CN100541151C - Touch sensor based on flexible pressure-sensitive conductive rubber - Google Patents
Touch sensor based on flexible pressure-sensitive conductive rubber Download PDFInfo
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- CN100541151C CN100541151C CNB2008100185549A CN200810018554A CN100541151C CN 100541151 C CN100541151 C CN 100541151C CN B2008100185549 A CNB2008100185549 A CN B2008100185549A CN 200810018554 A CN200810018554 A CN 200810018554A CN 100541151 C CN100541151 C CN 100541151C
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Abstract
Touch sensor based on flexible pressure-sensitive conductive rubber, it is characterized in that the version that sensing unit is set is: be base plate with the flexible PCB, the flexible pressure-sensitive conductive rubber of disk shape places on the flexible PCB, and be electrically connected with the electrode that distributes on the flexible PCB, cover power transmission hemisphere on the top stress surface of flexible pressure-sensitive conductive rubber; Flexible PCB is four electrode structures, wherein, public electrode A is in center circle electrode on the concentric position with disk shape flexible pressure-sensitive conductive rubber, and signal electrode B, signal electrode C and signal electrode D are mutually 120 ° of sector electrodes that are evenly distributed on the same anchor ring of public electrode A periphery.The present invention is that a kind of surperficial adaptability is strong, reliability is high, signal acquisition circuit is simple, easy to make, can be used for the touch sensor that three-dimensional force detects.
Description
Technical field
The invention belongs to field of sensing technologies, more particularly relate in particular to a kind of touch sensor that is applied to robot.
Background technology
Tactile sensing has important status in the robot sense system, it has vision etc., and other feel irreplaceable function.Vision generally must be finished by illumination, and the same with people's sensation when illumination is limited, the importance of sense of touch just highlights.What is more important, some character of surface and the physical property of sense of touch energy perceptual object: soft durometer, roughness, size, shape etc., according to the information that touch sensor provides, robot can reliably grasp target object.The trend of touch sensor is integrated, miniaturization and intellectuality.For accurately obtaining tactile data and being applicable to the surface of arbitrary shape, require touch sensor to have certain flexibility, take this to be installed on the surface of arbitrary shape adapting to different robot application, and can obtain the Three-dimension Contact force information, make it more solid and reliable ground grasping target object.
Up to now, the touch sensor of existing multiple principle of work and version.Early stage touch sensor mainly contains two kinds of mechanical type touch sensor and flexible type touch sensors, not only volume is big for they, spatial resolution is lower, and sensor is a rigidity, be that sensor can not flexural deformation and be installed on the curved surface, so they are difficult to obtain using comparatively widely in the Robotics field.
Along with the development of sensor technology, touch sensors such as condenser type and optical profile type have appearred.
Capacitance type touch sensor is when stressed, minute movement can take place in one of them electrode, thereby cause the change of electric capacity, in capacitance type touch sensor owing to there is a movable electrode, its life-span is affected, reliability is not high yet, and is difficult to obtain tangential force information, promptly can not detect three-dimensional force information.
Optical tactile sensor mainly is the optical fiber touch sensor, the detection system of optical tactile sensor is comparatively complicated, except sensor itself, therefore the high-speed computer etc. that also needs external lighting fiber, miniature CCD and be used for Flame Image Process is difficult to realize miniaturization.
Pressure-sensitive conductive rubber is to be doped with a certain amount of conducting particles in rubber matrix, and the resistance of material changes along with suffered pressure.The existing two-sided layout electrode that adopts at pressure-sensitive conductive rubber, the realization one dimension is defeated the power sensing.The sensor of this form has had certain flexibility, but because of there being an electrode on the face directly to contact with testee as workplace, can occur because of contact and grasp electron device that target object may cause and the damage of circuit, working sensor reliability thereby be affected.By this one dimension pressure transducer is carried out stack design, three-decker is set is used for detecting respectively three-dimensional force information, but need be to insulating multilayer wiring, complex manufacturing technology between each layer.
Summary of the invention
The present invention is for avoiding above-mentioned existing in prior technology weak point, provide that a kind of surperficial adaptability is strong, reliability is high, signal acquisition circuit is simple, easy to make, can be used for the touch sensor that three-dimensional force detects based on flexible pressure-sensitive conductive rubber.
Technical solution problem of the present invention adopts following technical scheme:
The design feature that the present invention is based on the touch sensor of flexible pressure-sensitive conductive rubber is that the version that sensing unit is set is: be base plate with the flexible PCB, the flexible pressure-sensitive conductive rubber of disk shape places on the flexible PCB, and be electrically connected with the electrode that distributes on the flexible PCB, cover power transmission hemisphere on the top stress surface of flexible pressure-sensitive conductive rubber; Flexible PCB is four electrode structures, wherein, public electrode A is in center circle electrode on the concentric position with disk shape flexible pressure-sensitive conductive rubber, and signal electrode B, signal electrode C and signal electrode D are mutually 120 ° of sector electrodes that are evenly distributed on the same anchor ring of center circle electrode periphery.
The design feature that the present invention is based on the touch sensor of flexible pressure-sensitive conductive rubber also is: press array arrangement with sensing unit in surveyed area, array can be linear array or face battle array, and the flexible PCB of all unit is an one-piece construction in the array.
Compared with the prior art, beneficial effect of the present invention is embodied in:
1, in the sensor construction form of the present invention; flexible pressure-sensitive conductive rubber is that single face contacts with flexible PCB; version manufacture craft than " double-face electrode " is greatly simplified; the contact pressure face is the pressure-sensitive conductive rubber face; the guard electrode face has effectively improved the working sensor reliability effectively.
2, flexible pressure-sensitive conductive rubber and flexible PCB are resilient material among the present invention, allow three-dimensional force sensor to realize flexural deformation, and its flexible structure can be attached on the various curved surfaces reliably, realizes the detection to three-dimensional force, and surperficial adaptability is strong.
3, four electrode structures of flexible PCB have taken into full account coupled relation between the different directions among the present invention, and sampled signal quantity is reduced, thereby the signal sample circuit structure can obtain simplifying.
4, the present invention can obtain different detection range and detection sensitivity by suitably adjusting the area of center circle electrode, and range of adjustment is wide.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is four electrode structure synoptic diagram of flexible PCB among the present invention;
The equivalent resistance distribution schematic diagram of Fig. 3 for drawing by four electrodes among the present invention.
Number in the figure: 1 power transmission hemisphere, 2 flexible pressure-sensitive conductive rubbers, 3 flexible PCBs.
Below by embodiment, the invention will be further described in conjunction with the accompanying drawings
Embodiment
Referring to Fig. 1, the version that sensing unit is set is: with flexible PCB 3 is base plate, the flexible pressure-sensitive conductive rubber 2 of disk shape places on the flexible PCB 3, and is electrically connected with the electrode that distributes on the flexible PCB 3, covers power transmission hemisphere 1 on the top stress surface of flexible pressure-sensitive conductive rubber 2;
Referring to Fig. 2, flexible PCB 3 is four electrode structures, wherein, public electrode A is in center circle electrode on the concentric position with disk shape flexible pressure-sensitive conductive rubber, and signal electrode B, signal electrode C and signal electrode D are mutually 120 ° of sector electrodes that are evenly distributed on the same anchor ring of center circle electrode periphery.
Shown in Figure 3, public electrode A on the diverse location and three signal electrodes all are electrically connected with flexible pressure-sensitive conductive rubber, corresponding form three equivalent resistance R1, R2 and R3, and change, obtain sensing three-dimensional force with this with the difference of flexible pressure-sensitive conductive rubber force-bearing situation.
In concrete the enforcement, press array arrangement with sensing unit in surveyed area, array can be linear array or face battle array, and the flexible PCB of all unit is one-piece construction (as shown in Figure 1) in the array.
Power transmission hemisphere 1 adopts the big slightly resin material of hardness, such as 217
#Phenolics, power transmission hemisphere use the high-performance binder to be bonded in the end face of flexible pressure-sensitive conductive rubber 2;
Three-dimensional force detects mechanism:
Three-dimensional force is concentrated by power transmission hemisphere 1 and is acted on flexible pressure-sensitive conductive rubber 2, flexible pressure-sensitive conductive rubber 2 contacts with flexible PCB 3 single faces, because the piezoresistive effect of flexible pressure-sensitive conductive rubber 3 and the contact resistance between flexible pressure-sensitive conductive rubber 2 and flexible PCB 3 electrodes, have three equivalent resistance R1, R2 and R3, resistance will change during strain.Three resistance are exported corresponding with it voltage signal through testing circuit separately respectively, and then realize to three-dimensional force Fx Fy, the detection of Fz.
The distance of the size of four electrodes and public electrode and signal electrode is big or small influential to strain output all.
When Fx does the time spent, because of being subjected to compressive strain, resistance R 1 reduces; Because of being subjected to the stretching strain of equal extent, resistance R 2 increases with R3, and every resistance increase amplitude is that resistance R 1 reduces half of amplitude.
When Fy does the time spent, resistance R 1 remains unchanged; Because of making resistance R 2 resistances, compressive strain reduces; Because of being subjected to the stretching strain of equal extent, resistance R 3 increases by identical amplitude.
When Fz does the time spent, because of being subjected to the compressive strain of equal extent, the resistance of resistance R 1, R2 and R3 reduces on an equal basis.
As follow-up circuit, the sensor output voltage signal is input to computing machine through switching gate circuit, voltage contrasting amplified circuit, data acquisition conversion, handles through matrix operation, obtains Fx, Fy, the correlation of Fz.
The demarcation of sensor:
Demarcation mode routinely, three voltage signals that each sensing unit that is arranged in array in extraction and the processing surveyed area is exported under the effect of Three-dimension Contact power, obtain the linear coupled relation between stressed and three voltage signals on x, y and the z all directions through linear decoupling zero, the process neural network decoupling obtains the coupled relation between each sensing unit again, realizes the demarcation to sensor.
Claims (2)
1, based on the touch sensor of flexible pressure-sensitive conductive rubber, the version that it is characterized in that being provided with sensing unit is for being base plate with flexible PCB (3), the flexible pressure-sensitive conductive rubber of disk shape (2) places on the flexible PCB (3), and be electrically connected with electrode that described flexible PCB (3) go up to distribute, cover power transmission hemisphere (1) on the top stress surface of described flexible pressure-sensitive conductive rubber (2); Described flexible PCB (3) is four electrode structures, wherein, public electrode A is in center circle electrode on the concentric position with disk shape flexible pressure-sensitive conductive rubber, and signal electrode B, signal electrode C and signal electrode D are mutually 120 ° of sector electrodes that are evenly distributed on the same anchor ring of public electrode A periphery.
2, the touch sensor based on flexible pressure-sensitive conductive rubber according to claim 1, it is characterized in that in surveyed area with described sensing unit by array arrangement, described array can be linear array or face battle array, and the flexible PCB of all sensing units is an one-piece construction in the array.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CNB2008100185549A CN100541151C (en) | 2008-02-29 | 2008-02-29 | Touch sensor based on flexible pressure-sensitive conductive rubber |
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| CNB2008100185549A CN100541151C (en) | 2008-02-29 | 2008-02-29 | Touch sensor based on flexible pressure-sensitive conductive rubber |
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| CN101231200A CN101231200A (en) | 2008-07-30 |
| CN100541151C true CN100541151C (en) | 2009-09-16 |
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Families Citing this family (25)
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| US8393229B2 (en) | 2010-02-24 | 2013-03-12 | The Hong Kong Research Institute Of Textiles And Apparel Limited | Soft pressure sensing device |
| JP4875182B2 (en) * | 2010-05-24 | 2012-02-15 | 日本写真印刷株式会社 | Protective panel and electronic equipment |
| CN102207415B (en) * | 2011-03-11 | 2013-08-14 | 西安交通大学 | Conductive-rubber-based flexible array clip pressure sensor and manufacturing method |
| CN102928137B (en) * | 2012-11-14 | 2015-02-04 | 合肥工业大学 | Four-interdigital-electrode type three-dimensional force contact sensor for artificial skin |
| CN103134622B (en) * | 2013-01-31 | 2014-12-10 | 中国科学院合肥物质科学研究院 | Three-dimensional soft tactile sensor array |
| CN103335754B (en) * | 2013-06-19 | 2015-04-22 | 合肥工业大学 | Fully-flexible three-dimensional force tactile sensor |
| CN104622385B (en) * | 2013-11-12 | 2017-03-08 | 沈阳新松机器人自动化股份有限公司 | A kind of crash sensor and intellective dust collector robot |
| CN103983382B (en) * | 2014-06-04 | 2016-01-06 | 合肥工业大学 | A kind of Grazing condition capacitance type touch sensor |
| CN104406627B (en) * | 2014-11-11 | 2017-01-25 | 浙江大学 | Wearable flexible touch sensor of artificial hand and touch detection system thereof |
| CN105222702A (en) * | 2015-11-14 | 2016-01-06 | 际华三五一五皮革皮鞋有限公司 | Three dimensionality resistance-type curved surface sensor |
| CN105500394A (en) * | 2015-12-31 | 2016-04-20 | 佛山市禾才科技服务有限公司 | Robot fingertip |
| CN107525613B (en) * | 2016-06-21 | 2019-10-18 | 中国科学院苏州纳米技术与纳米仿生研究所 | Stretchable pliable pressure sensor and its manufacturing method |
| WO2018061416A1 (en) * | 2016-09-27 | 2018-04-05 | ソニー株式会社 | Sensor, electronic apparatus, wearable terminal, and control method |
| CN106802200B (en) * | 2017-02-23 | 2019-04-12 | 北京航空航天大学 | A kind of flexibility vector tactile and slip sense compound sensor |
| CN107389232B (en) * | 2017-06-15 | 2020-11-24 | 华南理工大学 | Bio-based asymmetric flexible force-sensitive sensing material and preparation method thereof |
| CN109385013A (en) * | 2017-08-14 | 2019-02-26 | 庆鼎精密电子（淮安）有限公司 | The production method of conductive elastomer, pressure-sensitive circuit board and pressure-sensitive circuit board |
| CN110044525A (en) * | 2019-04-26 | 2019-07-23 | 西安建筑科技大学 | A kind of flexible resistive dot matrix pressure detecting system, method and apparatus |
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| CN110200633A (en) * | 2019-07-05 | 2019-09-06 | 北京中硕众联智能电子科技有限公司 | The sensor and detection method of vola direct stress and shearing force when accurate detection walking |
| CN111537115A (en) * | 2020-04-27 | 2020-08-14 | 西安交通大学 | Piezoresistive flexible three-dimensional force sensor array and preparation method thereof |
| CN111766010B (en) * | 2020-07-09 | 2022-03-22 | 北京航空航天大学 | Capacitive touch sensor |
| CN112697334B (en) * | 2020-12-11 | 2022-11-29 | 中国科学院深圳先进技术研究院 | Three-dimensional force touch sensor |
| CN114193488A (en) * | 2021-11-26 | 2022-03-18 | 杭州电子科技大学 | Flexible self-adaptive touch sensor, clamping finger and mechanical claw |
| CN114323372A (en) * | 2021-12-28 | 2022-04-12 | 浙江工业大学 | Resistance type flexible pressure sensing unit, sensor and preparation method |
| CN115014596B (en) * | 2022-07-16 | 2023-07-14 | 哈尔滨工业大学（深圳） | Piezoresistive flexible touch sensor and manufacturing method thereof |
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