Slip sensor based on generation of uneven charges on contact interface, and robot hand and foot

Abstract

Disclosed in the present invention are a slip sensor based on generation of uneven charges on a contact interface, and a robot hand and foot. The slip sensor comprises an electrode layer (2) and a substrate layer (1), the electrode layer (2) being arranged on the substrate layer (1); the electrode layer (2) comprises four electrodes which are orthogonally and symmetrically distributed, the four electrodes respectively being a front electrode, a rear electrode, a left electrode and a right electrode; the electrode layer is used for coming into contact with the surface of a contact object and, when a relative slip occurs between the electrode layer and the surface of the contact object, each electrode generates a corresponding voltage signal.

Description

Slip sensor and robot hand and foot based on uneven charge generation at contact interface

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] The embodiments of this application are based on and claim the priority of Chinese patent application with application number 2024101887764 and application date February 20, 2024. The entire contents of the Chinese patent application are hereby introduced into the embodiments of this application as a reference. Technical Field

[0003] The present invention relates to the field of sensor technology, and in particular to a slip sensor and a robot hand and foot based on uneven charge generation at a contact interface. Background Art

[0004] Maintaining stability when grasping or manipulating objects is crucial for both humans and robots. Slippage is a common challenge because it can disrupt the balance of forces and even cause objects to fall. In humans, mechanoreceptors on the skin (SA-I, SA-II, RA-I, and RA-II) sense slippage and convert it into electrical signals that are transmitted to the brain, which adjusts and regulates muscle force and movement to ensure stable grasping and manipulation. Similarly, for intelligent robots such as surgical robots or smart prosthetics, slip sensing is crucial to achieving stable and dexterous manipulation similar to that of the human hand.

[0005] Currently, two methods exist for slip detection, each with its own limitations. The first method uses a multi-axis force sensor to measure the normal and tangential forces at the contact interface. By comparing the ratio of the tangential to normal forces with the magnitude of the friction coefficient, a slip event can be identified. However, this method requires prior knowledge of the friction coefficient, which varies depending on the surface characteristics of the grasped object, making slip detection unreliable. The second method relies on vibration detection, assuming that slip is accompanied by detectable vibrations. However, the frequency and amplitude of these vibrations can be affected by various factors, such as surface roughness and sliding speed. Setting empirical thresholds for determining slip events introduces uncertainty and can result in inaccurate detection. In recent years, research has explored the use of artificial intelligence to analyze signals for slip detection. However, these methods rely on large amounts of labeled data, which can lead to latency issues in real-time applications. Furthermore, due to the diversity of slip events, actual data may differ from the labeled data, resulting in low detection accuracy. Furthermore, these existing slip detection methods can only confirm the occurrence of slip but cannot provide detailed information such as distance, speed, and angle. Summary of the Invention

[0006] The purpose of the present invention is to provide a slip sensor based on uneven charge on the contact interface, which can not only determine whether slip occurs, but also obtain specific information such as slip distance, speed, direction, etc.; it is produced through common manufacturing technology and ensures high slip detection accuracy, so that the robot can prevent slip in time, or make reasonable adjustments through output signals when slip occurs.

[0007] The technical solution adopted in the present invention is:

[0008] A slip sensor based on uneven charge at a contact interface, used in robotic sensors, comprises an electrode layer and a base layer, wherein the electrode layer is disposed on the base layer; the electrode layer comprises four orthogonally symmetrically distributed electrodes, namely a front electrode, a rear electrode, a left electrode, and a right electrode. The electrode layer is used to contact the surface of a contact object, and each electrode generates a corresponding voltage signal when relative sliding occurs with the contact object surface.

[0009] The four orthogonally symmetrically distributed electrodes mean that: the line between the front electrode and the rear electrode is orthogonal to the line between the left electrode and the right electrode, the front electrode and the rear electrode are arranged symmetrically with respect to the line between the left electrode and the right electrode, and the left electrode and the right electrode are arranged symmetrically with respect to the line between the front electrode and the rear electrode.

[0010] A robot hand includes a robot finger and a slip sensor arranged on the tip of the robot finger based on uneven charge on the contact interface as described above; when the robot performs a grasping operation, the new slip sensor is used to detect whether relative sliding occurs between the grasped object and the robot finger tip. If a slip signal is detected, the grasping force is adjusted in time to prevent further slippage.

[0011] A robot foot includes a slip sensor based on uneven charge on a contact interface as described above, which is arranged on the sole of the robot foot; during the robot's walking, the new slip sensor is used to detect whether the robot foot slides relative to the ground during walking. If a slip signal is detected, the robot promptly changes its path or adjusts gait parameters.

[0012] The beneficial effects of the present invention are:

[0013] The present invention is based on the different abilities of material surfaces to attract electrons. The slippage of a conductor on a dielectric surface is usually accompanied by the generation of contact interface charges. The generation of interface charges is uneven, with more charges generated at the moving front of the conductor. The different voltage signals generated by each electrode during the slippage process can not only determine whether slippage has occurred, but also obtain specific information such as the slippage distance, speed, and direction. The invention is produced using common manufacturing technologies while ensuring high slippage detection accuracy, so that the robot can prevent slippage in a timely manner, or make reasonable adjustments through output signals when slippage occurs. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] FIG1 is a schematic structural diagram of a slip sensor based on uneven charge on a contact interface according to the present invention.

[0015] FIG. 2 a is a schematic diagram showing the principle of voltage generation by electrodes of the slip sensor of the present invention.

[0016] FIG2 b is a schematic diagram showing the principle of the slip sensor of the present invention.

[0017] FIG3 a is a signal diagram of the sliding sensor of the present invention when sliding different distances in the same direction.

[0018] FIG3b is a graph of the sliding distance and the original signal calculated based on the sliding sensor sliding different distances in the same direction according to the present invention. Schematic diagram of the relationship.

[0019] FIG3 c is a schematic diagram of the present invention showing the sliding distance and α calculated based on the original signal of the sliding sensor sliding at different distances in the same direction.

[0020] FIG4 a is a signal diagram of the sliding sensor of the present invention when sliding the same distance in different directions.

[0021] FIG4 b is a schematic diagram showing the relationship between the sliding direction and α calculated based on the original signal of the sliding sensor sliding the same distance in different directions according to the present invention.

[0022] FIG4c is a graph of the sliding direction and the sliding distance calculated based on the original signal of the sliding sensor sliding the same distance in different directions according to the present invention. Schematic diagram of the relationship.

[0023] FIG5 a is a signal diagram of the sliding sensor of the present invention when sliding the same distance in the same direction at different speeds.

[0024] FIG5b is a graph of the present invention showing the sliding speed and the sliding distance calculated based on the original signal of the sliding sensor sliding in the same direction at different speeds. The relationship diagram of the first-order partial derivative of .

[0025] In the figure: 1-base layer; 2-electrode layer. Modes for Carrying Out the Invention

[0026] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0027] In the description of the present invention, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like are used to indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0028] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, removable connections, or integral connections. They may refer to mechanical connections or electrical connections. They may refer to direct connections or indirect connections through an intermediary, and they may refer to internal communication between two components or interactions between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0029] A slip sensor based on uneven charge at a contact interface includes an electrode layer and a base layer, wherein the electrode layer is arranged on the base layer; wherein the electrode layer includes four orthogonally symmetrically distributed electrodes, namely a front electrode, a rear electrode, a left electrode and a right electrode. The electrode layer is used to contact the surface of the contact object. When relative sliding occurs with the surface of the contact object, each electrode generates a corresponding voltage signal. The voltage signal generated by each electrode can not only determine whether slip occurs, but also obtain specific information such as slip distance, speed, and direction; the base layer only plays a supporting role.

[0030] The electrodes and the surfaces of the contacting objects have different abilities to attract electrons. When relative sliding occurs, charge transfer occurs between the contact interfaces. The static charge accumulated on the surfaces of the contacting objects hinders the charge transfer between the contact interfaces, causing the front electrode in the direction of movement to accumulate more charge than the rear electrode, thereby generating an electric potential difference between the two electrodes. The magnitude of the voltage is linearly related to the sliding distance.

[0031] The four orthogonally symmetrically distributed electrodes specifically refer to: the center line between the front electrode and the rear electrode is orthogonal to the center line between the left electrode and the right electrode, the front electrode and the rear electrode are symmetrically arranged with respect to the center line between the left electrode and the right electrode, and the left electrode and the right electrode are symmetrically arranged with respect to the center line between the front electrode and the rear electrode.

[0032] Furthermore, the voltage signals generated by the two groups of orthogonal symmetrical electrodes are linearly correlated with the slip distances along two orthogonal directions, respectively. By vector synthesis of the two groups of signals, the slip direction can be obtained.

[0033] The rate of change of the voltage signals generated by the two sets of orthogonal symmetrical electrodes is related to the sliding speed. Therefore, the sliding speed can be obtained by detecting the rate of change of the voltage signals generated by the two sets of orthogonal symmetrical electrodes during the sliding process, that is, the first-order derivative of the voltage signal.

[0034] Furthermore, the difference between the voltage signals generated by the front electrode and the rear electrode and the difference between the voltage signals generated by the left electrode and the right electrode are linearly related to the slip distances along two orthogonal directions, respectively. By vector synthesizing these two sets of signal differences, the slip distance and slip direction are obtained, and the first-order derivative of the slip distance is the slip velocity.

[0035] The slip distance is: , where k is the correction coefficient, which is a constant (k is usually set to 0.8≤k≤1.2, but is not limited to this range and can be set in advance or determined by experiment according to the specific environment), and the slip distance is

[0036] (1)

[0037] The sliding direction is: (2)

[0038] Among them, U X Indicates U FE and U BE The difference between Y Indicates U RE and U LE The difference between the two, the potential of the front electrode to the ground during the sliding process is U FE , the potential of the rear electrode to ground is U BE , the potential of the left electrode to ground is U LE , the potential of the right electrode to ground is U RE .

[0039] Furthermore, the material of the electrode layer is a conductive material, and the material of the base layer is an insulating material.

[0040] Furthermore, the conductive material is any one of a conductive metal material, indium tin oxide, and a flexible conductive composite material.

[0041] Furthermore, the conductive metal material is selected from any one of copper, aluminum, iron, zinc, nickel, chromium, titanium, tungsten, silver, gold, lead, and cobalt.

[0042] Further, the insulating material is selected from aniline formaldehyde resin, polyoxymethylene, ethyl cellulose, polyamide nylon-11, polyamide nylon-66, wool and its fabrics, silk and its fabrics, paper, polyethylene glycol succinate, cellulose, cellulose acetate, polyethylene glycol adipate, polydiallyl phthalate, regenerated cellulose sponge, cotton and its fabrics, polyurethane elastomer, styrene-acrylonitrile copolymer, styrene-butadiene copolymer, wood, hard rubber, acetate, rayon, polymethyl methacrylate, polyvinyl alcohol, polyester, polyisobutylene, polyurethane elastic sponge, polyethylene terephthalate, polyvinyl butyral, butadiene-acrylonitrile copolymer, chloroprene rubber, natural rubber, polyacrylonitrile, poly(vinylidene chloride-CO acrylonitrile), polybisphenol A carbonate, polychloroether, polyvinylidene chloride, poly(2, Any one of poly(6-dimethylphenylene oxide), polystyrene, polyethylene, polypropylene, polydiphenylpropane carbonate, polyethylene terephthalate, polyimide, polyvinyl chloride, polydimethylsiloxane, polychlorotrifluoroethylene, polytetrafluoroethylene and parylene.

[0043] Furthermore, the overall shape of the electrode layer can be changed according to needs, such as square, circle, diamond, square with a hole in the middle, circle, diamond, and other symmetrical orthogonal shapes.

[0044] When the electrode layer is square as a whole, the electrode layer is composed of four orthogonally symmetrically arranged square electrodes;

[0045] When the electrode layer is circular as a whole, the electrode layer is composed of four orthogonally symmetrically arranged right-angled sectors;

[0046] When the electrode layer is in a rhombus shape as a whole, the electrode layer is composed of four orthogonally symmetrically arranged triangles;

[0047] Holes can also be dug in the centers of the above-joined square, circular and diamond-shaped electrode layers, as long as the four electrodes still satisfy orthogonal symmetry.

[0048] Furthermore, the gap width between adjacent electrodes is less than or equal to 100 μm.

[0049] Furthermore, the gap width between electrodes affects the sensing sensitivity and minimum detection limit of the slip sensor. The gap width of the novel slip sensor is controlled at 100 μm. Under this gap width, the sensor has good sensitivity to submillimeter slip and can detect a minimum slip distance of 100 μm.

[0050] A robot hand includes a robot finger and a slip sensor based on uneven charge on a contact interface, as described above, arranged on the fingertip of the robot; when the robot performs a grasping operation, the new slip sensor detects whether relative sliding occurs between the grasped object and the robot fingertip. If a slip signal is detected, the gripping force is adjusted in a timely manner to prevent further slippage, thereby ensuring stability during the robot operation.

[0051] A robot foot includes a slip sensor based on uneven charge on a contact interface, as described above, arranged on the sole of the robot foot; during the robot's walking, the novel slip sensor is used to detect whether the robot foot slides relative to the ground during walking. If a slip signal is detected, the robot promptly changes its path or adjusts its gait parameters to achieve stable movement.

[0052] When relative sliding occurs at the contact interface, the difference in the amount of charge accumulated on the symmetrical electrodes causes a potential difference to be generated between the two electrode fingertips. The longer the distance the slip occurs, the greater the voltage; the faster the slip occurs, the faster the rate of change of the voltage. Based on the corresponding change relationship, the distance, direction, and speed of the slip can be calculated and the signal fed back to the robot control system to ensure that the robot can reasonably adjust its movements. Overall, the slip sensor based on uneven charge on the contact interface provided by the present invention can directly convert slip events into electrical signals compared with the existing technology, improving the accuracy of slip detection. It can detect slips as small as sub-millimeters. More importantly, it can obtain specific slip information such as slip distance, speed, and direction, which is a function that previous slip sensors do not have. The sensor has a simple structure and does not require complex manufacturing processes, making it easy to achieve large-scale and rapid mass production. The overall structure of the sensor is compact and can be easily integrated into various parts of the robot body, such as the robot's fingertips or soles, thereby ensuring the stability of the robot during operation or movement. The present invention can not only quickly realize mass production through a simple process, but also ensure high measurement accuracy, and has broad application prospects in robot adaptive grasping, dexterous operation and human-computer interaction.

[0053] The present invention operates by providing a slip sensor that converts slip information into electrical signals to detect slippage and obtain information such as slip distance, direction, and speed. Installed on the fingertips or soles of a robot, the slip sensor can detect slippage during grasping or locomotion, enabling timely adjustments to grip force or gait to ensure stable grasping or locomotion. The slip sensor utilizes the phenomenon of non-uniform charge generation at the contact interface between a conductor and a dielectric during slippage to convert slippage events into electrical signals.

[0054] For ease of explanation, the principles of the present invention will be described below in conjunction with the typical structure of FIG. 1 . However, it is obvious that these contents are not limited to the embodiment shown in FIG. 1 , but can be applied to all technical solutions disclosed in the present invention.

[0055] Figure 1 shows a typical structure of a slip sensor according to the present invention, comprising an electrode layer 1 and a substrate layer 2. When the sensor slides relative to a dielectric surface, the four orthogonal electrodes generate electrical signals. These signals vary depending on the slip distance and direction. By comparing these signals, not only can the presence of slip be detected, but also information such as the slip distance, direction, and speed can be determined.

[0056] The operating principle of the slip sensor of the present invention, as shown in Figure 2a, is that the slip process between a conductor and a dielectric is typically accompanied by the generation of charge at the contact interface. This interfacial charge generation is uneven, with more charge generated at the conductor's moving front. This leads to charge flow within the conductor during the slip process. This charge transfer is very sensitive to slip, and the amount, speed, and direction of charge transfer are closely related to the distance, speed, and direction of slip.

[0057] As shown in Figure 2b, the slip sensor consists of four symmetrical triangular electrodes, namely the front electrode, the rear electrode, the left electrode, and the right electrode (FE, BE, LE, and RE). We measure the potential of the four electrodes relative to the ground during the slip process, which are denoted as U FE 、U BE 、U RE and U LE .U FE and U BE The difference between them is expressed as U X Indicates that U RE and U LE The difference between Y Since the front and rear electrodes are symmetrical along the Y direction, U X Only depends on the sliding distance along the X direction. Similarly, U Y It only depends on the sliding distance along the Y direction. X and U Y Considered as vectors along the X and Y directions respectively, the sliding distance can be synthesized and the vector of slip direction α information . and the slip direction α can be calculated by the following formula:

[0058] (1)

[0059] (2)

[0060] Figure 3a is the original signal diagram of the sliding sensor sliding in the same direction for different distances. Figures 3b and 3c are the calculated results based on the original signal of Figure 3a. and α. We can see It is proportional to the slip distance, and α is a constant value.

[0061] Figure 4a is the original signal diagram of the sliding sensor sliding the same distance in different directions. Figures 4b and 4c are the calculated results based on the original signal of Figure 4a. and α. It can be seen that α is basically the same as the slip direction. is a constant value.

[0062] Figure 5a is the original signal diagram of the slip sensor sliding the same distance in the same direction at different slip speeds, and Figure 5b is the original signal of Figure 5a calculated The first-order partial derivative of . We can see The first-order partial derivative of is proportional to the slip velocity.

[0063] Example 1: This example uses the slip sensor structure shown in Figure 1, where the electrode layer is in the shape of a rhombus and the electrode is in the shape of a triangle. The base layer 1 is made of polyimide (PI) film, the electrode layer 2 is made of copper foil, the electrode gap width is 0.1 mm, and the electrode layer as a whole is a square with a side length of 15 mm. The slip sensor is installed on the inner side of the clamp of a two-finger mechanical claw, and the mechanical claw can detect whether relative slip occurs between the object and the fingertips of the clamp during the object grasping process. The slip signal can be used as feedback control, that is, after the slip event is detected, the gripping force is increased in time until the slip signal disappears. Through the slip information provided by the slip sensor, the mechanical claw can complete the gripping without a large gripping force, which not only ensures the stability of the gripping and prevents the object from slipping or even falling off, but also avoids damage to the gripped object caused by excessive gripping force.

[0064] Example 2: This example uses the slip sensor structure shown in Figure 1. The base layer 1 is made of polydimethylsiloxane (PDMS) film, the electrode layer 2 is made of conductive composite material, the electrode pattern is obtained by screen printing the conductive composite material on the polydimethylsiloxane (PDMS) substrate, the electrode gap width is 0.1mm, and the electrode layer as a whole is a square with a side length of 10mm. The slip sensor is installed on the fingertips of the five-fingered bionic hand. If the bionic hand collides with an external obstacle during the process of grasping an object, the grasped object and the bionic fingertips will slide relative to each other. The slip information detected by the fingertips of multiple fingers, including slip distance, direction, speed, etc., can be used to further determine the location of the collision and the change in relative position between the grasped object and the hand after the collision, thereby providing guidance for subsequent rescue measures.

[0065] Example 3: This example uses the slip sensor structure shown in Figure 1. The base layer 1 is made of polyimide (PI) film, the electrode layer 2 is made of copper foil, the electrode gap width is 0.1 mm, and the electrode layer as a whole is a square with a side length of 10 mm. The slip sensor is installed on the sole of the hexapod robot, and the relative sliding of the sole and the fingertips on the ground during the movement of the hexapod robot can be detected in time. The hexapod robot may slip during movement due to changes in path conditions. For example, when going uphill, after detecting the occurrence of a slip event, the robot can avoid slipping by replanning the path or adjusting the gait, thereby ensuring stability during walking.

[0066] The slip sensor for robot electronic skin of the present invention has a simple structure, does not require complex manufacturing processes, and can be easily integrated into various parts of the robot's body, such as the robot's fingertips or soles of the feet. The slip sensor of the present invention can be well integrated with other types of sensors, achieving multimodal sensing integration without affecting the functions of other sensors. The slip information detected by the slip sensor can be used as feedback control information during robot operation, allowing timely adjustment of grip force or walking gait during robot grasping or walking to prevent continued slippage and ensure stability during operation or movement.

[0067] In summary, the present invention discloses a slip sensor based on uneven charge generation at the contact interface, belonging to the field of slip detection technology. The novel slip sensor primarily comprises symmetrical electrodes and a substrate. Its principle is that, due to differences in the ability of material surfaces to attract electrons, the slipping of a conductor on a dielectric surface is often accompanied by the generation of charge at the contact interface. This charge generation is uneven, with more charge generated at the conductor's leading edge. The electrode structure of the novel slip sensor consists of four orthogonally symmetrical electrodes. During relative sliding with the dielectric, the charge differences accumulated on the symmetrical electrodes result in a potential difference between the two electrodes, the magnitude of which is related to the slip distance. By vector-combining the two sets of voltage signals extracted from the two orthogonal stacked electrodes, not only can slip be determined, but also information such as slip distance, speed, and direction can be obtained. This novel slip sensor has a simple structure and achieves submillimeter-level high-sensitivity slip sensing without complex manufacturing processes. The novel slip sensor can be compactly integrated into potential slip locations on a robot, such as the fingertips or soles of the feet. When slip occurs on the contact surface, the sensor can be used to determine the signal and implement timely control measures to prevent slip.

[0068] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0069] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all such improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. A slip sensor based on uneven charge on a contact interface, comprising an electrode layer and a substrate layer, wherein the electrode layer is disposed on the substrate layer; The electrode layer includes four orthogonally symmetrically distributed electrodes, namely the front electrode, the rear electrode, the left electrode, and the right electrode. The electrode layer is used to contact the surface of the contact object. When relative sliding occurs with the surface of the contact object, each electrode generates a corresponding voltage signal; The four orthogonally symmetrically distributed electrodes mean that: the line between the front electrode and the rear electrode is orthogonal to the line between the left electrode and the right electrode, the front electrode and the rear electrode are arranged symmetrically with respect to the line between the left electrode and the right electrode, and the left electrode and the right electrode are arranged symmetrically with respect to the line between the front electrode and the rear electrode.

2. The slip sensor based on uneven charge generation at the contact interface according to claim 1, wherein: The difference in voltage signals generated by the front electrode and the rear electrode and the difference in voltage signals generated by the left electrode and the right electrode are linearly related to the slip distances along two orthogonal directions, respectively. By vector synthesizing these two sets of signal differences, the slip distance and slip direction are obtained. The first-order derivative of the slip distance is the slip velocity.

3. The slip sensor based on charge unevenness at the contact interface according to claim 1 or 2, wherein: The slip distance is: , where k is a constant; （1） The sliding direction is: (2) Among them, U X Indicates U FE and U BE The difference between Y Indicates U RE and U LE The difference between the two, the potential of the front electrode to the ground during the sliding process is U FE , the potential of the rear electrode to ground is U BE , the potential of the left electrode to ground is U LE , the potential of the right electrode to ground is U RE .

4. The slip sensor based on uneven charge generation at the contact interface according to claim 1, wherein: The material of the electrode layer is a conductive material, and the material of the base layer is an insulating material.

5. The slip sensor based on uneven charge generation at the contact interface according to claim 4, wherein: The conductive material is any one of a conductive metal material, indium tin oxide, and a flexible conductive composite material.

6. The slip sensor based on uneven charge generation at the contact interface according to claim 4, wherein: The insulating material is selected from aniline formaldehyde resin, polyoxymethylene, ethyl cellulose, polyamide nylon-11, polyamide nylon-66, wool and its fabrics, silk and its fabrics, paper, polyethylene glycol succinate, cellulose, cellulose acetate, polyethylene glycol adipate, polydiallyl phthalate, regenerated cellulose sponge, cotton and its fabrics, polyurethane elastomer, styrene-acrylonitrile copolymer, styrene-butadiene copolymer, wood, hard rubber, acetate, rayon, polymethyl methacrylate, polyvinyl alcohol, polyester, polyisobutylene, polyurethane elastic sponge, polyethylene terephthalate, polyvinyl butyral, butadiene-acrylonitrile copolymer, chloroprene rubber, natural rubber, polyacrylonitrile, poly(vinylidene chloride-CO acrylonitrile), polybisphenol A carbonate, polychloroether, polyvinylidene chloride, poly(2, Any one of poly(6-dimethylphenylene oxide), polystyrene, polyethylene, polypropylene, polydiphenylpropane carbonate, polyethylene terephthalate, polyimide, polyvinyl chloride, polydimethylsiloxane, polychlorotrifluoroethylene, polytetrafluoroethylene and parylene.

7. The slip sensor based on charge unevenness at the contact interface according to claim 1, wherein: The shape of the electrode layer is any one of square, circle, rhombus, square with a hole in the middle, circle with a hole in the middle, and rhombus with a hole in the middle.

8. The slip sensor based on uneven charge generation at the contact interface according to claim 1, wherein: The gap width between adjacent electrodes is less than or equal to 100 μm.

9. A robot hand, comprising a robot finger, and a slip sensor based on uneven charge at a contact interface as described in any one of claims 1 to 8, arranged on the fingertip of the robot; when the robot performs a grasping operation, the new slip sensor is used to detect whether relative sliding occurs between the grasped object and the robot fingertip, and if a slip signal is detected, the gripping force is adjusted in a timely manner to prevent further slippage.

10. A robot foot, comprising a slip sensor based on uneven charge on a contact interface as described in any one of claims 1 to 8, arranged on the sole of the robot foot; during the robot walking, the novel slip sensor is used to detect whether the robot foot slides relative to the ground during walking, and if a slip signal is detected, the robot promptly changes its path or adjusts gait parameters.

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