344 results about "Electronic skin" patented technology

The invention discloses a sleep state monitoring and analyzing system based on multi-sensor fusion, and relates to the technical field of health monitoring, the sleep state monitoring and analyzing system comprises a multi-modal sensor module used for collecting multi-dimensional data related to a sleep state, the multi-dimensional data comprises a bio-electricity signal, a physiological parameter, body movement data and an environment parameter, and the multi-modal sensor module is used for collecting the multi-dimensional data; the multi-modal sensor module comprises a non-contact sensor, a flexible electronic skin sensor and a bio-electricity signal sensor, and the data fusion and processing module is used for carrying out preprocessing, dynamic self-adaptive fusion and federal learning modeling on collected original data. According to an existing contact type sleep state monitoring scheme, more flexible and accurate sleep state data are realized through a non-contact type monitoring sensor in cooperation with dynamic adjustment of sleep monitoring content and adjustment of weights of various sensors for monitoring the sleep state; and a more accurate and intuitive reference report is provided for the sleep state and the health state of the subsequent user.

The invention discloses a self-energy-supply multi-mode sensing electronic skin based on ionic gel heterojunction array integration and a preparation method and application of the self-energy-supply multi-mode sensing electronic skin. The electronic skin adopts a multi-layer composite structure design and comprises an electrode array layer, a silver paste connecting layer, a nano material doped ionic gel array layer and a pure ionic gel continuous layer, and passive self-energized work is realized through a space ion migration effect at a heterogeneous gel interface. The method is characterized in that the design of a multi-layer flexible composite structure is adopted, space-time coded light, temperature, pressure and humidity four-mode stimulation can be synchronously converted into electroneurographic signals, and a collaborative identification strategy of response intensity dynamic range and synaptic learning / delay time difference is utilized; and high-precision decoupling of the multi-source signals is realized in combination with a classification decision tree algorithm. The electronic skin has the characteristics of flexibility, deformation, environment self-repairing and bionic synapse, and geometrical characteristics of a reconfigurable target source are fused through time-space domain multi-modal data.

The invention discloses a multi-stage micro-nano structure flexible wearable pressure sensor inspired by skin, and a preparation method and application of the multi-stage micro-nano structure flexible wearable pressure sensor. The sensor is composed of a piezoresistive layer, an electrode layer and a packaging layer. The piezoresistive layer takes polydimethylsiloxane (PDMS) as a flexible substrate, a submillimeter-level cylindrical array main structure and a micron-level skin-like spinous secondary microstructure randomly distributed at the top end of the submillimeter-level cylindrical array main structure are constructed through a composite mold, and a nano-level conductive network is formed by adopting an MXene / MWCNT hybrid material through a dispensing process, so that multi-scale stress synergistic response is realized; the electrode layer takes a degradable lignocellulose biological plastic film prepared from bagasse as a base material, and a silver paste interdigital electrode is loaded through a screen printing process; the packaging layer is fully coated with a medical-grade polyurethane (PU) film so as to ensure signal stability. The sensor shows ultrahigh sensitivity, wide detection range and low detection limit through the synergistic effect of the submillimeter-micron-nano multilevel structure, and can be applied to the fields of human motion monitoring, intelligent electronic skin and the like.

The invention belongs to the field of flexible electronic devices, and discloses a preparation method of a high-performance strain sensor based on a nano-silver nano-cellulose seepage network. According to the hydrogel, polyvinyl alcohol is used as a matrix, a seepage network formed by polydopamine anchored nano-silver / nano-cellulose PCNF is used as a conductive phase, glycerin is used as an anti-freezing humectant, and through the synergistic effect of a three-dimensional seepage conductive network and a dynamic hydrogen bond network, the defects that traditional hydrogel is poor in sensing stability, poor in environmental stability and low in mechanical strength are overcome. The preparation process is simple, the conductive hydrogel is high in tensile strength, high in sensitivity and good in cycling stability and has an antibacterial function, and an assembled strain sensor can monitor a human motion signal in real time and is suitable for the fields of wearable equipment, electronic skin and medical monitoring in an extreme environment. Through material system and process innovation, integration of high performance and multiple functions is achieved, and wide application prospects are achieved.

The invention discloses an in-situ autocatalytic forming gel epidermal electrode, an electrophysiological signal monitoring system and an electrophysiological signal monitoring device. The gel precursor includes a supramolecular solvent selected from a specific monomer, a metal ion catalyst, an initiator, a cross-linking agent, and a hydrogen bond acceptor and a hydrogen bond donor. The gel precursor provided by the invention can perform autocatalysis to initiate crosslinking to form a sensing medium with an interlocking structure, and meanwhile, can form a stable interface structure with the skin to ensure that the gel precursor is tightly attached to epidermal tissues, and motion artifacts caused by relative displacement in a motion process are reduced to the greatest extent. According to the invention, the electrode is formed by gelling the gel precursor on the skin surface, and the electrode has low interface impedance so as to ensure high signal fidelity, excellent mechanical stability, dynamic adhesion, stable electrochemical performance and biocompatibility, and can be reliably used for a long time. The method can be widely applied to wearable equipment, electronic skin, medical equipment and the like.

The invention discloses a distributed multi-mode flexible sensor based on a Bragg fiber grating and a multi-mode sensing method, and the sensor comprises a dielectric layer which is used for enhancing the non-contact electric field response, and achieving the detection of the approaching distance of a target object; the optical fiber sensing layer is arranged below the dielectric layer and comprises distributed Bragg optical fiber grating sensors arranged in an S shape and an elastic silica gel layer, the optical fiber grating sensors are used for collecting distributed tactile force signals and temperature signals, and the elastic silica gel layer wraps the optical fiber grating sensors to achieve stress transmission; the conducting layer is arranged below the optical fiber sensing layer, is made of an array type flexible conducting material and is used for collecting and transmitting multi-mode electric signals; an encapsulation layer; wherein the dielectric layer, the optical fiber sensing layer and the conductive layer cooperatively realize multi-mode fusion of distributed proximity sensing, distributed force touch sensing and non-contact temperature sensing. The multi-modal flexible electronic skin can meet the requirements of accurate acquisition and real-time feedback of multi-modal information in a complex environment.

The invention discloses a flexible pressure sensor based on ionized hydrogel and a preparation method thereof. The sensor adopts a sandwich layered structure of a flexible composite electrode, an ionized water gel dielectric layer and a flexible composite electrode, ionized water gel is used as a dielectric layer, and an upper flexible electrode and a lower flexible electrode are prepared from a multi-walled carbon nanotube / polydimethylsiloxane (MWCNTs / PDMS) composite material; the surface, making contact with the dielectric layer, of the electrode is copied through an abrasive paper template method to form a micron-sized rough structure. Under the action of external pressure, the effective contact area between the microstructure electrode and the ionized water gel dielectric layer and the equivalent electrode distance change, so that the interface electric double-layer capacitance is regulated and controlled, and high-sensitivity conversion from a pressure signal to a capacitance signal is realized. The flexible pressure sensor is simple in structure and excellent in flexibility, can be further integrated into a pressure sensing array, and is suitable for the fields of wearable electronics, electronic skin, man-machine interaction and the like.

The invention belongs to the technical field of medical training, and discloses an operation training system and method based on multi-dimensional data perception fusion, and the system comprises an image collection module, a six-degree-of-freedom operation mechanism, a somatosensory and tactile feedback glove, an operation training robot, a simulation heart model, and a control system. The image acquisition module is in signal connection with the control system and is used for acquiring a 3D high-definition image and instrument space coordinates of an operation area in real time; and the six-degree-of-freedom operating mechanism is in signal connection with the control system and is used for converting an operation instruction of a doctor into a control signal of the operation training robot and feeding back force sense information. According to the scheme, a high-simulation operation training environment is provided through the six-degree-of-freedom teleoperation mechanism, the somatosensory and tactile sensing gloves, the operation training robot and the simulation heart model made of the multi-dimensional sensing electronic skin, multi-dimensional recording and feedback of operation operation are achieved, and the operation training efficiency is improved by combining a transfer learning method. And accurate recording and reproduction of the operation process of the qualified doctor are realized.

The invention discloses a flexible pressure sensor based on a metal oxide thin film transistor and a preparation method and application thereof. The flexible pressure sensor based on the metal oxide thin film transistor comprises a flexible substrate, a gate electrode layer, a gate dielectric layer, a metal oxide channel layer, a source electrode, a drain electrode and a piezoelectric layer, the piezoelectric layer comprises a piezoelectric polymer, ZnO nanoparticles and MXene nanosheets, and the surface of the piezoelectric layer is provided with a convex micro-nano structure. The flexible pressure sensor based on the metal oxide thin film transistor has the advantages of excellent electrical properties, good flexibility, high sensitivity, easy integration, simple preparation process and low cost, is suitable for the production of large-scale sensor arrays, and has very wide application prospects in the fields of flexible touch screens, human-computer interaction, electronic skin and the like.

The invention relates to an organic artificial synaptic transistor pressure sensor based on a suspension structure and an array, a preparation method and application thereof, and belongs to the technical field of semiconductor devices and sensing. The pressure sensor is composed of a substrate, source and drain electrodes, a supporting layer and a suspension structure based on an organic semiconductor layer, a dielectric passivation layer, a polyelectrolyte dielectric layer and a flexible grid electrode, and current change is caused through contact change between the organic semiconductor layer and the source and drain electrodes so as to achieve pressure response. The pressure sensor has the advantages of low power consumption, fast response, high sensitivity, wide detection range and the like, and can simulate a biological synapse function to realize a pressure synapse characteristic which is crucial to complex signal processing. In addition, the integrated array of the pressure sensors can be combined with an algorithm to realize high-accuracy touch recognition of braille characters. The results provide a new opportunity for the potential application of the method in bionic electronic skin, touch imaging, electrical equipment monitoring, sensing, storing and computing intelligent terminals and man-machine interaction systems.

The invention provides a resistance type whisker sensor, an electronic skin and a preparation method thereof, the resistance type whisker sensor comprises a substrate layer, a liquid metal-carbon nanotube sensitive material layer and a packaging layer, the liquid metal-carbon nanotube sensitive material layer is packaged between the substrate layer and the packaging layer, the liquid metal-carbon nano tube sensitive material forms a conductive network, the conductive network is composed of liquid metal particles and carbon nano tubes generated by laser ablation, and the liquid metal particles are connected through the carbon nano tubes. In the nature, many organisms realize high-precision tactile detection by virtue of tentacles, for example, beards of animals such as cats and rats can sense tiny changes of the surrounding environment and recognize the shape, texture and vibration information of objects, and the high-sensitivity tactile sensing capability plays an important role in survival and environmental adaptation of the animals. The invention provides the high-sensitivity electronic whisker, and provides the electronic skin based on the whisker sensor array.

The invention provides a material hardness identification method and system based on electronic skin. The method is applied to the technical field of robot tactile perception. The method comprises the following steps: acquiring pressure array data and environmental data acquired when the electronic skin is in contact with a target material; carrying out space, time, frequency domain and gradient multi-modal feature extraction on the pressure array data, and carrying out feature fusion to obtain a multi-modal feature vector; predicting the multi-modal feature vector by using a preset regression model to obtain a hardness predicted value; and classifying the hardness predicted values according to the environmental data to obtain the hardness category of the target material. According to the invention, high-precision soft and hard material identification is realized.

The invention relates to the technical field of sensors, in particular to a flexible multifunctional touch sensing electronic skin and application, and the flexible multifunctional touch sensing electronic skin comprises a deformation module, an imaging module and a deep learning algorithm processing module; the deformation module comprises a mark layer provided with a mark pattern; the deformation module is used for capturing deformation information of the marking layer caused by external stimulation in real time; the imaging module comprises an embedded camera; the imaging module is used for acquiring a real-time image of the marking layer of the deformation module and reflecting the characteristics of tactile stimulation through image data; and the deep learning algorithm processing module is used for processing the image data captured by the imaging module in real time through a deep learning algorithm, extracting feature information in the tactile signal and further analyzing the property and the distribution of the external stimulation. According to the method, the deep learning algorithm and the visual tactile perception are combined, so that the tactile perception precision is improved, breakthrough is realized in the aspects of three-dimensional force decoupling and real-time recognition of complex actions, and the method has higher application potential and wide prospects.

The invention belongs to the field of conductive ink, and discloses conductive ink based on PEDOT: PSS and carboxylated carbon nanotubes, and the conductive ink is prepared from PEDOT: PSS, carboxylated carbon nanotubes, [EMIM] [TCB], polyacrylate, salicylic acid and DMSO. According to the conductive ink with PEDOT: PSS as the main body, [EMIM] [TCB], carboxylated carbon nanotubes, salicylic acid and DMSO are introduced to improve the performance of the ink, the obtained conductive ink is high in conductivity, high in oxidation resistance and good in printing performance, and a flexible transparent electrode prepared from the conductive ink is high in conductivity and light transmittance and can be well suitable for the fields of human body wearable, robot electronic skin and the like.

The invention discloses a bionic finger, a bionic hand and a robot, and relates to the technical field of robots. The bionic finger is provided with a holding side and comprises a finger body, and an assembling groove facing the holding side is formed in one end of the finger body; the electronic skin is arranged in the assembling groove, and an induction face is arranged on the side, facing the holding side, of the electronic skin; the flexible part covers the side, facing the holding side, of the assembling groove and makes contact with the sensing face. According to the bionic finger, the size of the bionic finger can be reduced.

The embodiment of the invention discloses a preparation method of bionic electronic skin based on PVA / cellulose nanofiber, wearable equipment and a monitoring system. The preparation method comprises the following steps: uniformly mixing a cellulose nanofiber solution, an MXene colloidal suspension and water to obtain a mixed solution; heating and stirring polyvinyl alcohol, boric acid, glycerol and the mixed solution at 90-95 DEG C to obtain a PCM hydrogel precursor solution; uniformly coating the PCM hydrogel precursor solution to form a film, and performing directional freezing to obtain D-PCM hydrogel; the D-PCM hydrogel is soaked in a mixed solution of a salt solution and glycerin for salting out for at least 6 h, and the DS-PCM hydrogel capable of being used as the bionic electronic skin is obtained. The bionic electronic skin has unique layered pores and excellent air permeability; the anti-swelling performance is improved through a strong hydrogen bond cross-linked network, and the problem that a hydrogel sensor is prone to failure in a humid environment is solved. In addition, the material has various high-sensitivity sensing capabilities, and tiny physiological signals and environment temperature changes can be accurately captured.

The utility model provides a hand-simulated operation device, and relates to the technical field of manipulators, the hand-simulated operation device comprises a plurality of finger-simulated structures used for grabbing a target object, the finger-simulated structures at least comprise fingertip knuckles, and the tops of the fingertip knuckles are special-shaped curved surfaces; an electronic skin is attached to each fingertip knuckle, the electronic skin is arranged to be of a stretchable and bendable flexible structure, and the electronic skin is configured to be capable of generating interactive perception with the target object when the target object is grabbed; the electronic skin is attached to the fingertip knuckles and at least covers the front faces and the tops of the fingertip knuckles. The defect that in the prior art, when a human hand operation simulating device grabs the target object, perceptual information of the target object is not accurate is overcome.

The invention discloses a visual tactile sensor, an electronic skin and a robot, relates to the field of sensors, and is used for improving the comprehensiveness and sensitivity of stress detection. The sensor comprises a magnetic film covering the top surface and the side surface, and the magnetic film is prepared by mixing magnetic powder and silicone rubber; the support supports the magnetic thin film, a magnetic display card and a light source are arranged in the support, the visual touch collector collects magnetic induction data and development data of stress of the magnetic thin film, and then the multi-mode pressure detection model analyzes the stress position and / or the stress size. The stress detection sensitivity is high, comprehensive detection of the top face and the side faces can be achieved, and the detection precision is high.

The invention relates to a flexible electronic skin integrated dust-breath bimodal detection system and detection method. A bimodal sensing module, a signal processing module, a wireless transmission module, a data application module, an abnormity early warning module and a power supply are integrated on a composite flexible substrate; the bimodal sensing module monitors a dust concentration characteristic signal of a working place and a breathing frequency characteristic signal of a worker in real time; the signal processing module receives the signals and carries out noise reduction and data fusion processing to obtain a data set D; the wireless transmission module transmits the data set D to the data application module in real time, performs data real-time display, historical data storage, report generation and data export functions, and supports synchronization to an occupational health management platform; meanwhile, the data application module can process data in the data set D and feed back a processing result to the abnormity early warning module, and the abnormity early warning module correspondingly triggers an early warning signal according to feedback data; according to the invention, the target can be continuously monitored, and a high-precision detection result is obtained.

The invention discloses an electronic skin tactile perception feature extraction method based on hierarchical semantic coding. The method comprises the following steps of S1, collecting electronic skin signals; high-density flexible electronic skin is pasted on the hands or fingertips of the robot; S2, touch signals are preprocessed; performing alignment processing on the tactile signal, the image signal and the voice signal in time through a multi-modal data synchronization mechanism; S3, performing multi-level semantic coding on the tactile signal; s4, carrying out cross-modal mapping; a hierarchical semantic encoder is provided, tactile signals are abstracted into high-dimensional semantic vectors with interpretability step by step, human-like tactile understanding is achieved, extracted tactile features support multi-modal alignment and embedding in a shared space, native cooperation with CLIP / VLM class models can be achieved, modal barriers are broken, and the method has the advantages of being simple in structure, convenient to operate and high in practicability. The tactile information feature extraction method has strong generalization and adaptability, can be directly applied to a large model of vision-language-tactile multi-modal information fusion, and realizes real-time training and decision making.

The present invention provides a small molecule organic piezoelectric material based on phenylalanine derivatives, a preparation method and an application. The preparation method includes the following steps: dissolving an organic small molecule of a phenylalanine derivative in an alcohol solvent to obtain a mixed solution; adding acids of different types and molar ratios to the mixed solution to dope the organic small molecule; and volatilizing the solvent and assembling the organic small molecule to obtain an organic piezoelectric material with different piezoelectric coefficients. The organic small molecule assembly synthesized by the present invention has piezoelectric properties, and the piezoelectric performance can be adjusted by means of acid doping. The preparation method is simple, efficient and environmentally friendly. The piezoelectric device prepared by the method can effectively monitor human movement and can be used in the fields of electronic skin, soft robots, health monitoring, motion monitoring, wearable devices and the like.

The invention discloses a TPU film for robot electronic skin and a preparation method of the TPU film, and relates to the technical field of flexible electronic materials, the film takes TPU introduced with Diels-Alder dynamic reversible bonds as a matrix, a conductive filler is formed by dopamine-modified silver nanowires and MXene, the concentration of the conductive filler is in continuous or quasi-continuous gradient decrease, and the conductive filler is a conductive filler formed by silver nanowires and MXene. An integrated network with self-repairing and environmental stability is formed and is used as an electrode; phase change microcapsules and triboelectric nanofibers are compounded in a low-conductivity contact area to form an intelligent response layer which is self-adaptive in sensing threshold and capable of generating power by friction. Through one-step multi-nozzle electrostatic spinning forming, the problem that self-repairing, signal stability, environmental adaptability and energy independence in electronic skin are difficult to consider at the same time is solved.

The invention relates to the technical field of robots, and provides a robot and a safety control method, device and equipment thereof, a storage medium and a product, the robot comprises electronic skin, the electronic skin comprises a first detection unit and a second detection unit, and the method comprises the following steps: responding to an obstacle approaching the robot, and detecting the approaching speed of the obstacle through the first detection unit; in response to the approaching speed being greater than or equal to a preset speed threshold value, controlling the robot to perform obstacle avoidance path planning and / or speed reduction; detecting a contact force and a contact moment of the obstacle through a second detection unit in response to the obstacle contacting the robot; and determining safety braking parameters of the robot based on the approaching speed, the contact force and the contact moment. Safety speed monitoring based on proximity detection and power and force limitation based on contact detection in man-machine cooperation can be achieved at the same time, a dual protection mechanism of proximity sensing and contact sensing of the robot is achieved, and safety is further improved.

The invention discloses a submicro-scale self-supporting metal grid flexible transparent electrode and a manufacturing method thereof, and belongs to the technical field of flexible electrode manufacturing. The manufacturing method provided by the invention comprises the following steps: preparing a printing solution, wherein the printing solution contains a polymer, silver nitrate and a solvent; printing a submicro-scale polymer-based seed layer grid structure on the hydrophobic substrate by using an electric field driven spray deposition micro-nano 3D printing technology; performing steam reduction on the surface of the polymer-based seed layer grid structure, and then depositing metal through chemical plating to form a metal grid structure; and stripping from the surface of the hydrophobic substrate. According to the invention, simple, efficient and low-cost manufacturing of the submicro-scale, ultrathin, soft, breathable and substrate-support-free self-supporting metal grid flexible transparent electrode with high photoelectric performance is realized, and the electrode has general applicability in the application fields of electronic skin, flexible sensors, transparent wearable and portable electronic equipment and the like.

The invention discloses a precise object grabbing method of an intelligent mechanical arm, and belongs to the field of robotics. The method comprises the following steps: generating a 3D pose and a contour of a target object by using a mechanical arm pose and RGB-D visual content; the method comprises the following steps: generating a claw clamping pose space through Flow-Matching; a simulation test environment is constructed through a simulation environment, and an optimal grabbing pose is obtained from the obtained claw clamping pose space through a simulation test; according to the data alignment method based on supervised learning, an obtained result in a simulation test environment is aligned with an actual sensing result of physical electronic skin, so that the authenticity and reliability of simulation evaluation are improved, and then accurate grabbing of objects by the intelligent mechanical arm is achieved. The invention aims to improve the universality, the precision and the robustness grabbing capability of the mechanical arm on diversified objects in a complex unstructured environment, especially in a home assistant scene.

The invention discloses a preparation method and application of bamboo nanocellulose and bi-crosslinking hydrogel. The preparation method of the hydrogel comprises the following steps: (1) dispersing the bamboo nanocellulose; (2) preparing a lignin-Fe solution; and (3) preparation of the bi-crosslinked hydrogel: adding the bamboo nanocellulose suspension and acrylic acid into water, then adding ammonium persulfate and N, N '-methylene bisacrylamide, finally adding the lignin-Fe solution to obtain a precursor solution, and pouring the precursor solution into a mold to obtain the bi-crosslinked hydrogel. The moso bamboo is used as a raw material, cellulose is extracted from the plant which is extremely high in carbon sequestration capacity and rapid in production and then is processed into nano cellulose, a novel utilization way is provided for the moso bamboo, and the hydrogel prepared from the moso bamboo is good in environment friendliness, green, natural and non-toxic, can be in direct contact with skin, and has a good application prospect. And the application and development of the material in the fields of environmental protection, biomedical treatment, electronic skin, wearable sensors and the like are facilitated.

The invention discloses a self-powered flexible sensor and a preparation method thereof, and belongs to the field of electronic skin, man-machine interaction, flexible electronic devices and sensors. The invention relates to a cellulose acetate-based ionic gel self-energized flexible sensor which is prepared from cellulose acetate, ionic liquid, a polymer monomer, a cross-linking agent and an initiator and has good mechanical property and antibacterial property, the cellulose acetate enhances the mechanical property of the gel through non-covalent crosslinking, and the ionic liquid plays a conductive role. The flexible sensor has good conductivity, high sensitivity and stability, and can be stretched, twisted and bent. Meanwhile, the high transparency and excellent biocompatibility can be realized, so that the electronic skin can be used as the electronic skin for multifunctional perception and integrated application. The material is environment-friendly, the preparation method is simple, the operability is high, the application field is wide, and the prospect is wide.

The invention discloses a manufacturing method of a flexible electronic skin light source, which comprises the following steps: cutting a base material to obtain a base material raw material with a required size; obtaining conductive silver paste, mixing the conductive silver paste with a diluent, and uniformly stirring to prepare conductive ink; printing conductive ink on the surface of the base material raw material according to a preset circuit pattern by using screen printing equipment to obtain a base material circuit diagram; placing a light source patch at a corresponding position of the substrate circuit diagram, and electrically connecting the light source patch with the circuit diagram by adopting welding equipment to obtain an electrically connected light source patch substrate; laminating a polyimide reinforcing material on the back surface of the light source patch to obtain a flexible light source semi-finished product; the flexible light source semi-finished product is packaged, the flexible light source semi-finished product is completely wrapped, and the flexible electronic skin light source is obtained; the flexible electronic skin light source manufactured through the method can be bent in any direction, the bending frequency of the flexible light source is greatly increased, and the service life of the flexible light source is greatly prolonged.

The invention provides a multichannel electromyographic strain bimodal electronic skin and a neural signal decomposition method, and belongs to the technical field of sensors. The multi-channel electromyographic strain bimodal electronic skin comprises six layers of composite structures, and the six layers of composite structures are a stretchable flexible substrate layer, a multi-channel strain sensing layer, a dielectric isolation layer, a stretchable circuit, a multi-channel electromyographic sensing layer and a viscous packaging layer in sequence. The device has the flexible stretchable characteristic, reliable contact between the electronic skin and the skin can be guaranteed during large-amplitude motion, dual-mode detection of human body electromyographic signal-resistance type stress changes can be achieved, a motion-artifact-free fusion signal processing algorithm based on multi-channel dual-mode signals is further provided, and multi-mode fusion signals without motion artifacts are obtained.

The invention discloses a robot electronic skin patch system and a preparation method and application thereof, and relates to the technical field of robot electronic skin patch systems, and the robot electronic skin patch system comprises a flexible sensor and a signal acquisition and processing system. The flexible sensor comprises a first electrode layer, a second electrode layer and an elastic dielectric layer. The elastic dielectric layer is arranged between the first electrode layer and the second electrode layer and comprises an elastic dielectric component with a three-dimensional structure, and the elastic dielectric component can deform under the action of longitudinal pressure. According to the invention, the function of measuring the bending angle is added on the sensing assembly with the three-layer structure and the pressure measuring function, and real-time angle monitoring at the joint of the robot arm is realized. The electrodes on the same electrode layer can be independent of a sensing circuit, generated electric signals are transmitted to a signal acquisition system through respective leads, and the signals are processed and analyzed to obtain pressure and angle data. The robot electronic skin patch system is high in integration level, weak in signal crosstalk and high in measurement precision.