CN101258389B - Touch feeling sensor and touch feeling sensor application apparatus - Google Patents
Touch feeling sensor and touch feeling sensor application apparatus Download PDFInfo
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- CN101258389B CN101258389B CN2005800514894A CN200580051489A CN101258389B CN 101258389 B CN101258389 B CN 101258389B CN 2005800514894 A CN2005800514894 A CN 2005800514894A CN 200580051489 A CN200580051489 A CN 200580051489A CN 101258389 B CN101258389 B CN 101258389B
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Abstract
A tactile sensor for detecting a variation in pressing real-time. The tactile sensor is simple in structure, detects a variation in pressing by using reduced wires, has increased reliability and reduced cost, and can obtain information accurately. A sheet has, along its surface, resistors arranged in an X direction and Y direction, has a resistor in Z direction corresponding to the thickness direction of the sheet, and has a pressure sensitive resistor sheet (4) whose resistance in the Z direction varies according to pressing in the thickness direction. At least a pair of electrodes (9, 10, 11, 12) is placed in the periphery of the pressure sensitive sheet (4), and the electrodes conduct a current to at least either of the resistor in the X direction or the resistor in the Y direction.; Also, at least a pair of conductors (5, 6) for conducting a current to the resistor in the Z direction is provided on the surface of the pressure sensitive sheet (4).
Description
Technical field
The present invention relates to a kind of input information that relates to pressure position and detect and control, utilize straightforward procedure to detect the touch sensor of contact coordinate, contact pressure and contact length and use the touch sensor application apparatus of this touch sensor.
Background technology
But existing pressure position detecting sensor major part detected pressures distributes, and scanning is configured in sensor or the scan electrode on X, the Y matrix, and detected pressures distributes, and calculates the position (for example, patent documentation 1, patent documentation 2) of pressure.But, because whole positions that X, Y scanning is exerted pressure, so centre of gravity place, the area of pressure, the mean pressure of calculating as the pressure of necessary information need the time.For example, scan with 100MHz even resolution is the sensor of 50 * 50mm of 1mm, per 1 element also needs 25 μ sec.And sensor is big more, and is then huge more to the wiring (2500) of these sweep traces (50 * 50), hinders to use.
And, about combination pressure sensor and XY coordinate detection unit spare, detect the scheme of more similar function, patent documentation 3～8 has been proposed, but owing to utilize the combination of 2 above functional materials to come the detected pressures positional information, so when correctly detecting the positional information of pushing, can not correctly detect the pressure information of this position.On the contrary, when detected pressures information correctly, exist this positional information incorrect, can not be simultaneously the shortcoming of the barycentric coordinates of detected pressures and pressure correctly.
And, also propose combination pressure-sensitive conducting rubber or piezo-electricity composite material and resistive element, obtain pressure coordinates, but owing to all can't realize precision, and can not obtain pressure and contact area, so be not enough to as pressure position detecting sensor or touch sensor (for example, patent documentation 9～11).
Patent documentation 1: Japanese patent laid-open 10-178688 communique
Patent documentation 2: the special fair 7-58233 communique of Jap.P.
Patent documentation 3: the Jap.P. spy opens clear 59-178301 communique
Patent documentation 4: the special public clear 60-35602 communique of Jap.P.
Patent documentation 5: the special public clear 61-32601 communique of Jap.P.
Patent documentation 6: the special public clear 60-37401 communique of Jap.P.
Patent documentation 7: the Jap.P. spy opens clear 61-208533 communique
Patent documentation 8: Japanese patent laid-open 05-61592 communique
Patent documentation 9: the Jap.P. spy opens clear 59-110595 communique
Patent documentation 10: the Jap.P. spy opens clear 60-71194 communique
Patent documentation 11: the Jap.P. spy opens clear 61-47501 communique
In recent years, provide based on (humanoid) type of humanoid, have animals shaped various robot devices, but in this robot device, most stimulations that produce because of the contact from the outside are imported, and must move in real time.In recent years be the balance of health when obtaining the biped robot walking, the setting pressure sensor detects delicate changes in balance in advance in real time, and controls under foot.And, in order to detect the sense of touch of finger, the real-time controls such as pressure variation detection when pressure control in the time of need holding thing or object slide.Therefore, dispose a plurality of pressure transducers, processes sensor information etc. simultaneously in handling side by side, but the wiring of a plurality of pressure transducers becomes the trouble of device.
And, the pressure of human body is if excessively depart from, then nursing with chair or bed etc. makes human body produce discomfort, but for the people of needs nursing, sometimes self can not avoid this situation, becomes the reason of bed skew etc. and, if be sitting in the position skew of the people on the automotive seat that requires security, when then accident takes place, be difficult to correctly open air bag at people's center.
In these purposes, even require correctly not understand pressure distribution, also can detect required MIN information (centre of gravity place of pressure, pressure contact area, mean pressure strength) in real time, can carry out touch sensor or the pressure position detecting sensor that pressure position detects with a small amount of wiring.
Summary of the invention
The present invention makes in view of the above problems, is will detect in real time to push variation.And, simple in structure, and can detect the variation of pushing with a small amount of wiring, can seek the raising of reliability and the reduction of cost, can correctly obtain information.
In order to solve this technical problem, technical scheme of the present invention possesses the voltage dependent resistor (VDR) plate, this voltage dependent resistor (VDR) plate is the plate that has resistance in directions X and Y direction along the plate face, has resistance in the Z direction consistent with the thickness direction of plate, simultaneously pushing of the corresponding thickness direction of the resistance of Z direction changes and changes, periphery at this voltage dependent resistor (VDR) plate, at least one electrode part in a pair of resistance that makes resistance that electric current flows through described directions X or Y direction is set at least, on the surface of voltage dependent resistor (VDR) plate, a pair of electric conductor that makes electric current flow through the resistance of described Z direction is set at least.
And, another technical scheme of the present invention is, flow out electric current from one of described electrode part and electric conductor, during from remaining electrode part or electric conductor taking-up electric current, according to the combination of the voltage of the voltage of described at least one pair of electrode part and described at least one pair of electric conductor, obtain that contact is pressed and the contact position of the contact position of directions X or Y direction at least one contact position.
And, another technical scheme of the present invention flow out electric current from one of described electrode part and electric conductor, when from remaining electrode part or electric conductor, taking out electric current, the voltage of described at least one pair of electrode part is being modified to corresponding to the described contact pressure of obtaining and the value of contact position with the voltage difference when contacting with touch sensor before touch sensor contacts, is obtaining at least one the contact length in the contact length of the contact length of directions X or Y direction.
In addition, as another technical scheme, on described voltage dependent resistor (VDR) plate, possess and make a pair of 1st electrode part of electric current along directions X stream, with a pair of the 2nd electrode part that makes electric current along Y direction stream, 4 bights at the voltage dependent resistor (VDR) plate are provided with the 1st electrode respectively, the 2nd electrode, the 3rd electrode and the 4th electrode, one the 1st electrode part in described a pair of the 1st electrode part is made of the 1st electrode and the 3rd electrode, another the 1st electrode part is made of the 2nd electrode and the 4th electrode, one the 2nd electrode part in described a pair of the 2nd electrode part is made of the 1st electrode and the 2nd electrode, another the 2nd electrode part is made of the 3rd electrode and the 4th electrode, the above crimping of the also available authorised pressure of described each electrode is installed on the described voltage dependent resistor (VDR) plate, and utilizes sept (spacer) to keep making electric current flow through the electric conductor of the resistance of described Z direction with predetermined distance on the surface of voltage dependent resistor (VDR) plate.
And, another technical scheme of the present invention possesses the voltage dependent resistor (VDR) plate, this voltage dependent resistor (VDR) plate is the plate that has resistance in the direction along the plate face, thickness direction along plate has resistance, simultaneously pushing of the corresponding thickness direction of the resistance of thickness direction changes and changes, in order to obtain at least two in contact pressure to the voltage dependent resistor (VDR) plate, contact position, the contact length, make electric current flow through the voltage dependent resistor (VDR) plate, described voltage dependent resistor (VDR) plate constitutes by having several kilohms of films to the surface resistance of tens megohms.In this case, electric current is flowed to for example direction and/or the thickness direction along the plate face of voltage dependent resistor (VDR) plate.
And another technical scheme of the present invention is that described voltage dependent resistor (VDR) plate constitutes by having several kilohms of films to the surface resistance of tens megohms.
And another technical scheme of the present invention possesses: the controlled device that touch sensor has been installed; Make described voltage dependent resistor (VDR) plate produce the power supply of electric potential gradient; Convert the A/D converter of digital value to output voltage with described electrode part and described pair of conductive body, and possesses control part, input is from the digital signal of described A/D converter, obtain at least two in the contact length of contact pressure, contact position, directions X and/or Y direction to described touch sensor, according to this contact pressure, contact position, contact length of obtaining, control described controlled device 1.
According to the present invention, not the pressure distribution that detects pushing, but can detect the variation of pushing in real time by only detecting barycentric coordinates and force value and the contact length of pushing thereof.
And, press detecting sensor to realize owing in same plane, utilize analog coordinate detecting device to contact with simulation, thus compare with X, the Y matrix sensor of existing numeral, simple in structure, and available a small amount of wiring detects, and can improve reliability and reduce cost.And, even compare with existing analog type device, owing to can in same plane, detect, so can correctly obtain information.
Description of drawings
Fig. 1 is the lower limb oblique view partly of the robot of expression an embodiment of the present invention.
Fig. 2 is the oblique view of part of uniform machinery people's hand.
Fig. 3 is the exploded perspective view of same touch sensor.
Fig. 4 is the schematic diagram of one of the contact area detection of the same touch sensor of expression example.
Fig. 5 is the equivalent electrical circuit of the voltage dependent resistor (VDR) plate during to the contact of same touch sensor point.
Fig. 6 is the equivalent electrical circuit of the voltage dependent resistor (VDR) plate during to the contact of same touch sensor face.
Fig. 7 is the equivalent electrical circuit of the directions X of the voltage dependent resistor (VDR) plate during to the contact of same touch sensor face.
Fig. 8 is the equivalent electrical circuit of the Y direction of the voltage dependent resistor (VDR) plate during to the contact of same touch sensor face.
Fig. 9 is that the contact position to same touch sensor is near the equivalent electrical circuit the center time.
Figure 10 be to the contact position of same touch sensor for around near the time equivalent electrical circuit.
Figure 11 is the circuit diagram of same touch sensor application apparatus.
Figure 12 is the circuit diagram of the touch sensor application apparatus of another embodiment of expression.
Figure 13 is the transfer sequence figure of the same change-over switch of expression.
Figure 14 is the equivalent electrical circuit that is used to represent the voltage dependent resistor (VDR) plate of additive methods such as pressure detection.
Symbol description
1, robot (controlled device)
3, touch sensor
4, voltage dependent resistor (VDR) plate
5, conductive film (electric conductor)
6, conductive film (electric conductor)
9, the 1st electrode part
10, the 1st electrode part
11, the 2nd electrode part
12, the 2nd electrode part
27, control part
30, controller outside
Embodiment
Below, with reference to the description of drawings embodiments of the present invention.
Fig. 1 and Fig. 2 represent to apply the present invention to the sole of robot (controlled device) 1 or an embodiment of hand, corresponding to the touch sensor 3 as the joint installation unitization of the sole of robot 1 bone and finger or palm.In the present embodiment, as shown in Figure 1,2 touch sensors 3 are installed, as shown in Figure 2,14 touch sensors 3 are installed on finger, respectively install 1 at the palm and the palm of the hand respectively simultaneously at the sole of robot 1.Owing to dispose these touch sensors 3 with the joint of hand or sole with conforming to,, can the following precision of millimeter obtain the size of its pressure and the centre of gravity place of area and pressure thereof in real time so the joint can freely be moved.If touch sensor 3 is installed under foot, the pressure when then detecting walking easily changes, if in finger mounted, and the pressure variation when then detecting the extracting object easily, slip etc.And as described later, 2 pairs of 1 touch sensors 3 of signal wire that take out from touch sensor 3 are reduced to 4～6, and the wiring of taking-up produces and bothers, the situation of the delicate action of the fingers such as holding, touch of obstruction robot palm reduces.
Below, the structure of detailed description touch sensor 3.Fig. 3 launches to be configured in the touch sensor 3 (in Fig. 2, making its consistent crooked touch sensor with finger) of the sole shown in Fig. 1 and Fig. 2 and one of finger or palm.Fig. 4 utilizes vertical view and outboard profile pattern ground expression touch sensor 3.In Fig. 3 and Fig. 4, described touch sensor 3 possesses voltage dependent resistor (VDR) plate 4, is configured to from the pair of conductive film (electric conductor) 5,6 of the sandwich voltage dependent resistor (VDR) plate 4 of its thickness direction.
Voltage dependent resistor (VDR) plate 4 is the plates that have resistance in directions X and Y direction along the plate face, has resistance in the Z direction consistent with the thickness direction of plate, simultaneously has pressure-sensitive at thickness direction, and the pushing of the corresponding thickness direction of the resistance of Z direction changes and change.In the present embodiment, the plate that for example has the surface resistance about 8 powers of 10 4 powers～10 by sneak into carbon in tygon constitutes voltage dependent resistor (VDR) plate 4.
The substrate that semiconducter IC or electronic unit have been carried in the polyethylene film protection that plate with the surface resistance about 8 powers of 10 4 powers～10 often is used in the 100 μ m thickness that add carbon that utilize common market sale is not subjected to the conduction bag that electrostatic influence uses etc., generally can obtain.In an embodiment, though use surface resistance about 8 powers with 4 powers～10 of 10, because the shape difference of the voltage dependent resistor (VDR) plate that uses in the various uses, so interelectrode resistance also differs widely.In the control circuit of reality, interelectrode resistance and voltage dependent resistor (VDR) wish not influence the best resistance of setting in circuit input impedance ground as the input of control assembly or switch block.Therefore, be complementary, can use several kilohms of surface resistances to tens megohms with various uses.But have following situation: promptly utilize its above sheet resistance value, it is big that the resistance value of directions X or Y direction becomes, and is difficult to detect the contact coordinate, and utilize its following surface resistance, and the pressure-sensitive characteristic is insufficient, produces fault during detection.
A pair of the 1st electrode part 9,10 that electric current is flowed along directions X is set around voltage dependent resistor (VDR) plate 4, with a pair of the 2nd electrode part 11,12 that electric current is flowed along the Y direction, for example, a pair of the 1st electrode part 9,10 is made as makes electric current flow through the electrode part of the directions X resistance of voltage dependent resistor (VDR) plate 4, a pair of the 2nd electrode part 9,10 is made as makes electric current flow through the electrode part of the Y direction resistance of voltage dependent resistor (VDR) plate 4.
And, voltage dependent resistor (VDR) plate 4 forms square configuration, in 4 bights of this voltage dependent resistor (VDR) plate 4 the 1st electrode A, the 2nd electrode B, the 3rd electrode C and the 4th electrode D are set respectively, described one the 1st electrode part 9 is made of the 1st electrode A and the 3rd electrode C, another the 1st electrode part 10 is made of the 2nd electrode B and the 4th electrode D, described one the 2nd electrode part 11 is made of the 1st electrode A and the 2nd electrode B, and another the 2nd electrode part 12 is made of the 3rd electrode C and the 4th electrode D.Described the 1st electrode A, the 2nd electrode B, the 3rd electrode C and the 4th electrode D for example constitute by Copper Foil is installed on voltage dependent resistor (VDR) plate 4.
Described pair of conductive film 5, on 6 each a pair of surface that are separately positioned on corresponding to the thickness direction of voltage dependent resistor (VDR) plate 4, for example, be made as the electric conductor (the 3rd electrode part) of the Z direction resistance that is used to make electric current flow through voltage dependent resistor (VDR) plate 4. conductive film 5, the 6th, the film of electric conductivity is arranged towards the mask of voltage dependent resistor (VDR) plate 4, also can by at the surperficial evaporation of PET (polyethylene terephthalate) the aluminium PET of aluminium constitute, also can be by the FPC formations such as (flexible printing substrates) of on PI (polyimide), having spread conducting film. this pair of conductive film 5,6 form square shape respectively corresponding to voltage dependent resistor (VDR) film 4, conductive film 5,6 are set as and are used to make electric current to flow through a pair of the 3rd electrode part of voltage dependent resistor (VDR) plate 4 along the Z direction. in addition, with pair of conductive film 5,6 when being made as a pair of the 3rd electrode part, also the wiring from power supply etc. can be directly connected in pair of conductive film 5,6, also can be at pair of conductive film 5, the electrode that Copper Foil has been installed for example is set on 6, will be connected in this electrode from the wiring of power supply etc.
Then, illustrate and utilize voltage dependent resistor (VDR) plate 4, contact the principle that pressure (pressure-sensitive) detects and contact position (position coordinates) detects.
Voltage dependent resistor (VDR) plate 4 illustrates the variation of the pressure of resistance relative thickness direction, for example, if voltage dependent resistor (VDR) plate 4 is applied 1N (newton's) load on the area of diameter 4mm, then has several ohm resistance, but under the load of 100N, becomes tens ohm resistance.In the parts that have with its same function, has known pressure-sensitive conducting rubber.The pressure-sensitive conducting rubber is the compound substance that has made up silicon rubber and metal or carbon particle, be that expression is corresponding to the stimulation of pressure, resistance is changed to conduction state from state of insulation pressurization conducting rubber, by pressurization, because inner metallics contact, so have electric conductivity, about the function of thickness direction, with above-mentioned to have sneaked into voltage dependent resistor (VDR) plate 4 carbon, that use among the present invention identical.But, the pressure-sensitive conducting rubber is in order to connect the electrode on the liquid-crystalline glasses panel and to be connected in outside FFC cable, rubber and the electric conductivity high metallics high by insulating property constitute, make it also as the anisotropic conductive connector of having arranged metallics at the thickness direction of silicone rubber membrane, so for pressurization to thickness direction, has electric conductivity, but to X, the Y plane beyond the pressurization on every side, has high insulating property, in the past as mentioned above, for detecting the XY coordinate position, implement with the miscellaneous part combination.
In addition, the voltage dependent resistor (VDR) plate 4 of the polyethylene film system of using among the present invention, sneaked into carbon is compared with existing pressure-sensitive conducting rubber, even the resistance characteristic that X, Y plane also have regulation.Therefore, if,, in base material, use rubber or use other pressure-sensitive material also no problem then as voltage dependent resistor (VDR) plate 4 even X, Y plane also obtain the resistance value stipulated.
Voltage dependent resistor (VDR) plate 4 connects the conducting surface of 2 conductive films 5,6 and is clamped, but between it, wish to be designed to do not applying through sept when pushing, 5,6 insulation of 2 conducting films, perhaps, compare with the resistance value of the thickness direction (Z direction) of voltage dependent resistor (VDR) plate 4, have greater than the resistance more than 2 times.
As sept, also can put into several millimeters intermembranous partings at two ends, the left and right sides to tens millimeters thick, form the gap, also can use the slight gap thing of several millimeters to tens millimeters the spherical resin pearl of using in touch panel or the liquid crystal panel to form the gap.By pushing conductive film 5,6, the conducting surface that forms at this pressing position conductive film 5,6 contacts with voltage dependent resistor (VDR) plate 4.When utilizing little sept to guarantee the gap, the distribution density difference because of the slight gap thing begins change of sensitivity to the pressure detection of pushing.If density is big, do not become big as long as then push, just do not contact with voltage dependent resistor (VDR) plate 4.And, owing to, then can detect, so can select the density of slight gap thing corresponding to purposes by pushing a little if density is little.Certainly, because they are subjected to thickness, the rigidity effects of conductive film 5,6,, pressure detection must decide by the condition of this conductive film 5,6 and slight gap thing so beginning sensitivity.
And, use the touch sensor 3 that constitutes like this that the elemental motion that detects input information is described, as detecting the contact pressure detection part that contact is pressed, use conductive film 5, voltage dependent resistor (VDR) plate 4, it is the touch sensor zone that conducting film 6. is established the face that the conducting surface of conductive film 6 is connected with voltage dependent resistor (VDR) plate 4, the face that the conducting surface of conductive film 5 and conductive film 6 face-offs is connected with voltage dependent resistor (VDR) plate 4 is the tactile pressure sensor region. therefore, the conductive area of the conductive area of conductive film 6 and conductive film 5 is not necessarily identical also can. at this pair of conductive film 5, flow through continuous current between 6 (a pair of the 3rd electrode part). as mentioned above, by pressurization conductive film 6, voltage dependent resistor (VDR) plate 4 is exerted pressure, the resistance change of Z direction. therefore, flow through pair of conductive film 5 if make, 6 electric current becomes constant, then can be according to conductive film 5, voltage Vz between 6 (the 3rd electrode part) obtains plus-pressure (contact is pressed). promptly, electric current is flow through from conductive film 5, when from conductive film 6, taking out electric current, can obtain according to the voltage V6 of the voltage V5 of conductive film 5 and conductive film 6 poor (combination) and contact pressure.
Below, the detection part that detects contact position (X, Y coordinate that contact forms) is described.The 1st electrode A and the 3rd electrode C (the 1st electrode part 9) to voltage dependent resistor (VDR) plate 4 apply voltage Vx0, and establishing the 2nd electrode B and the 4th electrode D (the 1st electrode part 10) is GND.The equivalent electrical circuit of the voltage dependent resistor (VDR) plate 4 when Fig. 5 represents some contact, as shown in Figure 5, if push certain coordinate position of conductive film 6, then the conducting surface of conductive film 6 contacts with voltage dependent resistor (VDR) plate 4.If at the some S1 of contact position contact along the position X1 distance of directions X distance the 2nd electrode B and the 4th electrode D (the 1st electrode part 10), then the voltage Vzx of conductive film 6 (the 3rd electrode part) is
Vzx＝X1/(X1+X2)＊Vx0。
Here, X2 is to the distance of the directions X of contact point S from the position of the 1st electrode A and the 3rd electrode C (the 1st electrode part 9).
Therefore, apply voltage Vx0 9,10 of a pair of the 1st electrode part, when making the electric current of directions X flow through voltage dependent resistor (VDR) plate 4, can detect the voltage Vzx between one the 1st electrode part 9 and the conductive film 6, according to this detected voltage Vzx and the described relation that applies voltage Vx0, obtain the contact position of directions X.Promptly, from the 1st electrode part 9, flowing through electric current, when from the 1st electrode part 10, taking out electric current, can obtain the contact position of directions X according to poor (combination) of the voltage V6 of the voltage V9 of the voltage V10 of the voltage V9 of the 1st electrode part 9 and the 1st electrode part 10 poor (combination) and one the 1st electrode part 9 and a conductive film 6.
Similarly, the 1st electrode A and the 2nd electrode B (the 2nd electrode part 11) are applied voltage Vy0, establishing the 3rd electrode C and the 4th electrode D (the 2nd electrode part 12) is GND, then is
Vzy＝Y1/(Y1+Y2)＊Vy0。
Here, Y1 be from the position of the 3rd electrode C and the 2nd electrode D (the 2nd electrode part 12) to the distance of the Y direction of contact point S, Y2 is to the distance of the Y direction of contact point S from the position of the 1st electrode A and the 2nd electrode B (the 2nd electrode part 11).
Therefore, apply voltage Vy0 11,12 of a pair of the 2nd electrode part, when making the electric current of Y direction flow through voltage dependent resistor (VDR) plate 4, can detect the voltage Vzy between one the 2nd electrode part 11 and the conductive film 6, according to this detected voltage Vzy and the described relation that applies voltage Vy0, obtain the contact position of Y direction.Promptly, flow through from the 2nd electrode part 11 at electric current, during from the 2nd electrode part 12 taking-up electric currents, can obtain the contact position of Y direction according to poor (combination) of the voltage V6 of the voltage V11 of the voltage V12 of the voltage V11 of the 2nd electrode part 11 and the 2nd electrode part 12 poor (combination) and one the 2nd electrode part 11 and a conductive film 6.
And, also can make electric current flow to the electrode part of voltage dependent resistor (VDR) plate 4 from the conducting film 6 of contact position, utilize the electric current that flows in each electrode part that is disposed at voltage dependent resistor (VDR) plate 4 to detect, obtain position coordinates and detect.At this moment, flow through current value that 4 angular fluxs go out with and the electric current that is inversely proportional to of the distance of contact point.
Equivalent electrical circuit when Fig. 6～Fig. 8 is the face contact, the equivalent electrical circuit of the resistance of directions X and Y direction during the contact of Fig. 6 presentation surface, Fig. 7 omits the resistance of Y direction when being illustrated in the face contact, equivalent electrical circuit when only taking out the resistance of directions X, Fig. 8 omits the resistance of directions X when being illustrated in the face contact, equivalent electrical circuit when only taking out the resistance of Y direction. as Fig. 6～shown in Figure 8, identical with the situation of Fig. 5, the contact coordinate can be by the ratio of Vzx/Vx0, the ratio of Vzy/Vy0 is obtained. because voltage Vzx is the voltage corresponding to the ratio of voltage dependent resistor (VDR) Rx4 and voltage dependent resistor (VDR) Rx5, voltage Vzy is the voltage corresponding to the ratio of voltage dependent resistor (VDR) Ry4 and voltage dependent resistor (VDR) Ry5, so position that the voltage V6 output that conducting film 6 detects is directly proportional with the pressure distribution of pushing, but not the voltage at the center of contact area. especially in the present invention, owing to can be taken into position coordinates and pressure information in the same plane, so can correctly detect.
Usually, when surface of contact has area, in the detection of contact coordinate position that is not contact pressure information, produce error.In the past (for example, No. the 3055448th, Jap.P.), in order to address this problem, the variation that causes according to the size of surface of contact, obtain correct contact coordinate, but owing to be not taken into the distributed intelligence that contact is pressed, so if for example press big situation etc. in the contact of an end of surface of contact, revised by the contact area that is not taken into pressure information, the error that then contacts the center might become big on the contrary.In the present invention, owing to utilize 1 voltage dependent resistor (VDR) plate 4, by in same plane, obtaining X, the Y coordinate of contact position, so have the advantage that can more correctly obtain X, Y coordinate corresponding to the ratio of pushing distribution.
Below, as around contact, pressing the parts that detect contact length, use voltage dependent resistor (VDR) plate 4, conductive film 6.At first, before the contact pressurization, between the 1st electrode A of voltage dependent resistor (VDR) plate 4 and the 3rd electrode C (one the 1st electrode part 9) and the 2nd electrode B and the 4th electrode D (another the 1st electrode part 10), apply continuous current, detect the voltage Vx0 of 9,10 of a pair of the 1st electrode part, then, between the 1st electrode A of voltage dependent resistor (VDR) plate 4 and the 2nd electrode B (one the 2nd electrode part 11) and the 3rd electrode C and the 4th electrode D (another the 2nd electrode part 12), apply continuous current, detect the voltage Vy0 of 11,12 of a pair of the 2nd electrode part.If warp is across conducting film 6, contact pressurization on certain area of certain position of voltage dependent resistor (VDR) plate 4, then a pair of the 1st electrode part 9,10 and 11,12 continuous currents that flow through of a pair of the 2nd electrode part flow to conductive film 5,6 at surface of contact from voltage dependent resistor (VDR) plate 4, and voltage Vx, the Vy that 9,10 of a pair of the 1st electrode part and a pair of the 2nd electrode part are 11,12 descends.The variable quantity Vx0-Vx of this directions X and the variable quantity Vy0-Vy of Y direction can be defined as the contact area of pressing corresponding to contacting.If it is big that surface of contact becomes, then the electric current by conductive film 5,6 increases, and the voltage Vy that voltage Vx that the 1st electrode part is 9,10 and the 2nd electrode part are 11,12 descends.
Equivalent electrical circuit with Fig. 5～Fig. 8 is described, the each several part resistance when Fig. 5～Fig. 8 represents conductive film 6 and 4 pressurizations of voltage dependent resistor (VDR) plate.Equivalent electrical circuit when Fig. 5 is some contact, the changes in resistance that contactless 9,10 of a pair of the 1st electrode part that cause or a pair of the 2nd electrode part are 11,12.
Fig. 6～Fig. 8 is the face equivalent electrical circuit in when contact, in fact represent with the distribution of resistance of the voltage dependent resistor (VDR) plate 4 of each position of surface of contact and this position, but Fig. 6～Fig. 8 is the equivalent electrical circuit with its simple modular.Electric current such as Figure 6 and Figure 7 that a pair of the 1st electrode part is 9,10, the resistance R x1 of voltage dependent resistor (VDR) plate 4 is flow through in position beyond surface of contact, at surface of contact, position coordinates at the edge part of the big surface of contact of plus-pressure flow to conducting film 6 by voltage dependent resistor (VDR) Rx4, flow to conducting film 5 by voltage dependent resistor (VDR) Rx40, in the voltage dependent resistor (VDR) Rx2 of voltage dependent resistor (VDR) plate 4, flow through the summation of the voltage dependent resistor (VDR) Rx5 of the position coordinates of another edge part of the big surface of contact of plus-pressure and electric current that voltage dependent resistor (VDR) Rx50 flows and the electric current that in the voltage dependent resistor (VDR) Rx3 of voltage dependent resistor (VDR) plate 4, flows.These electric currents are owing to the position coordinates at the surface of contact edge part, flow to conducting film 5,6 by voltage dependent resistor (VDR) Rx4, voltage dependent resistor (VDR) Rx40, voltage dependent resistor (VDR) Rx5, voltage dependent resistor (VDR) Rx50, so the voltage variety V0x-Vx that detects merely is directly proportional with contact area, but also contacted the pressure influence of the neighboring of press contacts.Threshold value when this decision detects contact area, by flowing through electric current so that the resistance between electrode minimum is determined this value.
And, near when Fig. 9 represents that contact position is the center of touch sensor 3 between electrode A, C and the contact position equivalent resistance, near when Figure 10 represents that contact position is around the touch sensor 3 between electrode A, C and the contact position equivalent resistance, but owing to flow through electric current so that the resistance between electrode minimum, so as Fig. 9 and shown in Figure 10, if contact position leaves the bee-line that links electrode, even then contact area is identical, because interelectrode resistance variations reduces, also must revise according to the contact coordinate.
And, above-mentioned contact length flows through electric current in electrode part 9,10,11,12, detect its variation, but electric current is flowed out from electric conductor 5 or electric conductor 6, in electrode part 9,10,11,12, detect the variation of this voltage, press, ask the combination of the voltage of contact coordinate according to detected contact, calculate contact length.
In the present invention, owing to can be taken into contact pressure on every side in same plane, the contact area that detects can obtain the high value of precision.In addition, in contact area hour, voltage dependent resistor (VDR) Rx3 shown in Fig. 6～Fig. 8, voltage dependent resistor (VDR) Ry3 are little, so returning the electric current of conducting film 5,6 tails off, contact area detects forr a short time, but this also can merely revise the back and utilize, and also can make up with earlier detected force value, revises the load of surface of contact.
In above-mentioned, electrode structure when the formation pressure detection detects with coordinate is identical, and the mode that control method is also identical, the common control part 27 that uses, switch by switch block 16, carry out pressure detection, and coordinate detection on directions X and Y direction respectively, obtain contact length, but by making electric current flow to the electrode part 9 of voltage dependent resistor (VDR) plate 4 from the conducting film 6 of contact position, 10,11,12 (electrode A, B, C, D), from electric conductor 5, take out electric current, with each electrode part 9 that is configured on the voltage dependent resistor (VDR) plate 4,10,11,12 (electrode A, B, C, the control method of the current detecting pressure detection that flows D), but also one-time detection directions X, the position coordinates of Y direction.
And, in said embodiment, obtain the XY coordinate position, but, simplify the electrode structure of sensor also according to purposes, only ask the structure of X coordinate, Y coordinate.In a word, possesses voltage dependent resistor (VDR) plate 4, this voltage dependent resistor (VDR) plate is the plate that has resistance in the direction along the plate face, when the thickness direction of plate has resistance, the pushing of the corresponding thickness direction of the resistance of thickness direction changes and changes, in order to obtain in contact pressure to voltage dependent resistor (VDR) plate 4, contact position, the contact length at least 2, as long as make electric current flow through voltage dependent resistor (VDR) plate 4 at direction and/or thickness direction along this plate face.
Below, explain the action of touch sensor of the present invention and used the control of the robot 1 of touch sensor.
In Figure 11, the 15th, constant-current supply, the 16th, the switch block that utilizes analog multiplexer to constitute possesses change-over switch SW1 and change-over switch SW2, and as Fig. 1 or shown in Figure 2, switch block 16 is between touch sensor 3 and control assembly described later 24.Change-over switch SW1 has a pair of moving contact 18,19 of mutual interlock action, switches constant-current supply 15 is connected in conductive film 5,6 sides or electrode A, D side.Change-over switch SW2 has the moving contact 22 that electrode B is connected in the moving contact 21 of electrode D or electrode A and electrode C is connected in electrode A or electrode D, switching makes electric current flow to electrode B, D (the 1st electrode part 10) from electrode A, C (the 1st electrode part 9), or makes electric current flow to electrode C, D (the 1st electrode part 12) from electrode A, B (the 2nd electrode part 11).
The 23rd, switch switching circuit makes change-over switch SW1, SW2 interlock change action.The 24th, control assembly has A/D converter 25, has the control part 27 and the motor drive circuit 28 of CPU and storer.The 30th, the peripheral control unit that constitutes by CPU etc., the 31st, the CD-ROM drive motor of robot 1, as shown in Figure 1, be installed in the knee portions of leg regions or the ankle portion of the leg of robot 1, by the driving of CD-ROM drive motor 31, or the lower limb portion of robot 1 is rocked back and forth, or pin is rocked back and forth in ankle portion.And, CD-ROM drive motor 31 as shown in Figure 2, correspondence is installed in each touch sensor 3 on the described finger, is assembled in the joint component of finger, by the driving of CD-ROM drive motor 31, can rotate finger in joint component, can hold with a firm grip or open one's hand.
The control of touch sensor 3 is at first set for the moving contact 18,19 of change-over switch SW1 is swung to conductive film 5,6 sides, makes electric current flow to conductive film 5,6 from constant-current supply 15.Usually, because when not contacting touch sensor 3, by 5,6 of insulation conductive films such as sept, so if make electric current flow through 5,6 of conductive films, then at the maximum voltage Vmax of 5,6 generations of conductive film by constant-current supply 15 settings.And by contacting with touch sensor 3, conductive film 5,6 connects through voltage dependent resistor (VDR) plate 4, produces voltage Vz 5,6 of conductive films.From this voltage Vz is assigned voltage when following, begins following detection.
(detection that contact is pressed)
Because the increase of pushing corresponding to 3 generations of contact touch sensor, the resistance of voltage dependent resistor (VDR) plate 4 reduces, the voltage Vz that conductive film is 5,6 changes, so from voltage Vz is that assigned voltage Vz0 is when following, after stipulated time, when conductive film 6 takes out electric currents, according to poor (combination) of the voltage V6 of the voltage V5 of conductive film 5 and conductive film 6, detect the voltage Vz that the expression contact is pressed, will be in control part 27 by the data storage after A/D converter 25 conversions of control assembly 24.
(the contact coordinate detects)
Then, the moving contact 18,19 of change-over switch SW1 is swung to electrode A, D side, constant-current supply 15 is connected in electrode A, D side.At this moment, change-over switch SW2 becomes in that this moving contact 21 is swung to electrode D side in connection electrode B and the electrode D, moving contact 22 is swung to the electrode A side and connection electrode A, the state of electrode C, so that continuous current flows through electrode A from constant-current supply 15, C (the 1st electrode part 9) and electrode B, between the D (the 1st electrode part 10), electric current is flow through from the 1st electrode part 9, during from the 1st electrode part 10 taking-up electric currents, will be as the voltage V10 of the voltage V9 of the 1st electrode part 9 and the 1st electrode part 10 poor (combination), the 1st electrode part 9,10 voltage V0x input control unit 24, by AD converter 25 conversion, with this data storage in control part 27.
At this moment, electric current flows through voltage dependent resistor (VDR) plate 4 along directions X, poor (combination) according to the voltage V6 of the voltage V10 of one the 1st electrode part 9 and a conductive film 6, detect the voltage Vzx between conductive film 5 and electrode B, the D (the 1st electrode part 10), similarly, by AD converter 25 conversion of control assembly 24, with this data storage in control part 27.Because the X coordinate of the contact position of expression directions X contact position is Vzx/V0x, so calculated by control part 27, obtains the X coordinate.
Then, if the moving contact 21 of change-over switch SW2 is being swung to the electrode A side, in the time of connection electrode A and electrode B, moving contact 22 is swung to electrode D side, connection electrode C and electrode D, and make electric current flow through electrode A, B (the 2nd electrode part 11) and electrode C, between the D (the 2nd electrode part 12), electric current flows through voltage dependent resistor (VDR) plate 4 along the Y direction, similarly, the Y coordinate of contact position also makes electric current flow through from the 2nd electrode part 11, during from the 2nd electrode part 12 taking-up electric currents, poor (combination) according to the voltage V12 of the voltage V11 of the 2nd electrode part 11 and the 2nd electrode part 12, poor (combination) with the voltage V6 of the voltage V11 of one the 2nd electrode part 11 and a conductive film 6, calculate the Vzy/V0y that asks Y direction contact position by control part 27, with this data storage in storer.
(detecting the contact area that butt joint presses)
Establish in advance that voltage is V0max between electrode A, C (the 1st electrode part 9) and electrode B when not contacting touch sensor 3, the D (the 1st electrode part 10), by A/D converter 25AD transfer electron A, the B (the 2nd electrode part 11) of control assembly 24 and the voltage V0max between electrode C, the D (the 2nd electrode part 12), and with this data storage in control part 27.And, owing to can be respectively represent contact area that directions X, the contact of Y direction are pressed with V0max-V0x, V0ymax-V0y, thus by control part 27 these data of calculating, with this data storage in storer.
(to the transmission and the motor control of outer CPU)
Then, be stored in data in the storer of control part 27 when being transferred to peripheral control unit 30, before peripheral control unit 30 indication motor driven, control part 27 is implemented the control of contact length (area) detection that the contact pressure detects, the contact coordinate detects, butt joint presses of touch sensor 3 once more, simultaneously, each CD-ROM drive motor 31 of drive controlling is so that its change is minimum.And, be more than the setting at the voltage of 11,12 of 9,10 of a pair of the 1st electrode part and a pair of the 2nd electrode part, and the voltage of 5,6 of pair of conductive bodies is setting when above, stop the control of the value of the data that maintenance that described control part 27 carries out obtains.
According to above-mentioned embodiment, can be correctly and promptly detect and be applied with how many contacts in the position of the XY of touch sensor 3 coordinate and press, can be corresponding to this input information, make CD-ROM drive motor 31 actions of robot 1 each finger, accurate and correctly corresponding situation is fed back. for example, when shaking hands with robot 1, then weak and soft with child, and, then strong in the time must carrying out declaration of will strongly, and can be controlled to the finger tip part with correct reception and registration will. outside, if also be applied to the pressure detection of sole, then owing to when double-legged walking, make under the situation that balance destroys, can detect the variation that the contact of the part of pin is pressed, so also can be used in the purposes that keeps the balance of robot 1 by trickle control.
Figure 12 and Figure 13 represent another embodiment, and the 1st switch SW the 11, the 2nd switch SW the 12, the 3rd switch SW 13 and the 4th switch SW 14 is set in on-off circuit 16, substitute change-over switch SW1, the SW2 of the switch block 16 in the described embodiment.The 1st switch SW 11 constitutes has moving contact 35, to the high-pressure side connection or the cut-out conductive film 5 of constant voltage source 15.The 2nd switch SW 12 constitutes has moving contact 36, the GND side of constant voltage source 15 is connected or cuts off the 1st electrode A of voltage dependent resistor (VDR) plate 4.The 3rd switch SW 13 constitutes has moving contact 37, to the connection of GND side or the cut-out conductive film 6 of constant voltage source 15.The 4th switch SW 14 is identical with described change-over switch SW2, has the moving contact 22 that electrode B is connected in the moving contact 21 of electrode D or electrode A and electrode C is connected in electrode A or electrode D, switching makes electric current flow to electrode B, D (the 1st electrode part 10) from electrode A, C (the 1st electrode part 9), or makes electric current flow to electrode C, D (the 1st electrode part 12) from electrode A, B (the 2nd electrode part 11).And, conductive film 5,6, the electrode A of voltage dependent resistor (VDR) plate 4, B, C, D are connected in the A/D converter 25 of control assembly 24, will be from signal (voltage) input a/d converter 25 of the electrode A of electric conductivity film 5,6, voltage dependent resistor (VDR) plate 4, B, C, D.Other aspect is the structure identical with the situation of described embodiment.
Under the situation of present embodiment, as shown in figure 13, utilize the control part 27 of control assembly 24, switch the 1st switch SW 11～the 4th switch SW 14 through switch switching circuit 23.。That is, in Figure 13, in the order of left part record switching the 1st switch SW 11～the 4th switch SW 14, the order by 1,2,3,4,5 is switched successively from downside to upside." 1 " expression of the 1st switch SW 11 row is to the state of the high-pressure side connection conductive film 5 of constant voltage source 15, and the state of conductive film 5 is cut off in " 0 " expression to the high-pressure side of constant voltage source 15." 1 " expression of the 2nd switch SW 12 row is to the state of the 1st electrode A of the GND side connection pressure-sensitive plate 4 of constant voltage source 15, and the state of the 1st electrode A of pressure-sensitive plate 4 is cut off in " 0 " expression to the GND side of constant voltage source." 1 " expression of the 3rd switch SW 13 row is to the state of the GND side connection conductive film 6 of constant voltage source 15, and the state of conductive film 6 is cut off in " 0 " expression to the GND side of constant voltage source 15." 1 " expression of the 4th switch SW 14 row switches to and makes electric current flow to the state of electrode B, D (the 1st electrode part 10) from electrode A, C (the 1st electrode part 9), and " 0 " expression switches to and makes electric current flow to electrode C, the D (state of the 2nd electrode part 12 from electrode A, B (the 2nd electrode part 11).
By the control of control part 27, through switch switching circuit 23 change actions the 1st switch SW 11～the 4th switch SW 14.At first, the 1st switch SW 11～the 4th switch SW 14 is the state of " 1,1; 1,1 ", and is identical with described embodiment, carry out the pressing detection of Z coordinate, then, the 1st switch SW 11～the 4th switch SW 14 is switched to " 1,1; 0; 1 " state, identical with the situation of described embodiment, carry out the detection of contact area.Then, after the 1st switch SW 11～the 4th switch SW 14 is switched to the state of " 1,0; 0,1 ", also switch to the state of " 1; 0,0,1 ", identical with the situation of described embodiment, carry out the Y coordinate and detect, last, the 1st switch SW 11～the 4th switch SW 14 is switched to " 0,0,0; 0 " state, identical with the situation of described embodiment, carry out the X coordinate and detect.
Therefore, the situation of this embodiment also situation with described embodiment is identical, can be correctly and promptly detect and be applied with how many contacts in the position of the XY of touch sensor 3 coordinate and press, can be corresponding to this input information, make CD-ROM drive motor 31 actions of each finger of robot 1, accurate and correctly corresponding situation is fed back.
In addition, in said embodiment, utilize switch block 16, can make electric current flow through conducting film 5,6 carry out the situation of pressure detection and make electric current flow to electrode part 9,10,11,12 obtain switching controls under the situation that contacts coordinate, the method of seeking only pressure detection and contact coordinate is not limited to the situation of described embodiment, for example, also power supply 15 can be connected in conducting film 6, as shown in figure 14, by electric current is flow through from conducting film 6, electrode part 9 from voltage dependent resistor (VDR) plate 4,10,11,12 and the conducting film 5 of contact position take out electric current simultaneously, carry out pressure detection according to the voltage V5 of conducting film 5 and the voltage V6 of conducting film 6, voltage V6 and electrode A according to conducting film 6, the voltage VA of C, VC, the use formula ((V6～VA)/(V6～VC)), obtain the contact position of directions X, simultaneously, voltage V6 and electrode B according to conducting film 6, the voltage VB of D, VD, the use formula ((V6～VB)/(V6～VD)), obtain the contact position of Y direction. therefore, by making up each electrode part 9,10,11,12 (each electrode A, B, C, D) voltage and conducting film 5,6 voltage, do not need switch block, can carry out pressure detection yet, position coordinates detects, obtain contact length.
And, in said embodiment,, apply the constant current source of direct current, but also can utilize constant pressure source and resistance to realize easy constant current source in order to understand the ground principle of specification easily.And, reduce the method for noise component by the signal that only takes out the assigned frequency component, also can use AC power.
In addition, in said embodiment, voltage dependent resistor (VDR) plate 4 forms square configuration, but the shape of voltage dependent resistor (VDR) plate 4 is not limited thereto, and also can become shapes such as circle.And,, also can make pair of conductive film 5,6 become shapes such as circle corresponding to the shape of voltage dependent resistor (VDR) plate 4.And, 4 bights at voltage dependent resistor (VDR) plate 4, the 1st electrode A, the 2nd electrode B, the 3rd electrode C and the 4th electrode D are set respectively, even when constituting the 1st electrode part the 9, the 1st electrode part the 10, the 2nd electrode part 11 and the 2nd electrode part 12 by these electrode A, B, C, D, voltage dependent resistor (VDR) plate 4 also is not limited to square shape, for example, also the quadrilateral shape or 4 limits of 4 limits of voltage dependent resistor (VDR) plate 4 depression archwise expand into arc other shapes such as shape.
And, in said embodiment, as the electric conductor that is used to that electric current is flow through and is arranged on the Z direction resistance on voltage dependent resistor (VDR) plate 4 surfaces, use is configured to from the pair of conductive film 5,6 of the sandwich voltage dependent resistor (VDR) plate 4 of thickness direction, but substitute it, also available sheet copper etc. constitutes the pair of conductive body from sandwich voltage dependent resistor (VDR) plate 4.And, also can on the surface of the thickness direction both sides of voltage dependent resistor (VDR) plate 4, be provided with and be used to make electric current to flow through the electric conductor of the Z direction resistance of voltage dependent resistor (VDR) plate 4 more than 3.
And, in said embodiment, electric current is flow through from conductive film 5, during from conductive film 6 taking-up electric currents, obtain according to the voltage V6 of the voltage V5 of conductive film 5 and conductive film 6 poor (combination) and to contact pressure, electric current is flow through from the 1st electrode part 9, during from the 1st electrode part 10 taking-up electric currents, poor (combination) according to the voltage V10 of the voltage V9 of the 1st electrode part 9 and the 1st electrode part 10, poor (combination) with the voltage V6 of the voltage V9 of one the 1st electrode part 9 and a conductive film 6, obtain the contact position of directions X, and, electric current is flow through from the 2nd electrode part 11, during from the 2nd electrode part 12 taking-up electric currents, poor (combination) according to the voltage V12 of the voltage V11 of the 2nd electrode part 11 and the 2nd electrode part 12, poor (combination) with the voltage V6 of the voltage V11 of one the 2nd electrode part 11 and a conductive film 6, obtain the contact position of Y direction, but contact is pressed, the contact position of directions X, the method of obtaining of the contact position of Y direction is not limited thereto, for example, opposite with described performance, electric current is flow through from conductive film 6, during from conductive film 5 taking-up electric currents, much less also can obtain with the voltage V5 of conductive film 5 poor (combination) and contact pressure according to the voltage V6 of conductive film 6, and, electric current is flow through from the 1st electrode part 10, during from the 1st electrode part 9 taking-up electric currents, much less also can be according to poor (combination) of the voltage V9 of the voltage V10 of the 1st electrode part 10 and the 1st electrode part 9, poor (combination) with the electric V5 of the electric V10 of the 1st electrode part 10 and conductive film 5, obtain the contact position of directions X, and, electric current is flow through from the 2nd electrode part 12, during from the 2nd electrode part 11 taking-up electric currents, much less also can be according to poor (combination) of the voltage V11 of the voltage V12 of the 2nd electrode part 12 and the 2nd electrode part 11, poor (combination) with the voltage V5 of the voltage V12 of the 2nd electrode part 12 and conductive film 5, obtain the contact position of Y direction. and, under the situation of the embodiment of Figure 14, by making electric current flow through conducting film 6, electrode part 9 from voltage dependent resistor (VDR) plate 4,10,11,12 and the conducting film 5 of contact position take out electric current simultaneously, carry out pressure detection, obtain the contact coordinate position, but substitute it, also can flow through from conducting film 5 by making electric current, electrode part 9 from voltage dependent resistor (VDR) plate 4,10,11,12 and conducting film 6 take out electric current simultaneously, carry out pressure detection, obtain the contact coordinate position. and, because the contact position of the contact position of not necessarily essential detection directions X and the contact position of Y direction, as long as detect any contact position, so contact is pressed, the method of obtaining of contact position is in a word as long as make electric current from electrode part 9,10,11,12 and electric conductor 5, in 6 any flows through, from remaining electrode part 9,10,11,12 or electric conductor 5, during 6 taking-up electric currents, according to described at least one pair of electrode part 9,10,11,12 voltage V9, V10, V11, V12 and described at least one pair of electric conductor 5,6 voltage V5, the combination of V6 is obtained contact and is pressed, at least one contact position gets final product in the contact position of the contact position of directions X or Y direction.
And, in said embodiment, the contact that execution asks contact to press is pressed and is detected, execution asks the contact position of directions X contact position to detect, execution asks the contact position of Y direction contact position to detect, execution asks the contact length (area) of directions X contact length to detect, execution asks the contact length (area) of Y direction contact length to detect, but not necessarily essential these 5 kinds of detections of all execution, in case of necessity, can omit one or more detections, for example, also can carry out the contact of asking contact to press presses detection and asks the contact position of directions X contact position to detect 2 kinds, also can carry out the contact of asking contact to press presses detection and asks the contact position of Y direction contact position to detect 2 kinds, also can carry out the contact of asking contact to press and press detection and ask the contact length (area) of directions X contact length to detect 2 kinds, also can carry out the contact of asking contact to press and press detection and ask the contact length (area) of Y direction contact length to detect 2 kinds.And, also can carry out the contact position detection of asking the directions X contact position and ask the contact length (area) of directions X contact length to detect 2 kinds, also can carry out the contact position detection of asking the directions X contact position and ask the contact length (area) of Y direction contact length to detect 2 kinds, also can carry out the contact position detection of asking Y direction contact position and ask the contact length (area) of directions X contact length to detect 2 kinds, or ask the contact position detection of Y direction contact position and ask the contact length (area) of Y direction contact length to detect 2 kinds.
And, in said embodiment, 4 bights at voltage dependent resistor (VDR) plate 4 are provided with the 1st electrode A respectively, the 2nd electrode B, the 3rd electrode C and the 4th electrode D, utilize these electrode A, B, C, D, be configured for making electric current to flow through a pair of the 1st electrode part 9 of voltage dependent resistor (VDR) plate 4 along directions X, 10 and be used to make electric current to flow through a pair of the 2nd electrode part 11 of voltage dependent resistor (VDR) plate 4 along the Y direction, 12, but be used to make electric current to flow through a pair of the 1st electrode part 9 of voltage dependent resistor (VDR) plate 4 along directions X, 10 and be used to make electric current to flow through a pair of the 2nd electrode part 11 of voltage dependent resistor (VDR) plate 4 along the Y direction, 12 are not limited to this structure, for example, also can utilize the point electrode more than 1 or 3 to constitute a pair of the 1st electrode part 9 respectively, 10 or a pair of the 2nd electrode part 11,12.And, in said embodiment, as the structure of the 1st electrode part 9,10 and the 2nd electrode part 11,12, identical with the 5 line formula control methods that are used for existing touch panel detection method, but also can take 7 above line formulas of 5 line formulas, the control method of 8 line formulas by changing electrode structure.
And, in Figure 11 in said embodiment or the touch sensor application apparatus shown in Figure 12, for the purpose of simplifying the description, detection output according to 1 touch sensor 3 in a plurality of touch sensors 3 that are installed in the robot (controlled device) 1, the motor drive circuit 28 of drive controlling robot 1, but substitute it, also can be according to the detection output of a plurality of touch sensors 3, drive controlling robot 1 or a plurality of motor drive circuit 28 etc., thus, the detection after also can be according to a plurality of touch sensors 3 synthetic exports control robot 1.And, on the contrary, also 1 touch sensor 3 can only be installed in robot (controlled device) 1, according to the detection output of this 1 touch sensor 3, the motor drive circuit 28 of drive controlling robot 1.
And, in said embodiment, as the touch sensor application apparatus that has used touch sensor 3, drive controlling robot 1, but, be not limited to the drive controlling of robot 1, for example as the touch sensor application apparatus that has used touch sensor 3, also can establish nursing and be controlled device, export according to the detection of touch sensor 3 and control with chair or bed or airbag apparatus etc.
Utilizability on the industry
Can be used as the The Tactile Sensors for Robotics device or detect and control the device that puts on the pressure on chair or the bed.
Claims (5)
1. touch sensor, it is characterized in that: possess voltage dependent resistor (VDR) plate (4), this voltage dependent resistor (VDR) plate is the plate that has resistance in directions X and Y direction along the plate face, has resistance in the Z direction consistent with the thickness direction of plate, simultaneously pushing of the corresponding thickness direction of the resistance of Z direction changes and changes
Periphery at this voltage dependent resistor (VDR) plate (4), at least be provided with the electrode part (9,10,11,12) of at least one usefulness in a pair of resistance that makes resistance that electric current flows through described directions X or Y direction, surface in voltage dependent resistor (VDR) plate (4), at least be provided with a pair of electric conductor (5,6) that resistance that electric current flows through described Z direction is used
Can make electric current flow through electric conductor (5,6) and flow to from the surface of contact of the conducting surface of electric conductor (5,6) and voltage dependent resistor (VDR) plate (4) voltage dependent resistor (VDR) plate (4) X, Y direction resistance and arrive at least one pair of electrode part (9,10,11,12),
Perhaps, can make electric current flow through electric conductor (5,6) and flow to from least one pair of electrode part (9,10,11,12) voltage dependent resistor (VDR) plate (4) X, Y direction resistance and arrive the conducting surface of electric conductor (5,6) and the surface of contact of voltage dependent resistor (VDR) plate (4).
2. touch sensor according to claim 1 is characterized in that:
In making electric current any from described electrode part (9,10,11,12) and electric conductor (5,6), flow through, when from remaining electrode part (9,10,11,12) or electric conductor (5,6), taking out electric current, according to the combination of the voltage separately (V5, V6) of the voltage separately (V9, V10, V11, V12) of described at least one pair of electrode part (9,10,11,12) and described at least one pair of electric conductor (5,6), obtain that contact is pressed and the contact position of the contact position of directions X or Y direction at least one contact position.
3. touch sensor according to claim 2 is characterized in that:
In making electric current any from described electrode part (9,10,11,12) and electric conductor (5,6), flow through, when from remaining electrode part (9,10,11,12) or electric conductor (5,6), taking out electric current, voltage (V9, V10, V11, V12) for described at least one pair of electrode part (9,10,11,12), will with before touch sensor contacts with voltage difference when contacting with touch sensor with described obtain contact pressure and contact position revisal accordingly, obtain at least one contact length in the contact length of the contact length of directions X or Y direction.
4. touch sensor according to claim 1 is characterized in that:
Described voltage dependent resistor (VDR) plate (4) constitutes by having several kilohms of films to the surface resistance of tens megohms.
5. touch sensor application apparatus is characterized in that:
Possess: the controlled device (1) that the described touch sensor of claim 1 (3) has been installed; Make described voltage dependent resistor (VDR) plate (4) produce the power supply (15) of electric potential gradient; And convert the output voltage of described electrode part (9,10,11,12) and described pair of conductive body (5,6) A/D converter (25) of digital value to,
Possesses control part (27), input is from the digital signal of described A/D converter (25), obtain at least two in the contact length of contact pressure, contact position, directions X and/or the Y direction of described touch sensor (3), according to this contact pressure, contact position, contact length of obtaining, control described controlled device (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2005800514894A CN101258389B (en) | 2005-09-05 | 2005-09-05 | Touch feeling sensor and touch feeling sensor application apparatus |
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| CN2005800514894A CN101258389B (en) | 2005-09-05 | 2005-09-05 | Touch feeling sensor and touch feeling sensor application apparatus |
| PCT/JP2005/016272 WO2007029305A1 (en) | 2005-09-05 | 2005-09-05 | Tactile sensor and device to which tactile sensor is applied |
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| CN101258389A CN101258389A (en) | 2008-09-03 |
| CN101258389B true CN101258389B (en) | 2010-05-12 |
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| WO2011001224A1 (en) * | 2009-06-29 | 2011-01-06 | Freescale Semiconductor, Inc. | Touch-screen interface circuit |
| KR101698229B1 (en) * | 2009-12-22 | 2017-01-19 | 니폰샤신인사츠가부시키가이샤 | Touch panel and portable device using same |
| CN102410894A (en) * | 2011-08-02 | 2012-04-11 | 中国矿业大学 | Interface pressure distribution testing sensing element |
| CN105708551A (en) * | 2016-04-09 | 2016-06-29 | 深圳市兼明科技有限公司 | Control method of robot fingers based on conductive sponge |
| CN205683134U (en) * | 2016-04-09 | 2016-11-16 | 深圳市兼明科技有限公司 | Robot finger based on conductive sponge |
| CN107238452B (en) * | 2017-04-18 | 2019-10-01 | 南京航空航天大学 | Multi-functional touch sensor and measurement method |
| KR102489964B1 (en) * | 2017-09-05 | 2023-01-18 | 엘지디스플레이 주식회사 | Display device including touch sensor and touch senser driving method thereof |
| CN110834343A (en) * | 2018-08-17 | 2020-02-25 | 北京猎户星空科技有限公司 | Robot finger, touch sensing device and robot for robot |
| CN111267129B (en) | 2020-02-24 | 2022-07-29 | 东南大学 | Control device of accompanying robot |
| CN115876374B (en) * | 2022-12-30 | 2023-12-12 | 中山大学 | Flexible touch structure of nose of robot dog and method for identifying soft and hard attributes of contact |
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| US5159159A (en) * | 1990-12-07 | 1992-10-27 | Asher David J | Touch sensor and controller |
| JP3055448B2 (en) * | 1995-12-11 | 2000-06-26 | 日本電気株式会社 | Touch panel circuit |
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