CN104406627A - Wearable flexible touch sensor of artificial hand and touch detection system thereof - Google Patents
Wearable flexible touch sensor of artificial hand and touch detection system thereof Download PDFInfo
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- CN104406627A CN104406627A CN201410634475.6A CN201410634475A CN104406627A CN 104406627 A CN104406627 A CN 104406627A CN 201410634475 A CN201410634475 A CN 201410634475A CN 104406627 A CN104406627 A CN 104406627A
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Abstract
The invention discloses a wearable flexible touch sensor of an artificial hand and a touch detection system thereof. A flexible electrode layer, a middle layer and a PDMS (Polymethylsiloxane) raised layer are tightly laminated from top to bottom; the middle layer comprises a conductive rubber array and a flexible filler around the conductive rubber array; the conductive rubber array is formed by configuring conductive rubber unit arrays; a testing electrode assembly is arranged below the conductive rubber array; the side length of the conductive rubber unit is the same with that of the testing electrode assembly on the flexible electrode layer; a micro lug boss structures are arranged on the PDMS raised layer which is located above the conductive rubber units; the flexible electrode layer is a flexible circuit board with a crossed structure; Velcro nylon fastener tapes are arranged at the extending edges of the upper side, the left side and the right side of the flexible circuit board so as to be worn on a finger. The wearable flexible touch sensor is simple and easy to manufacture, solves a problem of major touch sensors incapable of simultaneously detecting three-dimensional touch force and slippage signals and can be conveniently bound on the irregular curve of a support body inside artificial fingers.
Description
Technical field
The present invention relates to a kind of touch sensor and detection system thereof, particularly relate to a kind of prosthetic hand Wearable flexible touch sensation sensor and sense of touch detection system thereof.
Background technology
Touch sensor is that intelligent artificial limb hand obtains the indispensable means of contact information, according to the information that touch sensor provides, intelligent artificial limb hand reliably can capture target object, and can the physical characteristics such as its size of perception, shape, weight, soft or hard further.The unreliable meeting of crawl that intelligent artificial limb hand causes owing to not obtaining contact information when capturing object brings great danger.The existing touch sensor being applied to intelligent artificial limb hand mostly can only detect normal force, and the size of tangential force can not be detected.But the detection of tangential force has very important effect to the reliability captured.And the touch sensor being applied to intelligent artificial limb hand requires that touch sensor has highly flexible and miniaturization, can firm docile finger surface and being integrated in the finger of intelligent artificial limb hand.Effective mounting means has vital effect equally to the reliability of touch sensor.
China national patent of invention (publication number CN201210193314.9) discloses a kind of human emulated robot many fingers flexible 3 D force-touch sensor and three-dimensional force detection system thereof.This sensor adopts the pressure sensitive composite material Quantum Tunneling Composites(QTC with quantum tunneling effect), when QTC is not by natural compression, its body is insulator, and resistance is up to 1k; When QTC is subject to natural compression, body generation compression set, QTC presents conductive characteristic, and resistance diminishes gradually along with the increase of pressure.This sensor entirety has flexibility, can detect three-dimensional force.But this sensor electrical polar circuit is divided into two-layer up and down, easily damages circuit in long-term loading process, and the effective mounting means of undeclared touch sensor, affect the reliability of touch sensor, be difficult to the demand meeting intelligent artificial limb hands movement FEEDBACK CONTROL.
Summary of the invention
For existing touch sensor and the illusive problem of the installation of detection system in prosthetic hand thereof, and existing touch sensor is simple signal acquisition circuit design problem, the object of the present invention is to provide a kind of prosthetic hand Wearable flexible touch sensation sensor and the global design of sense of touch detection system thereof, solve the problem that most touch sensor can not detect three-dimensional contact force and Slip Signal simultaneously, can be bundled in expediently on the irregular surface of the supporter of the finger interior of intelligent artificial limb hand, can be used for the detection of three-dimensional contact force and Slip Signal.
The technical solution used in the present invention is:
One, a kind of prosthetic hand Wearable flexible touch sensation sensor:
Fit tightly flexible electrode layer, middle layer and PDMS convexity layer from bottom to up; Middle layer comprises the conductive rubber array with voltage-sensitive effect and the flexible filler be filled in around conductive rubber array, conductive rubber array is arranged by conductive rubber cell array to form, flexible electrode layer immediately below conductive rubber unit is provided with test electrode group, test electrode group is identical with conductive rubber cellular array distribution mode, and conductive rubber unit is identical with the length of side of group test electrode group of in flexible electrode layer; PDMS convexity layer is provided with the miniature boss structure corresponding with each conductive rubber unit, is positioned at directly over conductive rubber unit; Flexible electrode layer is the flexible PCB of " ten " character form structure, middle layer and PDMS convexity layer cover in the middle part of " ten " font, test electrode group covers in the middle part of " ten " font and stretching, extension limit, downside, be positioned on the upside of flexible PCB, the edge, stretching, extension limit on left side and right side is provided with Velcro for binding sensor, to be worn on finger.
Described often group test electrode group is five electrode structures in square shape, and five electrode structures are made up of the square electrode of four the right-angle triangle electrodes and center thereof that are evenly distributed on corner, are in the square electrode at center as common electrode; Often all square electrode of row test electrode group are connected in series rear extraction pin by the lead-in wire of parallel routing mode, the right-angle triangle electrode being arranged in test electrode group position on same row identical is connected in series rear extraction pin by the lead-in wire of parallel routing mode, the capable test electrode group of M draws M pin as column electrode by square electrode, and N row test electrode group draws 4N pin as row electrode by right-angle triangle electrode.
Described conductive rubber array is bonded together by the flexible filler of normal temperature cure.
Described conductive rubber array is the array distribution of 3 × 3, and conductive rubber unit is square conductive sheet rubber.
The Inastomer conductive rubber that described conductive rubber array adopts Japanese INABA company to produce, flexible electrode layer is double-sided flex circuit plate, adopts Kapton as base material.
Two, a kind of prosthetic hand Wearable softness haptic perception detection system:
Comprise described flexible touch sensation sensor and signal acquisition circuit, signal acquisition circuit comprises power transfer module, microprocessor, operational amplification circuit and Multipexer and selects module, and microprocessor contains analog-to-digital conversion module hyperchannel ADC; The pin that the row electrode of described flexible touch sensation sensor is drawn is connected with the negative-phase input of respective operational amplification circuit respectively, on the negative-phase input that reference resistance R two ends are connected to operational amplification circuit and output terminal, the output terminal of operational amplification circuit is connected with the ADC input end of analog signal in microprocessor; External power is connected to power transfer module and produces negative 3.3V supply voltage, Multipexer selects the multi-way switch input end of module to be connected with negative 3.3V supply voltage, and the pin that the column electrode of described flexible touch sensation sensor is drawn selects each signal output part of module to be connected respectively with Multipexer; Microprocessor and Multipexer select model calling, control the selectivity break-make of its multi-way switch, microprocessor selects module to send break-make control signal to Multipexer, by each pin first backgating successively that the column electrode of negative 3.3V supply voltage and described flexible touch sensation sensor is drawn; The pin output voltage simulating signal of the row electrode extraction of described flexible touch sensation sensor, is connected to microprocessor and carries out AD sampling, obtain voltage digital signal after operational amplification circuit amplifies.
Described microprocessor adopts the TMS320F28069 of TI company, and it contains 12 analog to digital converter ADC, two sampling can keep, has at most 16 channel signals to gather simultaneously.
Described Multipexer selects module to adopt the TS5A3359 single-pole triple-throw (SPTT) open type analog switch of TI company.
Described operational amplification circuit adopts the OPA656 chip of TI company.
Described power transfer module adopts the bipolar power supply circuit built by the TPS65135 power conversion chip of TI company.
The invention has the beneficial effects as follows:
(1) touch sensor structure of the present invention simple, be easy to make, significantly reduce the processing cost of sensor, and three-dimensional force can be detected simultaneously and identify slippage.
(2) touch sensor that the present invention adopts has overall submissive bendability, flexible PCB adopts Velcro structural design, the binding sensor in three directions can be carried out, on the firm supporter being worn on finger surface or finger interior expediently.
(3) touch sensor of the present invention and detection system thereof are arranged on finger interior, and are contacted with external force by flexible PDMS convexity layer, effectively can improve the detection sensitivity of softness haptic perception sensor array, and the electrode of protection composite sensing array inside and lead-in wire.
(4) electrode in the present invention in flexible electrode layer adopts the mode of grouping shunt leads, effectively reduces the external number of pin of touch sensor.Its signal processing circuit structure is simple, size is little.
Accompanying drawing explanation
Fig. 1 is vertical view of the present invention.
Fig. 2 is tactile sensing array cross section structure schematic diagram of the present invention.
Fig. 3 is the flexible electrode layer schematic diagram with Velcro of the present invention.
Fig. 4 is the conductive rubber array schematic diagram being filled with flexible filler around of the present invention.
Fig. 5 is PDMS convexity layer of the present invention.
Fig. 6 is the structural representation of tactile sensing array unit of the present invention.
Fig. 7 is test electrode schematic diagram of the present invention.
Fig. 8 is the test philosophy schematic diagram of tactile sensing array unit of the present invention.
Fig. 9 is one of scheme of installation of the present invention.
Figure 10 is scheme of installation two of the present invention.
Figure 11 is the syndeton schematic diagram of present system.
In figure: 1.PDMS convexity layer, 2. conductive rubber array, 3. flexible filler, 4. flexible electrode layer, 5. miniature boss structure, 6. conductive rubber unit, 7. test electrode group, 8. Velcro, 9. column electrode, 10. row electrode.
Embodiment
Below in conjunction with drawings and Examples, the present invention will be further described.
Touch sensor of the present invention is as shown in Figure 1:
As shown in Figure 2, the present invention includes and fit tightly flexible electrode layer 4, middle layer and PDMS convexity layer 1 from bottom to up; As shown in Figure 3, flexible electrode layer 4 is the flexible PCB of " ten " character form structure, middle layer and PDMS convexity layer 1 cover in the middle part of " ten " font, test electrode group 7 covers in the middle part of " ten " font and stretching, extension limit, downside, be positioned at upside, the edge, stretching, extension limit on left side and right side is provided with Velcro 8 for binding sensor, to be worn on securely on intelligent artificial limb finger surface or on the supporter of intelligent artificial limb finger interior; As shown in Figure 4, middle layer comprises the conductive rubber array 2 with voltage-sensitive effect and the flexible filler 3 be filled in around conductive rubber array 2, and conductive rubber array 2 is formed by conductive rubber unit 6 array arrangement; As shown in Figure 5, PDMS convexity layer 1 is provided with the miniature boss structure 5 corresponding with each conductive rubber unit 6; As shown in Figure 6, miniature boss structure 5 is positioned at directly over conductive rubber unit 6, flexible electrode layer 4 immediately below conductive rubber unit 6 is provided with test electrode group 7, test electrode group 7 is identical with the array distribution mode of conductive rubber unit 6, and conductive rubber unit 6 is identical with the length of side of group test electrode group 7 of in flexible electrode layer 4.
Scheme of installation of the present invention as shown in Figure 9 and Figure 10.Flexible electrode layer 4 of the present invention is flexible PCB, general conventional employing Kapton is as base material, flexible electrode layer is except three stretching, extension limits of lower survey adopt Velcro to design, Velcro structure wears the fabric of little hook by one, the fabric composition of little lint pile loop is worn with another, the characteristic that two sides has " one touch namely bond, one pulls and can separate ".Sensor carries out the binding in three directions by Velcro 8, can firmly be worn on expediently on intelligent artificial limb finger surface or on the irregular surface of the supporter of intelligent artificial limb finger interior.
As shown in Figure 3, often group test electrode group 7 is five electrode structures in square shape, and five electrode structures are made up of the square electrode of four the right-angle triangle electrodes and center thereof that are evenly distributed on corner, are in the square electrode at center as common electrode; Often all square electrode of row test electrode group 7 are connected in series rear extraction pin by the lead-in wire of parallel routing mode, the right-angle triangle electrode being arranged in test electrode group 7 position on same row identical is connected in series rear extraction pin by the lead-in wire of parallel routing mode, the capable test electrode group 7 of M is drawn M pin by square electrode and is drawn 4N pin as row electrode 10 as column electrode 9, N row test electrode group 7 by right-angle triangle electrode.As shown in Figure 6, by one group of test electrode group 7 and cover conductive rubber unit 6 above it and miniature boss structure 5 constitutes tactile sensing array unit.
Surrounding is filled with the conductive rubber array 2 of flexible filler 3, and the square conductive sheet rubber that can have identical pressure-sensitive character by 3 × 3 is formed, and conductive rubber array 2 is bonded together formation by the flexible filler 3 of normal temperature cure.The group number of test electrode group 7 is identical with conductive rubber unit 6 number of conductive rubber array 2, and the test electrode group 7 of flexible electrode layer 4 is also the array distribution of 3 × 3.
The Inastomer conductive rubber that conductive rubber array 2 adopts Japanese INABA company to produce, flexible electrode layer 4 is double-sided flex circuit plate, adopts Kapton as base material.
According to the demand of certain applications, as require spatial resolution, three-dimensional force range, transducer sensitivity, accuracy of detection, require the indexs such as diastrophic degree, determine the spacing between the size of the size of softness haptic perception sensor array, tactile sensing array sensing unit and unit.The range of three-dimensional force and sensitivity are determined by the size of conductive rubber slice in tactile sensing array sensing unit and the size of five electrode square structures and spacing.
The manufacture process of sensor is as described below: first by flexible circuit printing technology manufacturing flexible electrode layer 4, utilize screen printing technique to be spin-coated in the test electrode group 7 of flexible electrode layer 4 by high-purity conductive silver glue; Then square conductive sheet rubber is pasted onto in test electrode group 7; Then flexible filler 3 is filled into the blank position of flexible electrode layer 4, normal temperature cure is shaping; Finally the PDMS convexity layer 1 impressing out by mould secondary is bonded in surrounding to be filled with on the conductive rubber array 2 of flexible filler 3.Like this, softness haptic perception sensor array as depicted in figs. 1 and 2 is just obtained.
Three-dimensional contact force of the present invention and slippage Cleaning Principle as follows:
As shown in Fig. 6, Fig. 7 and Fig. 8, power is conducted to conductive rubber unit 6 by the miniature boss structure 5 of PDMS convexity layer 1 by the three-dimensional force of any direction, and the elastic deformation of the flexible filler 3 of surrounding is larger than conductive rubber unit 6.Due to the piezoresistive effect of conductive rubber unit 6 and the contact resistance between conductive rubber array 2 and flexible electrode layer 4, have four equivalent resistances R1, R2, R3, R4.When strain occurs conductive rubber unit 6, resistance will change.Four resistance export voltage signal corresponding with it through respective testing circuit respectively, are converted into three-dimensional force by following principle
fx,
fy,
fzmeasurement, thus obtain Arbitrary 3 D power.
When only
fxduring effect, because be subject to the compressive strain of equal extent, resistance R1, R4 reduce; Because be subject to the tension of equal extent, resistance R2, R3 increase, and resistance R2, R3 increase amplitude is identical with resistance R1, R4 reduction amplitude.
When only
fyduring effect, because be subject to the compressive strain of equal extent, resistance R1, R2 reduce; Because be subject to the tension of equal extent, resistance R3, R4 increase, and resistance R3, R4 increase amplitude is identical with resistance R1, R2 reduction amplitude.
When only
fzduring effect, because be subject to the compressive strain of equal extent, resistance R1, R2, R3, R4 reduce, and the amplitude of minimizing is identical.
According to above-mentioned analysis, the relation between three-dimensional force and four voltage dependent resistor (VDR) change in resistance can be derived.Test of many times obtains the change in resistance data of three-dimensional force and four voltage dependent resistor (VDR)s, obtains the linear relationship of the stressed of three-dimensional and the change in resistance of four voltage dependent resistor (VDR)s, thus accurately can measure the three-dimensional force of reality through linear decoupling zero.
In addition, because the present invention can adopt Inastomer conductive rubber, it has excellent piezoresistive effect, and lag performance is low, and the linearity is high, can identify the Slip Signal of high-frequency short arc.After measuring three-dimensional force, by signal processing analysis horizontal tangential power, wavelet analysis is utilized to extract the slippage jump signal of the high-frequency short arc of horizontal direction, can determine whether fast slippage occurs, be applicable to robot and capture the size regulating grip force in article process, realize grip force mobile equilibrium.
As shown in figure 11, sense of touch detection system of the present invention comprises described flexible touch sensation sensor and signal acquisition circuit, signal acquisition circuit comprises power transfer module, the programmable microprocessor of mixed signal array, operational amplification circuit and Multipexer and selects module, and microprocessor contains analog-to-digital conversion module hyperchannel ADC; The pin that the row electrode 10 of flexible touch sensation sensor is drawn is connected with the negative-phase input of respective operational amplification circuit respectively, on the negative-phase input that reference resistance R two ends are connected to operational amplification circuit and output terminal, the output terminal of operational amplification circuit is connected with the ADC input end of analog signal in microprocessor; External power is connected to power transfer module and produces negative 3.3V supply voltage, Multipexer selects the multi-way switch input end of module to be connected with negative 3.3V supply voltage, and the pin that the column electrode 9 of flexible touch sensation sensor is drawn selects each signal output part of module to be connected respectively with Multipexer; Microprocessor and Multipexer select model calling, control the selectivity break-make of its multi-way switch, microprocessor selects module to send break-make control signal to Multipexer, by each pin first backgating successively that the column electrode 9 of negative 3.3V supply voltage and flexible touch sensation sensor is drawn; The pin output voltage simulating signal of the row electrode extraction of flexible touch sensation sensor, is connected to microprocessor and carries out AD sampling, obtain voltage digital signal after operational amplification circuit amplifies.
Embodiments of the invention and implementation process as follows:
Flexible electrode layer 4 adopts double-sided flex circuit plate structure, adopts Kapton as base material.Often organize in five electrode structures of test electrode group 7 and draw pin, 3 row test electrode groups 7 draw 3 pins as column electrode 9 by square electrode, and 3 row test electrode groups draw 12 pins as row electrode 10 by right-angle triangle electrode.12 pins that the row electrode 10 of flexible touch sensation sensor is drawn are connected with the negative-phase input of 12 operational amplification circuits respectively, and 3 pins that the column electrode 9 of flexible touch sensation sensor is drawn select 3 of module signal output parts to be connected respectively with Multipexer.
The programmable microprocessor of mixed signal array contains the analog to digital converter ADC of 16 Channel 12-Bits, two sampling can keep, has at most 16 channel signals to gather simultaneously, and comprises external data transmission port, and described external data transmission port is SP serial line interface, I
2c serial line interface or UART serial line interface, adopt the TMS320F28069 of TI company.
Multipexer selects module to adopt the TS5A3359 single-pole triple-throw (SPTT) open type analog switch of TI company.
Operational amplification circuit adopts the OPA656 chip of TI company, wherein can adopt based on the measuring method of electric current to voltage transitions method.
Power transfer module adopts the bipolar power supply circuit built by the TPS65135 power conversion chip of TI company.
Manufacture sensor, Calibration and slippage test experience by reality, record prosthetic hand flexible touch sensation sensor of the present invention and detection system has good pressure-sensitive character, three-dimensional force can be detected sensitively, its sense of touch detection system stable performance.Compared with Chinese invention patent (CN201210193314.9), the sensitivity of institute's survey sensor three-dimensional force improves 10%, 10%, 15% respectively.Simultaneously due to the singularity of selected pressure-sensitive conductive rubber material, the Slip Signal going out low amplitude high frequency rate in original signal is extracted by signal transacting, effectively identify slippage, for the intelligent Application of prosthetic hand provides sound assurance, there is significant technique effect.
Above-mentioned embodiment is used for explaining and the present invention is described, instead of limits the invention, and in the protection domain of spirit of the present invention and claim, any amendment make the present invention and change, all fall into protection scope of the present invention.
Claims (10)
1. a prosthetic hand Wearable flexible touch sensation sensor, is characterized in that: fit tightly flexible electrode layer (4), middle layer and PDMS convexity layer (1) from bottom to up; Middle layer comprises the conductive rubber array (2) with voltage-sensitive effect and the flexible filler (3) be filled in around conductive rubber array (2), conductive rubber array (2) is formed by conductive rubber unit (6) array arrangement, flexible electrode layer (4) immediately below conductive rubber unit (6) is provided with test electrode group (7), test electrode group (7) is identical with the array distribution mode of conductive rubber unit (6), and conductive rubber unit (6) is identical with the length of side of one group of test electrode group (7) in flexible electrode layer (4); PDMS convexity layer (1) is provided with the miniature boss structure (5) corresponding with each conductive rubber unit (6), is positioned at directly over conductive rubber unit (6); Flexible electrode layer (4) is the flexible PCB of " ten " character form structure, middle layer and PDMS convexity layer (1) cover in the middle part of " ten " font, test electrode group (7) covers in the middle part of " ten " font and stretching, extension limit, downside, be positioned on the upside of flexible PCB, the edge, stretching, extension limit on left side and right side is provided with Velcro (8) for binding sensor, to be worn on finger.
2. a kind of prosthetic hand Wearable flexible touch sensation sensor according to claim 1, it is characterized in that: described often group test electrode group (7) is five electrode structures in square shape, five electrode structures are made up of the square electrode of four the right-angle triangle electrodes and center thereof that are evenly distributed on corner, are in the square electrode at center as common electrode; Often all square electrode of row test electrode group (7) are connected in series rear extraction pin by the lead-in wire of parallel routing mode, the right-angle triangle electrode being arranged in test electrode group (7) position on same row identical is connected in series rear extraction pin by the lead-in wire of parallel routing mode, the capable test electrode group (7) of M draws M pin as column electrode (9) by square electrode, and N row test electrode group (7) draws 4N pin as row electrode (10) by right-angle triangle electrode.
3. a kind of prosthetic hand Wearable flexible touch sensation sensor according to claim 1, is characterized in that: described conductive rubber array (2) is bonded together by the flexible filler (3) of normal temperature cure.
4. a kind of prosthetic hand Wearable flexible touch sensation sensor according to claim 1, it is characterized in that: described conductive rubber array (2) is the array distribution of 3 × 3, conductive rubber unit (6) is square conductive sheet rubber.
5. a kind of prosthetic hand Wearable flexible touch sensation sensor according to claim 1, it is characterized in that: the Inastomer conductive rubber that described conductive rubber array (2) adopts Japanese INABA company to produce, flexible electrode layer (4) is double-sided flex circuit plate, adopts Kapton as base material.
6. include a kind of prosthetic hand Wearable softness haptic perception detection system of the arbitrary described sensor of Claims 1 to 5, it is characterized in that: comprise described flexible touch sensation sensor and signal acquisition circuit, signal acquisition circuit comprises power transfer module, microprocessor, operational amplification circuit and Multipexer and selects module, and microprocessor contains analog-to-digital conversion module hyperchannel ADC;
The pin that the row electrode (10) of described flexible touch sensation sensor is drawn is connected with the negative-phase input of respective operational amplification circuit respectively, on the negative-phase input that reference resistance two ends are connected to operational amplification circuit and output terminal, the output terminal of operational amplification circuit is connected with the ADC input end of analog signal in microprocessor; External power is connected to power transfer module and produces negative 3.3V supply voltage, Multipexer selects the multi-way switch input end of module to be connected with negative 3.3V supply voltage, and the pin that the column electrode (9) of described flexible touch sensation sensor is drawn selects each signal output part of module to be connected respectively with Multipexer; Microprocessor and Multipexer select model calling, control the selectivity break-make of its multi-way switch, microprocessor selects module to send break-make control signal to Multipexer, by each pin first backgating successively that the column electrode (9) of negative 3.3V supply voltage and described flexible touch sensation sensor is drawn; The pin output voltage simulating signal that the row electrode (10) of described flexible touch sensation sensor is drawn, is connected to microprocessor and carries out AD sampling, obtain voltage digital signal after operational amplification circuit amplifies.
7. a kind of prosthetic hand Wearable softness haptic perception detection system according to claim 6, is characterized in that: described microprocessor adopts the TMS320F28069 of TI company, and it contains 12 analog to digital converter ADC.
8. a kind of prosthetic hand Wearable softness haptic perception detection system according to claim 6, is characterized in that: described Multipexer selects module to adopt the TS5A3359 single-pole triple-throw (SPTT) open type analog switch of TI company.
9. a kind of prosthetic hand Wearable softness haptic perception detection system according to claim 6, is characterized in that: described operational amplification circuit adopts the OPA656 chip of TI company.
10. a kind of prosthetic hand Wearable softness haptic perception detection system according to claim 6, is characterized in that: described power transfer module adopts the bipolar power supply circuit built by the TPS65135 power conversion chip of TI company.
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| CN108463168A (en) * | 2016-01-21 | 2018-08-28 | 深圳迈瑞生物医疗电子股份有限公司 | Physiological sensing device and physiological monitoring devices including the physiological sensing device |
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| CN113252084A (en) * | 2021-05-17 | 2021-08-13 | 浙江大学 | Expandable and globally independently reconfigurable interactive flexible robot skin |
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