was subjected to stretching of 0%, 50%, 100%, and 200% respectively, the output voltage of the electronic skin remained relatively stable at 5V. This indicates that the electronic skin can maintain a stable electrical signal output even under 200% strain, demonstrating its good stability and anti-interference capability under 200% strain. Figure 3 In this context, "Time" represents time, and "Voltage" represents voltage or open-circuit voltage.
[0030] I. The following section will introduce each structure in the electronic skin.
[0031] 1. Hydrogel electrode.
[0032] Optionally, the materials used to fabricate the hydrogel electrode include a hydrogel matrix and a conductive material. The mass percentage of the conductive material in the hydrogel electrode is 0.05% to 0.35%, which can be set according to actual conditions and is not limited here. For example, the higher the mass percentage of the conductive material in the hydrogel electrode, the greater the proportion of conductive material in the hydrogel electrode, and the better the conductivity of the hydrogel electrode. Figure 4 As shown, the conductivity of the hydrogel electrode increases with the increase of the mass percentage of conductive material. Therefore, if good conductivity is required, the mass percentage of conductive material in the hydrogel electrode can be set higher. However, an increased proportion of conductive material affects the mechanical properties of the hydrogel electrode, leading to decreased flexibility. Therefore, if good mechanical properties are required to further reduce the sensitivity of the electronic skin to strain, the mass percentage of conductive material in the hydrogel electrode can be set lower. Based on this, setting the mass percentage of conductive material in the hydrogel electrode within the aforementioned range ensures both good conductivity and good mechanical properties.
[0033] The conductive material can include dopamine-modified graphene. On one hand, graphene has good conductivity, allowing for the addition of a low concentration to the hydrogel electrode to achieve good conductivity, thus improving the electrode's conductivity. On the other hand, graphene has poor hydrophilicity, while dopamine-modified graphene has good hydrophilicity. Therefore, dopamine modification allows for uniform and good dispersion of graphene in the hydrogel matrix, thereby improving the conductivity uniformity of the hydrogel electrode. Figure 5 As shown in the figure, this is a scanning electron microscope (SEM) image of the dispersion effect of dopamine-modified graphene in a hydrogel matrix. The image shows that the dopamine-modified graphene exhibits good dispersion in the hydrogel matrix, achieving uniform dispersion. Figure 5 Only dopamine-modified graphene is shown; the hydrogel matrix is not shown.
[0034] Furthermore, the conductive material may also include poly(3,4-ethylenedioxythiophene)-poly(styrene sulfonate), wherein poly(3,4-ethylenedioxythiophene)-poly(styrene sulfonate) can be abbreviated as PEDOT:PSS, and the mass ratio of dopamine-modified graphene to poly(3,4-ethylenedioxythiophene)-poly(styrene sulfonate) can be set to 4.5:1 to 9:1, and further, the mass ratio of dopamine-modified graphene to poly(3,4-ethylenedioxythiophene)-poly(styrene sulfonate) is 7:1. Thus, by adding PEDOT:PSS, the stability of dopamine-modified graphene in the hydrogel matrix can be maintained, preventing the aggregation of dopamine-modified graphene, thereby further improving the dispersion effect of dopamine-modified graphene in the hydrogel matrix; and since PEDOT:PSS is also a conductive material, this can further improve the conductivity of the hydrogel electrode.
[0035] Of course, in practice, in addition to the materials mentioned above, other conductive materials can also be used, such as, but not limited to, polyaniline, carbon nanotubes, and MXene. The specific choice depends on the actual needs and is not limited here. It should be understood that MXene is a novel two-dimensional material composed of metal carbides or nitrides.
[0036] The materials used to make the hydrogel matrix include a mixture of polyvinyl alcohol and polyacrylamide. Of course, other materials that can form a hydrogel matrix can also be used. The specific materials can be set according to actual needs, and no specific limitations are made here.
[0037] Optionally, the thickness of the hydrogel electrode can be set from 50 μm to 250 μm, and more specifically, the thickness of the hydrogel electrode can be 100 μm. Furthermore, the thickness of each hydrogel electrode can be set to be substantially uniform, which improves the flatness of the electronic skin. During the fabrication of the hydrogel electrode, due to its printable properties, it can be printed onto the surface of an elastic polymer substrate. When the elastic polymer substrate possesses excellent flexibility and good adhesion, it is well-suited as a substrate for printing hydrogel electrodes, thereby achieving high-precision, simple, and rapid fabrication of hydrogel electrodes. For example, as... Figure 6 As shown in the figure, the hydrogel electrode 20 is printed on the surface of polyacrylate elastomer. It can be seen from the figure that with the assistance of a microelectronic printer, high-precision patterns can be printed, so that hydrogel electrodes 20 of various shapes can be made according to actual needs, thus improving the convenience of hydrogel electrode 20 manufacturing.
[0038] 2. The second flexible friction layer and the first flexible friction layer.
[0039] Optionally, the material for the first flexible friction layer includes any one of polytetrafluoroethylene (PTFE), polyurethane, polydimethylsiloxane, and polyethylene oxide; the material for the second flexible friction layer includes any one of PTFE, polyurethane, polydimethylsiloxane, and polyethylene oxide; and, in order to achieve a difference in dielectric constant between the first and second flexible friction layers, the materials for the first and second flexible friction layers can be different. For example, the first flexible friction layer is PTFE and the second flexible friction layer is polyurethane; or, the first flexible friction layer is PTFE and the second flexible friction layer is polyethylene oxide; or, the first flexible friction layer is polydimethylsiloxane and the second flexible friction layer is PTFE; and so on, without further listing.
[0040] In the case where the first flexible friction layer is polytetrafluoroethylene (PTFE) and the second flexible friction layer is polyurethane, since the dielectric constants of PTFE and polyurethane can remain relatively stable below 50°C, the amount of charge generated below 50°C when the two rub against each other can remain essentially unchanged. When the conductive material has a stable temperature coefficient of resistance below 50°C, the sensitivity of the electronic skin to temperatures below 50°C can be reduced, thereby achieving insensitivity to strain and temperature, and further improving the stability and anti-interference ability of the electronic skin.
[0041] For example, see Figure 7 As shown, when the electronic skin is attached to a heat source at temperatures of 25℃, 30℃, 40℃, and 50℃, the output voltage of the electronic skin remains relatively constant at around 7V. This indicates that the electronic skin is not sensitive to temperatures below 50℃, thus exhibiting good stability at these temperatures. Figure 7 In this context, "Time" represents time, and "Voltage" represents voltage or open-circuit voltage.
[0042] 3. Elastic polymer substrate.
[0043] Optionally, the material used to fabricate the elastic polymer substrate includes polyacrylate elastomer. Choosing polyacrylate elastomer to fabricate the elastic polymer substrate not only facilitates the printing of hydrogel electrodes on its surface, but also provides better flexibility. When in direct contact with the skin, it can stretch and contract with the skin, thereby helping to reduce the sensitivity of electronic skin to strain.
[0044] The thickness of the elastic polymer substrate can be set to 300 μm to 500 μm. Furthermore, the thickness of the elastic polymer substrate can be set to 300 μm to obtain an ultrathin substrate, which is beneficial to reduce the sensitivity of the electronic skin to strain.
[0045] II. The working principle of electronic skin will be introduced below, taking the first flexible friction layer as a material with strong electron absorption capacity and the second flexible friction layer as a material with weak electron absorption capacity.
[0046] Combination Figure 8 As shown, the working principle of this electronic skin is based on a single-electrode triboelectric nanogenerator, which utilizes the coupling effect of triboelectricity and electrostatic induction to convert the surrounding mechanical energy into electrical energy.
[0047] In the initial state, such as Figure 8 As shown in (a), the second flexible friction layer 40 is separated from the first flexible friction layer 30, and no charge transfer occurs, so no charge is generated.
[0048] like Figure 8 As shown in (b), when the second flexible friction layer 40 and the first flexible friction layer 30 gradually come into contact under the action of an external force F0, due to electrostatic induction, a negative charge is generated on the surface of the first flexible friction layer 30, while a positive charge is generated on the surface of the second flexible friction layer 40. Due to the triboelectric effect, electrons flow from the ground to the hydrogel electrode 20, and a negative charge opposite to the triboelectric characteristics of the second flexible friction layer 40 is induced in the hydrogel electrode 20. Furthermore, as the distance between the second flexible friction layer 40 and the first flexible friction layer 30 continuously decreases, the number of negative charges in the hydrogel electrode 20 gradually increases until the second flexible friction layer 40 and the first flexible friction layer 30 are in complete contact, at which point the number of negative charges in the hydrogel electrode 20 reaches its maximum. Figure 8 The state shown in (c) is as follows.
[0049] like Figure 8 As shown in (d), the second flexible friction layer 40 and the first flexible friction layer 30 then gradually separate again under the action of external force F1. The negative charge in the hydrogel electrode 20 flows back to the ground to achieve charge balance. The charge flow between the hydrogel electrode 20 and the ground ends when the electrostatic induction between the second flexible friction layer 40 and the first flexible friction layer 30 disappears. Figure 8 The state shown in (e) is as follows.
[0050] Then, the process of the second flexible friction layer 40 gradually coming into contact with the first flexible friction layer 30 is repeated again, that is, the process is repeated as follows. Figure 8 (b) to Figure 8 The process of (e) in the middle achieves the periodic contact and separation of the second flexible friction layer 40 and the first flexible friction layer 30.
[0051] Based on this, under the influence of triboelectric effect and electrostatic induction, electronic skin can convert mechanical force into electrical energy and output electrical signals, thus avoiding the need for an external power source to drive the electronic skin and realizing the self-driving design of electronic skin.
[0052] For example, such as Figure 9 As shown, the hydrogel electrodes are arranged in a 2×2 pattern, with each hydrogel electrode having an area of 10×10 mm. 2 The area of the elastic polymer substrate, the polyurethane layer, and the polytetrafluoroethylene layer are all 50×50mm. 2 At that time, the open-circuit voltage V of the electronic skin oc Approximately 80V, short-circuit current I sc Approximately 0.29 μA, with a transferred charge Q sc The temperature is approximately 23 nC. Therefore, the electronic skin provided in this embodiment can still function normally without the need for an external power supply, realizing a self-driving design for the electronic skin. Figure 9 In this context, "Time" represents time.
[0053] The area of the hydrogel electrode and the externally applied pressure can both affect the output performance of the electronic skin. See also Figure 10 As shown, the areas of the hydrogel electrodes are 10 × 10 mm. 2 15×15mm 2 20×20mm 2 25×25mm 2 The open-circuit voltage of the electronic skin increases sequentially, indicating that the open-circuit voltage of the electronic skin gradually increases with the increase of the area of the hydrogel electrode; and even when the area of the hydrogel electrode is 10×10 mm... 2 The open-circuit voltage of the electronic skin is also around 5.9V, indicating that the electronic skin can output a relatively high open-circuit voltage. Among these, Figure 10 In this context, "Time" represents time, and "Voltage" represents voltage or open-circuit voltage.
[0054] See Figure 11 As shown, when the externally applied pressure is successively 10N, 20N, 30N, and 40N, the open-circuit voltage of the electronic skin increases sequentially, indicating that the open-circuit voltage of the electronic skin gradually increases with increasing external pressure. Figure 11 In this context, "Time" represents time, and "Voltage" represents voltage or open-circuit voltage.
[0055] It should be understood that the area of the hydrogel electrode is not limited to 10×10 mm. 2 15×15mm 2 20×20mm 2 25×25mm 2Furthermore, the area of the elastic polymer substrate, polyurethane layer, and polytetrafluoroethylene layer is not limited to 50×50mm. 2 The specific settings can be configured according to actual needs, and no specific limitations are made here.
[0056] Based on the same inventive concept, this utility model embodiment also provides a method for fabricating a composite film layer in electronic skin, which may include:
[0057] Step 1: Prepare the prepolymer solution for the hydrogel electrode;
[0058] The specific process for preparing the prepolymer solution for the hydrogel electrode may include:
[0059] Step 1.1: Prepare a two-component conductive solution. The specific process includes: weighing a certain amount of graphene aqueous solution and sonicating it for a period of time, then adding ammonia to adjust the pH to make the solution neutral, then adding a certain amount of PEDOT:PSS and a certain amount of dopamine aqueous solution, stirring at a certain temperature for a preset time to obtain a mixed solution of dopamine-modified graphene and PEDOT:PSS; then washing, drying, and grinding the mixed solution to obtain a powdered product; then preparing the powdered product into an aqueous solution of a certain concentration, which is the two-component conductive solution.
[0060] Step 1.2: Prepare the hydrogel matrix; the specific process includes: mixing polyvinyl alcohol and polyacrylamide in a certain mass ratio to obtain the hydrogel matrix;
[0061] Step 1.3: Add the two-component conductive solution prepared in Step 1.1 to the hydrogel matrix prepared in Step 1.2, and add a certain amount of thermal initiator (such as, but not limited to, ammonium persulfate) and a certain amount of accelerator (such as, but not limited to, N,N,N',N'-tetramethylethylenediamine), stir evenly, and the prepolymer solution of the hydrogel electrode can be obtained.
[0062] Step 2: Using the prepolymer solution of the hydrogel electrode, print the hydrogel electrode on the surface of the elastic polymer substrate;
[0063] Step 3: Attach the second flexible friction layer onto the hydrogel electrode to obtain the composite film.
[0064] In this way, composite film layers can be fabricated in electronic skin, resulting in electronic skin that is self-driven, insensitive to strain and temperature, and has good anti-interference performance and good stability.
[0065] Based on the same inventive concept, this utility model embodiment also provides a remote-controlled car 130, such as... Figure 12As shown, it includes: a processor 120, a vehicle 130, and the electronic skin 110 as described in the present invention embodiment. The processor 120 is connected to a plurality of hydrogel electrodes 20 and the vehicle 130 in the electronic skin 110. It should be understood that... Figure 12 The illustration only shows six hydrogel electrodes 20 as an example. In reality, the number of hydrogel electrodes 20 is not limited to six.
[0066] The processor 120 is configured to: upon receiving an electrical signal output from the hydrogel electrode 20 at any position, determine the control signal corresponding to the hydrogel electrode 20 that outputs the electrical signal based on a pre-configured correspondence between the hydrogel electrode 20 and the control signal; and control the vehicle 130 to move according to the determined control signal.
[0067] In other words, multiple hydrogel electrodes 20 are provided, and the processor 120 pre-stores a mapping table between hydrogel electrodes 20 and control signals, with one hydrogel electrode 20 corresponding to one control signal. When pressure is applied to the location of a hydrogel electrode 20, the hydrogel electrode 20 will output an electrical signal. When the processor 120 receives the electrical signal, it can determine the hydrogel electrode 20 corresponding to the output electrical signal, and then determine the control signal corresponding to the hydrogel electrode 20. At this time, the vehicle 130 is controlled to move based on the control signal. For example, when the control signal is to move forward, the vehicle 130 will be controlled to move forward, thereby realizing remote control of the vehicle 130 through the electronic skin 110. At the same time, no external power supply is required, so that the remote control vehicle 130 can achieve a self-driving design.
[0068] Alternatively, if multiple hydrogel electrodes are pressured simultaneously, the following settings can be made to facilitate vehicle movement control:
[0069] Priorities are pre-configured for each hydrogel electrode. When multiple electrical signals are received, the priority of the hydrogel electrode corresponding to each electrical signal is determined. Control signals are determined in descending order of priority, and the vehicle is controlled to move according to these control signals.
[0070] Alternatively, priorities can be pre-configured for each control signal. When multiple electrical signals are received, the hydrogel electrodes corresponding to these electrical signals are determined, and then the control signals corresponding to these hydrogel electrodes are determined. The vehicle is then controlled to move according to these control signals in descending order of priority.
[0071] For example, pressure is applied to three hydrogel electrodes simultaneously, and the control signals corresponding to these three hydrogel electrodes are forward movement, backward movement, and right turn, respectively, with the priority order from high to low as: forward movement, right turn, and backward movement. Therefore, when controlling the vehicle to move, the vehicle first moves forward, then turns right, and then moves backward.
[0072] Furthermore, taking forward movement as an example, each time the car is controlled to move forward, a predetermined duration can be set. For instance, if the effective duration of a control signal is t0, the car will move for t0 hours when controlled to move forward, and will stop moving forward when the moving time reaches t0. Of course, backward movement can also be configured with an effective duration t1, and t0 and t1 can be the same or different. For movements like turning right or left, a movement angle can be set. For example, if the movement angle is set to a1, the car will rotate to the right by a1 when a right turn is required.
[0073] Therefore, for rotation operations such as turning right or left, the rotation angle can be set; for linear operations such as moving forward or backward, the effective duration can be set; for operations that include both rotation and linear operations, such as moving left or right, the rotation angle and effective duration can be set, with rotation operations being executed first and then linear operations.
[0074] See Figure 13 As shown in the figure, four hydrogel electrodes 20 are illustrated, but in practice, the number of hydrogel electrodes 20 is not limited to four. The number of hydrogel electrodes 20 can be other values; four is used here as an example. The control signals corresponding to the four hydrogel electrodes 20 are: move forward, move left, move right, and pause. Figure 13 As shown in (a), when pressure is applied to the hydrogel electrode 20 corresponding to the forward movement, the vehicle is controlled to move forward; as Figure 13 As shown in (b), when pressure is applied to the hydrogel electrode 20 corresponding to the leftward movement, the vehicle is controlled to move to the left; as Figure 13 As shown in (c), when pressure is applied to the hydrogel electrode 20 corresponding to the rightward movement, the vehicle is controlled to move to the right; as Figure 13 As shown in (d), when pressure is applied to the hydrogel electrode 20 corresponding to the pause, the vehicle stops moving; thus, the vehicle's trajectory can be controlled via electronic skin, such as navigating a maze. Figure 13 As shown in (e) in the diagram.
[0075] It should be understood that, in the embodiments of the utility model, when the two flexible friction layers in the electronic skin come into contact and separate to generate friction, the implementation methods may include: attaching a composite film layer to the surface of a first carrier, attaching the first flexible friction layer to the surface of a second carrier, and under the action of an external force, moving the second carrier and / or the first carrier, causing the first flexible friction layer and the second flexible friction layer to periodically come into contact and separate; for example, combining Figure 13As shown, the first support can be the back of the left hand, and the second support can be the fingers of the right hand; of course, the first support and the second support are not limited to the back of the hand and the fingers, but can also be other components that can enable the first flexible friction layer and the second flexible friction layer to periodically contact and separate, which are not specifically limited here.
[0076] Optionally, the processor can be located inside or outside the vehicle, depending on actual needs, and is not limited here.
[0077] In summary, the technical solution provided by this utility model embodiment has the following advantages:
[0078] Firstly, by molecularly designing the hydrogel electrode to give it excellent conductivity, and based on the synergistic effect of the hydrogel electrode and the friction layer, an anti-interference self-driven flexible electronic skin was obtained. Its output voltage is not affected by stretching, remains stable under 200% strain, and can stably output at varying temperatures (~50℃), achieving insensitivity to temperature and strain. It can also capture triboelectric signals under low pressure, successfully realizing human-computer interaction.
[0079] Secondly, electronic skin can be easily mass-produced. Based on the printability of hydrogel electrodes, it can be quickly printed on elastomers to obtain high-precision electronic skin, thus improving the ease of manufacturing.
[0080] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.
Claims
1. An electronic skin, characterized by, The electronic skin comprises: a composite film layer and a first flexible friction layer arranged independently of each other; the composite film layer comprises: an elastic polymer substrate, at least one hydrogel electrode and a second flexible friction layer arranged in sequence; each hydrogel electrode is laid on the surface of the elastic polymer substrate, and when a plurality of hydrogel electrodes are arranged, each hydrogel electrode is arranged at intervals; the second flexible friction layer is bonded to the elastic polymer substrate through the hydrogel electrode; the second flexible friction layer has a different dielectric constant from the first flexible friction layer, and the first flexible friction layer and the second flexible friction layer are in contact and separation under the action of external force.
2. The electronic skin of claim 1, wherein, The thickness of the hydrogel electrode is 50μm to 250μm.
3. The electronic skin of claim 1 or 2, wherein, The thickness of the elastic polymer substrate is 300μm to 500μm.
4. A remote control vehicle characterized by, The electronic skin comprises: a processor, a vehicle, and the electronic skin according to any one of claims 1-3, the processor being connected with the vehicle and a plurality of hydrogel electrodes in the electronic skin respectively; the processor is used for: when receiving an electrical signal output by the hydrogel electrode at any position, determining a control signal corresponding to the hydrogel electrode outputting the electrical signal according to a pre-configured corresponding relationship between the hydrogel electrode and the control signal; controlling the vehicle to move according to the determined control signal.