Tactile sensor and robot

Abstract

The utility model discloses a kind of tactile sensor and robot.The tactile sensor includes: first detection structure, first electric conductor and second electric conductor, and first detection structure extends along first direction;First detection structure is used to produce corresponding deformation according to the force state of tactile sensor in second direction, and the first electric parameter of first detection structure changes according to the force state of tactile sensor in second direction;First electric conductor and second electric conductor are alternately wound on first detection structure, and along first direction, and first electric conductor and second electric conductor are arranged with interval;The second electric parameter between first electric conductor and second electric conductor changes according to the force state of tactile sensor in first direction;Wherein, first electric conductor is wound at least one circle on first detection structure, and second electric conductor is wound at least one circle on first detection structure.The tactile sensor provided by the technical scheme of the utility model can accurately distinguish and measure force in different directions.

Description

[0001] This utility model claims priority to application number 2025212431473 (the earlier application was filed on June 17, 2025, and its title is "A Tactile Sensor and a Robot"). Technical Field

[0002] This utility model relates to the field of sensor technology, and in particular to a tactile sensor and a robot. Background Technology

[0003] In the field of tactile sensors, triaxial force tactile sensors can detect and distinguish forces in multiple directions, thereby simulating the tactile sensation of human skin and being widely used in scenarios such as tactile perception, virtual reality, and medical devices.

[0004] However, triaxial force tactile sensors have a complex structure, making it difficult to accurately distinguish the direction of force after detecting it. This means they struggle to accurately differentiate and measure forces in different directions and achieve three-dimensional force decoupling, impacting their accuracy and reliability in complex mechanical environments. Furthermore, their high cost limits their application.

[0005] Furthermore, tactile sensors, including fiber tactile sensors, use hollow conductive fibers or elastic resistive fibers as tactile sensors. However, these types of fibers can only detect normal forces perpendicular to the fiber direction, limiting their application in triaxial force detection. This prevents the sensor from comprehensively sensing and analyzing forces acting on it in various directions, thus failing to meet some triaxial force detection requirements. Therefore, existing tactile sensors suffer from the problem of accurately distinguishing and measuring forces in different directions. Utility Model Content

[0006] This invention provides a tactile sensor and robot to solve the problem that existing tactile sensors have difficulty in accurately distinguishing and measuring forces in different directions.

[0007] According to one aspect of the present invention, a tactile sensor is provided, the tactile sensor comprising:

[0008] A first detection structure extends along a first direction; wherein the first detection structure is used to generate a corresponding deformation according to the force state of the tactile sensor in a second direction, and a first electrical parameter of the first detection structure changes according to the force state of the tactile sensor in the second direction; wherein the second direction intersects the first direction;

[0009] A first conductor and a second conductor are alternately wound around the first detection structure and spaced apart along the first direction. A second electrical parameter between the first conductor and the second conductor changes according to the force state of the tactile sensor in the first direction. The first conductor is wound around the first detection structure at least once, and the second conductor is wound around the first detection structure at least once.

[0010] Optionally, the first conductor includes a first conductive fiber; the second conductor includes a second conductive fiber.

[0011] Optionally, the first conductor further includes a first insulating layer, which covers the first conductive fiber;

[0012] The second conductor further includes a second insulating layer, which covers the second conductive fiber.

[0013] Optionally, the first detection structure includes:

[0014] A third conductor extends along the first direction;

[0015] A dielectric layer covering the third conductor; wherein the dielectric layer is used to generate corresponding deformation according to the force state of the tactile sensor in the second direction;

[0016] A conductive layer is located on the side of the dielectric layer away from the third conductor, and the conductive layer covers the dielectric layer; wherein, the first electrical parameter of the first detection structure is the first electrical parameter between the third conductor and the conductive layer.

[0017] Optionally, the first detection structure further includes:

[0018] A third insulating layer is located on the side of the conductive layer away from the dielectric layer, and the third insulating layer covers the conductive layer.

[0019] Optionally, the third conductor may include a third conductive fiber.

[0020] Optionally, the tactile sensor further includes a first electrical parameter detection module;

[0021] The first electrical parameter detection module is connected to the third conductor and the conductive layer respectively, and the first electrical parameter detection module is used to detect the first electrical parameter; wherein, the first electrical parameter is any one of voltage, current, capacitance and resistance.

[0022] Optionally, the tactile sensor further includes a second electrical parameter detection module;

[0023] The second electrical parameter detection module is connected to the first conductor and the second conductor respectively, and the second electrical parameter detection module is used to detect the second electrical parameter; wherein, the second electrical parameter is any one of voltage, current and capacitance.

[0024] Optionally, the first conductor and the second conductor are spirally and alternately wound on the first detection structure.

[0025] According to another aspect of the present invention, a robot is provided that includes the tactile sensor described in any embodiment of the present invention.

[0026] In this embodiment of the invention, a first detection structure extends along a first direction. This first detection structure can deform according to the force applied to the tactile sensor in a second direction, causing a corresponding change in its first electrical parameter. Therefore, the force value applied to the first detection structure in the second direction can be determined based on its first electrical parameter, thus enabling force detection in the second direction. A first conductor and a second conductor are alternately wound around the first detection structure, spaced apart along the first direction. When the tactile sensor is subjected to a force in the first direction, the interval between the first and second conductors changes, causing a change in the second electrical parameter between them. Therefore, whether the second electrical parameter between the first and second conductors changes determines whether the tactile sensor is subjected to a force in the first direction, thus enabling force detection in the first direction. This allows the tactile sensor to detect not only normal force (force in the second direction) but also tangential force (force in the first direction), thereby achieving three-dimensional force detection. Furthermore, the forces acting in the first and second directions are detected separately, which can accurately detect the forces in each direction without the need for three-dimensional force decoupling, and can accurately distinguish and measure forces in different directions.

[0027] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this utility model, nor is it intended to limit the scope of this utility model. Other features of this utility model will become readily apparent from the following description. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the structure of a tactile sensor provided in an embodiment of the present invention;

[0030] Figure 2 This is a left view of a tactile sensor provided in an embodiment of this utility model;

[0031] Figure 3 This is a right view of a tactile sensor provided in an embodiment of this utility model;

[0032] Figure 4 This is a left view of another tactile sensor provided in this embodiment of the present invention;

[0033] Figure 5 This is a right view of another tactile sensor provided in this embodiment of the present invention;

[0034] Figure 6 This is a schematic diagram of the circuit structure of a tactile sensor provided in an embodiment of the present utility model;

[0035] Figure 7 This is a schematic diagram of the circuit structure of another tactile sensor provided in an embodiment of the present invention;

[0036] Figure 8 This is a schematic diagram of the circuit structure of another tactile sensor provided in this embodiment of the present invention;

[0037] Figure 9 This is a schematic diagram of the circuit structure of another tactile sensor provided in this embodiment of the present invention;

[0038] Figure 10 This is a schematic diagram of the circuit structure of another tactile sensor provided in this embodiment of the present invention;

[0039] Figure 11 This is a schematic diagram of the circuit structure of another tactile sensor provided in this embodiment of the present invention. Detailed Implementation

[0040] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0041] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the utility model described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0042] This embodiment of the invention provides a tactile sensor, which can be applied to fields such as tactile perception, virtual reality, and medical devices, and this embodiment is not limited thereto. For example, in the field of tactile perception, the tactile sensor can be used on robots to facilitate the detection of forces acting on the robot. When the robot grasps an object, it can detect forces in various directions based on the tactile sensor, thereby determining the shape and type of the object. In the field of medical devices, it can be applied to detection equipment. By wearing the detection equipment on the human body, it can detect the physiological activities of the human body (such as pulse, respiration, vocalization, and joint movement).

[0043] Figure 1 This is a schematic diagram of the structure of a tactile sensor provided in an embodiment of this utility model, for reference. Figure 1 The tactile sensor includes:

[0044] A first detection structure 110 extends along a first direction X; wherein, the first detection structure 110 is used to generate a corresponding deformation according to the force state of the tactile sensor in a second direction Y, and the first electrical parameter of the first detection structure 110 changes according to the force state of the tactile sensor in the second direction Y; wherein, the second direction Y intersects the first direction X;

[0045] A first conductor 120 and a second conductor 130 are alternately wound around a first detection structure 110 along a first direction X, with the first conductor 120 and the second conductor 130 spaced apart. A second electrical parameter between the first conductor 120 and the second conductor 130 changes according to the force state of the tactile sensor in the first direction X. The first conductor 120 is wound around the first detection structure 110 at least once, and the second conductor 130 is wound around the first detection structure 110 at least once.

[0046] In this context, the second direction Y can be the normal direction, and the first direction X can be the tangential direction. The second direction Y can be perpendicular to the first direction X; in other words, the second direction Y can be any direction perpendicular to the first direction X. Figure 1 The diagram illustrates one of the second directions, Y, but does not specify any particular direction. The first conductor 120 is a single-piece structure, and the second conductor 130 is a single-piece structure. Figure 1 This is the front view of the tactile sensor; the top view of the tactile sensor is the same as the front view.

[0047] Specifically, the first detection structure 110 can generate corresponding deformation according to the force state of the tactile sensor in the second direction Y. That is, when the tactile sensor is subjected to force in the second direction Y, the first detection structure 110 generates corresponding deformation. For example, the greater the force on the tactile sensor in the second direction Y, the greater the deformation generated by the first detection structure 110. After the first detection structure 110 deforms, its first electrical parameters will change accordingly. For example, the resistance, capacitance, or inductance of the first detection structure 110 will change, causing corresponding changes in the capacitance, current, or voltage flowing through the first detection structure 110. For example, the greater the force on the first detection structure 110 in the second direction Y, the greater the deformation generated by the first detection structure 110, and the larger or smaller the first electrical parameters of the first detection structure 110. That is, there is a correspondence between the first electrical parameters of the first detection structure 110 and the deformation of the first detection structure 110, and a correspondence between the deformation of the first detection structure 110 and the magnitude of the force on the first detection structure 110 in the second direction Y. Therefore, the first electrical parameter of the first detection structure 110 corresponds to the magnitude of the force exerted on the first detection structure 110 in the second direction Y. Thus, by acquiring the first electrical parameter of the first detection structure 110 and determining the force value of the first detection structure 110 in the second direction Y based on the correspondence between the first electrical parameter and the magnitude of the force exerted on the first detection structure 110 in the second direction Y, the force value of the tactile sensor in the second direction Y can be determined, thereby enabling the detection of the force in the second direction Y.

[0048] Specifically, the first conductor 120 and the second conductor 130 are alternately wound on the first detection structure 110, and are spaced apart along the first direction X. Therefore, when the tactile sensor is subjected to a force in the first direction X, the spacing between the first conductor 120 and the second conductor 130 in the first direction X changes, causing a change in the second electrical parameter between the first conductor 120 and the second conductor 130. For example, the capacitance, inductance, resistance, or electric field between the first conductor 120 and the second conductor 130 may change, thereby causing changes in the capacitance, current, or voltage between the first conductor 120 and the second conductor 130. That is, the second electrical parameter between the first conductor 120 and the second conductor 130 changes according to the force state of the tactile sensor in the first direction X. Therefore, by acquiring the second electrical parameter between the first conductor 120 and the second conductor 130 and determining whether the second electrical parameter has changed, it is possible to determine whether the tactile sensor is subjected to force in the first direction X, thus realizing the detection of force in the first direction X.

[0049] This allows the tactile sensor to detect not only normal force (force acting in the second direction Y) but also tangential force (force acting in the first direction X), thus enabling three-dimensional force detection. Furthermore, detecting the forces in the first direction X and the second direction Y separately allows for accurate detection of forces in each direction without the need for three-dimensional force decoupling, enabling accurate differentiation and measurement of forces in different directions. This enhances the detection dimensionality of the tactile sensor, enabling it to comprehensively perceive forces acting on it from all directions, meeting the requirements of triaxial force detection, and thus improving the versatility of the tactile sensor to meet the force detection needs of diverse application scenarios.

[0050] In this embodiment, the first detection structure extends along a first direction. The first detection structure can deform accordingly based on the force applied to the tactile sensor in a second direction, causing a corresponding change in its first electrical parameter. Therefore, the force value applied to the first detection structure in the second direction can be determined based on its first electrical parameter, thus enabling force detection in the second direction. A first conductor and a second conductor are alternately wound around the first detection structure, spaced apart along the first direction. When the tactile sensor is subjected to a force in the first direction, the interval between the first and second conductors changes, causing a change in the second electrical parameter between them. Therefore, whether the second electrical parameter between the first and second conductors changes determines whether the tactile sensor is subjected to a force in the first direction, enabling force detection in the first direction. This allows the tactile sensor to detect not only normal force (force in the second direction) but also tangential force (force in the first direction), thereby achieving three-dimensional force detection. Furthermore, the forces acting in the first and second directions are detected separately, which can accurately detect the forces in each direction without the need for three-dimensional force decoupling, and can accurately distinguish and measure forces in different directions.

[0051] Based on the above technical solutions, the possible structures and materials of the first conductor 120 and the second conductor 130 will be described below, but this is not intended to limit the scope of this application.

[0052] Optionally, the first conductor 120 includes a first conductive fiber; the second conductor 130 includes a second conductive fiber.

[0053] Specifically, the first conductive fiber can be made of silver fiber, stainless steel fiber, or other metal conductive wire materials, and the second conductive fiber can also be made of silver fiber, stainless steel fiber, or other metal conductive wire materials. Silver fiber, stainless steel fiber, or other metal conductive wire materials have good conductivity, which can ensure stable transmission of electrical signals. The first and second conductive fibers are flexible structures, which are easy to wind, so that they can be wound on the first detection structure 110 with precise helical angles and spacing. For example, when winding, the helical angles of the first and second conductive fibers are the same, and the spacing between any two adjacent segments of the first and second conductive fibers is the same. When the tactile sensor is subjected to force in the first direction X, as long as the spacing between any segment of the first and second conductive fibers changes, the second electrical parameter between the first conductor 120 and the second conductor 130 will change, thereby enabling timely detection and improving the sensitivity of the tactile sensor.

[0054] Furthermore, the relatively small mass of the first and second conductive fibers results in a smaller tactile sensor that can be woven into wearable products of any shape, making it easy to apply in wearable devices such as mattresses, insoles, and clothing to detect human vital signs.

[0055] Optionally, the first conductor 120 further includes a first insulating layer, which covers the first conductive fiber;

[0056] The second conductor 130 also includes a second insulating layer, which covers the second conductive fiber.

[0057] Specifically, a rubber or silicone-based solution can be coated onto the surface of the first conductive fiber, and after curing by light or heat, a first insulating layer covering the first conductive fiber can be formed. Similarly, a rubber or silicone-based solution can be coated onto the surface of the second conductive fiber, and after curing, a second insulating layer covering the second conductive fiber can be formed. By setting the first and second insulating layers, interference from the first detection structure 110 or external devices on the second electrical parameters between the first conductor 120 and the second conductor 130 can be avoided, and electric shock during testing can be prevented, thereby improving the accuracy of the tactile sensor detection. Furthermore, the first and second insulating layers are made of elastic materials. When the tactile sensor is subjected to a force along the first direction X, the first conductor 120 and the second conductor 130 can deform, thereby causing a change in the second electrical parameters between the first conductor 120 and the second conductor 130.

[0058] Based on the above technical solutions, the possible structure and materials of the first detection structure 110 will be described below, but this is not intended to limit the scope of this application.

[0059] Figure 2 This is a left view of a tactile sensor provided in an embodiment of this utility model. Figure 3 This is a right view of a tactile sensor provided in an embodiment of the present invention. Optionally, refer to... Figure 2 and Figure 3 The first detection structure 110 includes:

[0060] The third conductor 111 extends along the first direction X;

[0061] A dielectric layer 112 covers a third conductor 111; wherein, the dielectric layer 112 is used to generate corresponding deformation according to the force state of the tactile sensor in the second direction Y.

[0062] The conductive layer 113 is located on the side of the dielectric layer 112 away from the third conductor 111, and the conductive layer 113 covers the dielectric layer 112; wherein, the first electrical parameter of the first detection structure 110 is the first electrical parameter between the third conductor 111 and the conductive layer 113.

[0063] The dielectric layer 112 is uniformly coated on the third conductor 111. It can be formed by using an elastic material such as rubber, polyurethane, or silicone, and curing it by heating or light. Alternatively, the dielectric layer 112 can be formed by mixing an elastic material layer (rubber, polyurethane, or silicone, etc.) with conductive particles (carbon nanotubes, graphene oxide, or carbon black, etc.). This allows the dielectric layer 112 to deform in response to the force applied by the tactile sensor in the second direction Y. A conductive material (liquid metal, silver nanowires, carbon nanotubes, carbon black, or graphene oxide, etc.) is coated onto the dielectric layer 112 to form a conductive layer 113.

[0064] Specifically, the third conductor 111 serves as one electrode, and the conductive layer 113 serves as another electrode. The third conductor 111 and the conductive layer 113 can form a capacitive or resistive sensing structure. When the tactile sensor is subjected to a force in the second direction Y, the dielectric layer 112 deforms accordingly, causing a change in the distance between the third conductor 111 and the conductive layer 113. This changes the first electrical parameter between the third conductor 111 and the conductive layer 113, allowing the determination of the force value in the second direction Y based on the magnitude of the first electrical parameter.

[0065] For example, when the tactile sensor is subjected to a force in the second direction Y, the dielectric layer 112 deforms accordingly, reducing the distance between the third conductor 111 and the conductive layer 113. When the dielectric layer 112 is formed by mixing materials such as rubber, polyurethane, or silicone with conductive particles such as carbon nanotubes, graphene oxide, or carbon black, the resistance between the third conductor 111 and the conductive layer 113 decreases. The greater the force in the second direction Y, the smaller the resistance between the third conductor 111 and the conductive layer 113. Therefore, the force value in the second direction Y can be determined by determining the resistance between the third conductor 111 and the conductive layer 113. For example, by detecting the capacitance, current, or voltage between the third conductor 111 and the conductive layer 113, the resistance between the third conductor 111 and the conductive layer 113 can be determined, thereby determining the force value in the second direction Y. For example, if the first electrical parameter is capacitance, when a force is applied in the second direction Y, the distance between the third conductor 111 and the conductive layer 113 decreases, the resistance between the third conductor 111 and the conductive layer 113 decreases, and the capacitance between the third conductor 111 and the conductive layer 113 increases. In some other embodiments, the first electrical parameter can also be current; when the resistance between the third conductor 111 and the conductive layer 113 decreases, the current between the third conductor 111 and the conductive layer 113 increases. When the change in current caused by the force in the second direction Y is small, a high-precision current detection instrument can be used for detection. In this way, it can be determined whether a force is applied in the second direction Y based on the change in the first electrical parameter, and the specific force value in the second direction Y can be determined based on the magnitude of the first electrical parameter.

[0066] When the dielectric layer 112 is formed of materials such as rubber, polyurethane, or silicone, the distance between the third conductor 111 and the conductive layer 113 decreases, resulting in an increase in the capacitance between them. Therefore, the force value in the corresponding second direction Y can be determined by measuring the capacitance between the third conductor 111 and the conductive layer 113. For example, by detecting the current or voltage between the third conductor 111 and the conductive layer 113, the capacitance between them can be determined, thereby determining the force value in the corresponding second direction Y. For example, if the first electrical parameter is capacitance, when a force is applied in the second direction Y, the distance between the third conductor 111 and the conductive layer 113 decreases, and the capacitance between them increases. In some other embodiments, the first electrical parameter can also be current; when the capacitance between the third conductor 111 and the conductive layer 113 increases, the current between them also increases. When the current change caused by the force in the second direction Y is small, a high-precision current detection instrument can be used for detection. In this way, it can be determined whether there is a force in the second direction Y based on the change of the first electrical parameter, and the specific force value in the second direction Y can be determined based on the magnitude of the first electrical parameter.

[0067] In this way, the tactile sensor can detect the force in the second direction Y. Figure 2 The diagram illustrates part of the second direction Y, but does not define it.

[0068] For example, when a normal force and a tangential force are applied to a device equipped with the tactile sensor provided in this embodiment, the distance between the third conductor 111 and the conductive layer 113 changes accordingly, and the distance between the first conductor 120 and the second conductor 130 also changes accordingly. Specifically, the change in the distance between the third conductor 111 and the conductive layer 113 leads to an increase in the capacitance between them. The change in the distance between the first conductor 120 and the second conductor 130 leads to a change in the capacitance between them, i.e., a change in the induced charge. The change in induced charge can be determined by monitoring the change in capacitance or current between the first conductor 120 and the second conductor 130. By simultaneously monitoring the change in capacitance between the third conductor 111 and the conductive layer 113, and the change in capacitance or current between the first conductor 120 and the second conductor 130, simultaneous detection of the normal force and the tangential force can be achieved, thereby realizing accurate measurement of triaxial forces.

[0069] Based on the above technical solutions, Figure 4 This is a left view of another tactile sensor provided in this embodiment of the present invention. Figure 5 This is a right view of another tactile sensor provided in an embodiment of the present invention. Optionally, refer to... Figure 4 and Figure 5 The first detection structure 110 also includes:

[0070] The third insulating layer 114 is located on the side of the conductive layer 113 away from the dielectric layer 112, and the third insulating layer 114 covers the conductive layer 113.

[0071] Specifically, by providing a third insulating layer 114, the first detection structure 110 can be encapsulated, preventing it from being affected by external interference and avoiding electric shock. Furthermore, it prevents mutual interference of electrical parameters between the first detection structure 110 and the first conductor 120 and the second conductor 130. This improves the accuracy, safety, and stability of the tactile sensor detection.

[0072] Based on the above technical solutions, the third conductor 111 may optionally include a third conductive fiber.

[0073] Specifically, the third conductive fiber can be made from materials such as silver fiber, stainless steel fiber, or metallic conductive wire. The third conductive fiber has a flexible structure, allowing it to easily change shape according to the application device. For example, when a tactile sensor is used in a robotic finger, it can follow the bending of the finger. When a tactile sensor is used in a wearable medical detection device, it is easy to wear.

[0074] Based on the above technical solutions, the following describes the structures that tactile sensors may also include, but this is not intended to limit the scope of this application.

[0075] Figure 6 This is a circuit structure diagram of a tactile sensor provided in an embodiment of the present invention. Figure 7 This is a schematic diagram of the circuit structure of another tactile sensor provided in an embodiment of the present invention. Optionally, refer to... Figure 6 or Figure 7 The tactile sensor also includes a first electrical parameter detection module 140;

[0076] The first electrical parameter detection module 140 is connected to the third conductor 111 and the conductive layer 113 respectively. The first electrical parameter detection module 140 is used to detect the first electrical parameter; wherein, the first electrical parameter is any one of voltage, current, capacitance and resistance.

[0077] Specifically, the first electrical parameter detection module 140 can detect a first electrical parameter, and thus determine the force value in the second direction Y based on the correspondence between the first electrical parameter and the distance between the third conductor 111 and the conductive layer 113, and the correspondence between the distance between the third conductor and the conductive layer 113 and the force value in the second direction Y. For example, the first electrical parameter detection module 140 can transmit the detected first electrical parameter to the controller in the device where the tactile sensor is applied, and the controller can convert it to obtain the corresponding force value.

[0078] like Figure 6 or Figure 7 As shown, when the tactile sensor is subjected to a force in the second direction Y, the first detection structure 110 undergoes a corresponding deformation, that is, the distance between the third conductor 111 and the conductive layer 113 changes accordingly. The first electrical parameter detection module 140 detects the first electrical parameter, thereby determining the force value in the second direction Y based on the first electrical parameter. Figure 6 and Figure 7 Two different forms of tactile sensors are shown, but no limitation is made.

[0079] For example, if the first electrical parameter is capacitance, the first electrical parameter detection module 140 may include a capacitance detection circuit. The capacitance detection circuit detects the capacitance between the third conductor 111 and the conductive layer 113, thereby determining the force value in the second direction Y based on the capacitance.

[0080] In some other embodiments, the first electrical parameter is current. In this case, the first electrical parameter detection module 140 may include a current transformer or a Hall current sensor, etc. The first electrical parameter detection module 140 may also include a sampling resistor. Based on the resistance value and voltage of the sampling resistor, the current between the third conductor 111 and the conductive layer 113 is determined. The first electrical parameter detection module 140 may also include a power supply circuit (e.g., a voltage conversion circuit) to convert the external input power supply into an output voltage to power the third conductor 111 and the conductive layer 113, thereby allowing current to flow between the third conductor 111 and the conductive layer 113. This facilitates the determination of the force value in the second direction Y based on the current value between the third conductor 111 and the conductive layer 113. In some other embodiments, the third conductor 111 and the conductive layer 113 may also be directly powered by an external power source; this embodiment does not limit this.

[0081] Figure 8 This is a circuit structure diagram of another tactile sensor provided in an embodiment of the present invention. Optionally, refer to... Figure 8 The tactile sensor also includes a second electrical parameter detection module 150;

[0082] The second electrical parameter detection module 150 is connected to the first conductor 120 and the second conductor 130 respectively. The second electrical parameter detection module 150 is used to detect a second electrical parameter, which is any one of voltage, current and capacitance.

[0083] Specifically, the second electrical parameter detection module 150 can detect a second electrical parameter, and thus determine the force value in the first direction X based on the correspondence between the second electrical parameter and the distance between the first conductor 120 and the second conductor 130, and the correspondence between the distance between the first conductor 120 and the second conductor 130 and the force value in the first direction X. For example, the second electrical parameter detection module 150 can transmit the detected second electrical parameter to the controller in the device where the tactile sensor is applied, and the controller can convert it to obtain the corresponding force value.

[0084] For example, if the second electrical parameter is current, the second electrical parameter detection module 150 may include a current transformer or a Hall current sensor, etc. The second electrical parameter detection module 150 may also include a sampling resistor, and the current between the first conductor 120 and the second conductor 130 is determined based on the resistance value and voltage of the sampling resistor. The second electrical parameter detection module 150 may also include a power supply circuit (voltage regulator circuit or DC-DC converter circuit) to convert the external input power supply into an output voltage to power the first conductor 120 and the second conductor 130, thereby allowing current to flow between the first conductor 120 and the second conductor 130, and thus facilitating the determination of the force value in the first direction X based on the current value between the first conductor 120 and the second conductor 130. In some other embodiments, the first conductor 120 and the second conductor 130 may be directly powered by an external power supply; this embodiment is not limited to this.

[0085] In this way, the first and second electrical parameters can be collected, which makes it easier to determine the force in the second direction Y based on the first electrical parameter and the force in the first direction X based on the second electrical parameter.

[0086] For example, Figure 9 This is a circuit structure diagram of another tactile sensor provided in an embodiment of the present invention. Figure 10 This is a circuit structure diagram of another tactile sensor provided in an embodiment of the present invention. Figure 11 This is a schematic diagram of the circuit structure of another tactile sensor provided in this embodiment of the present invention, as shown below. Figure 9 As shown, the tactile sensor is in its normal state, that is, in a state where no force is applied. Figure 10 As shown, the tactile sensor is subjected to a force in the first direction X, and the direction of the force is from the edge of the tactile sensor to the center of the tactile sensor, that is, the tactile sensor is in a compressed (contracted) state. Figure 11 As shown, the tactile sensor is subjected to a force in the first direction X, and the direction of the force is from the center of the tactile sensor to the edge of the tactile sensor, that is, the tactile sensor is in a stretched (elongated) state. Figure 9 and Figure 10 As shown, when the tactile sensor is subjected to a force in the first direction X, and the direction of the force is from the edge of the tactile sensor to the center of the tactile sensor, the distance between the first conductor 120 and the second conductor 130 decreases, causing a change in the induced charge between the first conductor 120 and the second conductor 130. The second electrical parameter detection module 150 acquires the change in the second electrical parameter, thereby determining the direction of the force in the first direction X based on the direction of the change in the acquired second electrical parameter (increase or decrease), and determining the magnitude of the force in the first direction X based on the amount of change in the second electrical parameter. Figure 9 and Figure 11As shown, when the tactile sensor is subjected to a force in the first direction X, and the direction of the force is from the center of the tactile sensor to the edge of the tactile sensor, the distance between the first conductor 120 and the second conductor 130 increases, causing a change in the induced charge between the first conductor 120 and the second conductor 130. The second electrical parameter detection module 150 acquires the change in the second electrical parameter, thereby determining the direction of the force in the first direction X based on the direction of change (decrease or increase) of the acquired second electrical parameter, and determining the magnitude of the force in the first direction X based on the amount of change of the second electrical parameter.

[0087] For example, when the distance between the first conductor 120 and the second conductor 130 decreases, the direction of change of the second electrical parameter is the increasing direction, i.e. Figure 10 The corresponding second electrical parameter is greater than Figure 9 The corresponding second electrical parameter. When the distance between the first conductor 120 and the second conductor 130 increases, the direction of change of the second electrical parameter is decreasing, that is... Figure 11 The corresponding second electrical parameter is less than Figure 9 The corresponding second electrical parameter. Alternatively, when the distance between the first conductor 120 and the second conductor 130 decreases, the direction of change of the second electrical parameter is the decreasing direction, i.e. Figure 10 The corresponding second electrical parameter is less than Figure 9 The corresponding second electrical parameter. When the distance between the first conductor 120 and the second conductor 130 increases, the direction of change of the second electrical parameter is the increasing direction, that is... Figure 11 The corresponding second electrical parameter is greater than Figure 9 The corresponding second electrical parameter. This embodiment is not limited.

[0088] Optionally, the first conductor 120 and the second conductor 130 are spirally and alternately wound on the first detection structure 110. This facilitates uniform winding and ensures that the spacing between any two adjacent segments of the first conductor 120 and the second conductor 130 is the same, which helps to improve the accuracy of the tactile sensor in detecting force in the first direction X.

[0089] This utility model embodiment also provides a robot, which includes a tactile sensor provided in any embodiment of this utility model. The tactile sensor can be applied to the robot's fingers, palms, toes, head, or other parts, and this embodiment is not limited thereto. For example, if the tactile sensor is applied to the robot's fingers, when the robot grasps an object, the tactile sensor can detect the force on the fingers in three dimensions, determine the shape of the object, and thus determine the type of the object, etc.

[0090] Since the robot provided in this embodiment includes the tactile sensor provided in any embodiment of this utility model, it has the same beneficial effects as the tactile sensor provided in any embodiment of this utility model, and will not be described again here.

[0091] The specific embodiments described above do not constitute a limitation on the scope of protection of this utility model. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

1. A tactile sensor characterized by, include: A first detection structure extends along a first direction; wherein the first detection structure is used to generate a corresponding deformation according to the force state of the tactile sensor in a second direction, and a first electrical parameter of the first detection structure changes according to the force state of the tactile sensor in the second direction; wherein the second direction intersects the first direction; A first conductor and a second conductor are alternately wound around the first detection structure and spaced apart along the first direction. A second electrical parameter between the first conductor and the second conductor changes according to the force state of the tactile sensor in the first direction. The first conductor is wound around the first detection structure at least once, and the second conductor is wound around the first detection structure at least once.

2. The tactile sensor according to claim 1, characterized by The first conductor includes a first conductive fiber; the second conductor includes a second conductive fiber.

3. The tactile sensor according to claim 2, wherein The first conductor further includes a first insulating layer, which covers the first conductive fiber; The second conductor further includes a second insulating layer, which covers the second conductive fiber.

4. The tactile sensor according to claim 1, characterized by, The first detection structure includes: A third conductor extends along the first direction; A dielectric layer covering the third conductor; wherein the dielectric layer is used to generate corresponding deformation according to the force state of the tactile sensor in the second direction; A conductive layer is located on the side of the dielectric layer away from the third conductor, and the conductive layer covers the dielectric layer; wherein, the first electrical parameter of the first detection structure is the first electrical parameter between the third conductor and the conductive layer.

5. The tactile sensor according to claim 4, characterized by The first detection structure further includes: A third insulating layer is located on the side of the conductive layer away from the dielectric layer, and the third insulating layer covers the conductive layer.

6. The tactile sensor according to claim 4, wherein The third conductor includes a third conductive fiber.

7. The tactile sensor according to claim 4, wherein The tactile sensor also includes a first electrical parameter detection module; The first electrical parameter detection module is connected to the third conductor and the conductive layer respectively, and the first electrical parameter detection module is used to detect the first electrical parameter; wherein, the first electrical parameter is any one of voltage, current, capacitance and resistance.

8. The tactile sensor of claim 1, wherein, The tactile sensor also includes a second electrical parameter detection module; The second electrical parameter detection module is connected to the first conductor and the second conductor respectively, and the second electrical parameter detection module is used to detect the second electrical parameter; wherein, the second electrical parameter is any one of voltage, current and capacitance.

9. The tactile sensor according to any one of claims 1 to 8, wherein The first conductor and the second conductor are spirally and alternately wound on the first detection structure.

10. A robot, characterized in that Includes the tactile sensor as described in any one of claims 1-9.

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