CN108332794A - Biomimetic tactile system and multi-function robot - Google Patents
Biomimetic tactile system and multi-function robot Download PDFInfo
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- CN108332794A CN108332794A CN201810133317.0A CN201810133317A CN108332794A CN 108332794 A CN108332794 A CN 108332794A CN 201810133317 A CN201810133317 A CN 201810133317A CN 108332794 A CN108332794 A CN 108332794A
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- touch sensor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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Abstract
Present disclose provides a kind of biomimetic tactile system and multi-function robots, wherein the biomimetic tactile system includes：Skin texture comprising substrate and multiple first touch sensors, for detecting the first haptic data；And ciliary structures, it is formed on the skin texture comprising cilium and multiple second touch sensors, for detecting the second haptic data.Disclosure biomimetic tactile system and multi-function robot, simple in structure, reliability is high, and measurement amount is abundant, provides more effective informations for intelligent robot, can preferably perceive local environment, more efficiently carry out task.
Description
Technical field
This disclosure relates to field of artificial intelligence more particularly to a kind of biomimetic tactile system and multi-function robot.
Background technology
In the latest 20 years, robot is played more by the extensive concern of researcher in industry spot and daily life
Carry out more important role.Using people as the example of robot research, there are many maturations in terms of the imitation of vision and the sense of hearing
Technology and significant achievement.Therefore, robot obtains tactilely-perceptible ability in unstructured, complex environment, and then can
Object is accurately and stably manipulated, no matter is all at present urgently to be resolved hurrily in academia or industrial quarters.Touch sensor can be helped
Robot is helped to obtain the size and Orientation of haptic force, the tactile datas such as temperature, humidity and texture, this is in unstructured moving grids
Stablize crawl, is of great significance in path planning and avoidance.Therefore, the human-computer interaction of target manipulation task and safety all needs
Want reliable touch sensor.
The haptic system of people is to obtain tactile data by a large amount of receptor, and main receptor includes mechanoreception
Body, thermal sensation receptor and nociception body.Wherein, mechanoceptor detection pressure and vibration, can be divided into four kinds：Meissner is small
Body, Merke1 cells, Ruffini structures and Pacinian spheres.Spatial resolution changes with the variation of body, and finger tip is most
High (1mm), abdomen are minimum (30mm).Temporal resolution can reach 700Hz.These characteristics of human tactile system pass for tactile
Sensor provides basic design requirement, is summarised in table 1.
1 robot of table touches normal system prime design requirement
Current research work and product on the market are concentrated mainly in the measurement to uniaxial power, such as Taiwan ancient Chinese name for Venus is big
Learn the method for measuring pressure by detecting capacitance variations proposed for 2013.The seminar utilizes dimethyl silicone polymer
(PDMS) as the dielectric layer of capacitance, as shown in Figure 1, when outside apply pressure when, dielectric layer can be pressurized it is thinning, by capacitance
Expression formula
It is found that when upper/lower electrode distance between plates reduces, condenser capacitance can increase therewith, by detecting capacitance change
To realize the measurement to pressure value.
This detection method can only detect uniaxial power, and tactile data includes not only three-dimensional force, further include temperature, humidity,
Texture, and to the perception close to object.So for intelligent robot, the detection of above-mentioned one-dimensional power is far from enough
's.
Invention content
(1) technical problems to be solved
It is simple in structure present disclose provides a kind of biomimetic tactile system and multi-function robot in view of above-mentioned technical problem,
Reliability is high, and measurement amount is abundant, provides more effective informations for intelligent robot, can preferably perceive local environment, more
Efficiently perform task.
(2) technical solution
According to one aspect of the disclosure, a kind of biomimetic tactile system is provided, including：Skin texture comprising substrate
With multiple first touch sensors, it is used to detect the first haptic data；And ciliary structures, it is formed on the skin texture,
It includes cilium and multiple second touch sensors, for detecting the second haptic data.
In some embodiments, the multiple first touch sensor includes multiple strain gauges, is set to the base
On bottom, first haptic data includes triaxiality data；The multiple second touch sensor includes multiple strain gauges, institute
It includes close to the direction of object, speed to state the second haptic data.
In some embodiments, the multiple first touch sensor further includes temperature sensor and humidity sensor；Institute
It further includes temperature and humidity data to state the first haptic data.
In some embodiments, each strain gauge uses four unit pontoon structures comprising four sensing units,
It is used to form conductive path；And a conduction unit, for conducting stress；Wherein, the conduction unit is located at four sensitivities
The center of unit, while being connect with four sensing units, and four sensing units are about the conduction unit center
Symmetrically.
In some embodiments, the surface of skin texture and/or it is tangential have stress when, the sensing unit due to
The generation deformation that is pressurized causes resistance value to change, and the mathematical model realization pair pre-established is utilized according to the variation of resistance value
The detection of triaxiality.
In some embodiments, the material of four sensing units is the PDMS doped with MWCNT, is adulterated by controlling
Amount is so that the resistance value of second touch sensor and first touch sensor is in the same order of magnitude；The conduction
The material of unit is SU-8 glue；The material of the cilium is flexibility PDMS or polyimides；The substrate is using flexible printing electricity
Road plate FPC.
In some embodiments, the skin texture further includes protective layer, is formed in the substrate, and covering is the multiple
First touch sensor；The cilium is located in the substrate, extends along the direction far from the substrate and stretches out the protection
Layer surface.
In some embodiments, the multiple second touch sensor is four stress gauges, and the four stress gauges are around fibre
Hair root portion is arranged, and the sensing surface of second touch sensor is vertical with the sensing surface of the first touch sensor.
In some embodiments, the biomimetic tactile system further includes scanning circuit, for reading described first in real time
The resistance value of touch sensor and the second touch sensor.
According to another aspect of the disclosure, a kind of multi-function robot is additionally provided comprising the biomimetic tactile
System.
(3) advantageous effect
It can be seen from the above technical proposal that disclosure biomimetic tactile system and multi-function robot at least have with following
Beneficial effect：
(1) disclosure can both be connect by cilium sensor to detect using cilium in such a way that tactile element is combined
Nearly object and wind speed, and three-dimensional force can be detected by tactile element, part tactile element can also be replaced with temperature sensing
Device or humidity sensor, the measurement amount than the existing touch sensor that can only measure uniaxial power enrich many, are intelligence machine
People provides more effective informations, it can be made preferably to perceive local environment using these information, more efficiently carries out and appoints
Business.
(2) what cilium sensor and tactile element all selected in the disclosure is resistance sensor, can also pass through control
The content of MWCNT makes the resistance value of cilium sensor and tactile element be in the same order of magnitude in MWCNT/PDMS, and use is same
Rank scanning circuit reads out the output of the two simultaneously, realizes the unification of back-end circuit, reduces system complexity, together
When also improve system reliability.
(3) cilium sensor and tactile element all use four cellular constructions to design in the disclosure, simple in structure, ranks distribution
It is more neat, advantageously reduce the complexity of circuit design.
Description of the drawings
Fig. 1 is that (wherein, (a) is capacitance type touch sensor to existing capacitance type touch sensor structural schematic diagram in Fig. 1
Sectional view, (b) is the exploded view of capacitance type touch sensor in Fig. 1).
Fig. 2 is the sectional view of disclosure biomimetic tactile system.
Fig. 3 is the vertical view of disclosure biomimetic tactile system.
Fig. 4 is the vertical view of disclosure strain gauge.
<Symbol description>
1- buckle layers, 2- top electrodes, 3- dielectric layers, electrode under 4-, 5- substrates, 6- strain gauges, 7- ciliums, 8- are answered
Become meter, 9- sensing units, 10- conduction units, 11- protective layers.
Specific implementation mode
To make the purpose, technical scheme and advantage of the disclosure be more clearly understood, below in conjunction with specific embodiment, and reference
Attached drawing is described in further detail the disclosure.
It should be noted that in attached drawing or specification description, similar or identical part all uses identical figure number.It is attached
The realization method for not being painted or describing in figure is form known to a person of ordinary skill in the art in technical field.In addition, though this
Text can provide the demonstration of the parameter comprising particular value, it is to be understood that parameter is equal to corresponding value without definite, but can connect
The error margin received is similar to be worth accordingly in design constraint.In addition, the direction term mentioned in following embodiment, such as
"upper", "lower", "front", "rear", "left", "right" etc. are only the directions of refer to the attached drawing.Therefore, the direction term used be for
Illustrate not to be used for limiting the disclosure.
In order to overcome the above-mentioned deficiencies of the prior art, present disclose provides a kind of biomimetic tactile systems, including：Skin knot
Structure comprising substrate and multiple first touch sensors, for detecting the first haptic data；And ciliary structures, it is formed in institute
It states on skin texture comprising cilium and multiple second touch sensors, for detecting the second haptic data.
Wherein, the multiple first touch sensor includes multiple strain gauges, is set in the substrate, and described
One haptic data includes triaxiality data；The multiple second touch sensor includes multiple strain gauges, second tactile
Data include the direction of proximity object body, speed etc., for example, wind speed, wind direction (wind kinocilium structure, ciliary structures deform upon,
Root strain gauge is driven, wind speed, wind direction are measured to realize).Preferably, the multiple first touch sensor further includes temperature
Sensor and humidity sensor；Correspondingly, first haptic data further includes temperature and humidity data.
Each strain gauge uses four unit pontoon structures comprising four sensing units are used to form conductive logical
Road；And a conduction unit, it is used for conducting pressure；Wherein, the conduction unit is located at the center of four sensing units, and institute
It is identical sensing unit to state four sensing units, about the conduction unit central symmetry.On the surface of skin texture and/or
When tangentially having stress, the conductive path causes the resistance value of sensing unit to change due to being pressurized to generate to change, root
The detection to triaxiality is realized according to resistance value.
The material of four sensing units is the PDMS doped with MWCNT, the PDMS doped with CB or doping nano-Ag
The PDMS of particle, by controlling doping so that the resistance value of the second touch sensor and the first touch sensor is in same
The order of magnitude；The material of the conduction unit is SU-8 glue；The material of the cilium is flexibility PDMS or polyimides；The substrate
Using flexible printed circuit board FPC.
The skin texture further includes protective layer, is formed in the substrate, and the multiple first touch sensor is covered；
The cilium is formed in the substrate, is extended along the direction far from the substrate and is stretched out the surface of the protective layer.It is described
Multiple second touch sensors are arranged around cilium root, the sensing surface of second touch sensor and first tactile
The sensing surface of sensor is vertical.
In addition, the biomimetic tactile system further includes scanning circuit, for reading first touch sensor in real time
With the resistance value of the second touch sensor.
In a specific embodiment of the disclosure, the biomimetic tactile system integration skin texture and ciliary structures.Such as
Shown in Fig. 2, the ciliary structures include cilium 7 and strain gauge 8.Every cilium 7 is using the good PDMS material of flexibility, cilium root
Portion is symmetrically similar to human body fine hair around four stress gauges 8 for detecting close to object or wind speed.According to four stress gauges
Output, it is detectable close to object or wind come to.The skin texture includes substrate 5 and strain gauge 6.It is described bionical
Haptic system further includes protective layer 11, is formed in the substrate 5, and the strain gauge 6 is covered.The cilium 7 is formed in
In the substrate 5, extends along the direction far from the substrate and stretch out the surface of the protective layer；The strain gauge 8 is around institute
Cilium root is stated, extends the surface of the protective layer from the cilium root.As shown in figure 4, each strain gauge 6 includes
Four sensing units 9 and a conduction unit 10, using " four unit pontoon bridges " structure.(tactile passes the strain gauge 6 of " subcutaneous "
Sensor) sensing unit 9 using multi-walled carbon nanotube/dimethyl silicone polymer (MWCNT/PDMS) be used as sensitive material, conduction
Unit 10 is formed using SU-8 glue.In the present embodiment, each strain gauge is by four blocks of MWCNT/PDMS composite materials and one piece
SU-8 glue forms, and SU-8 glue is used for conducting pressure since quality is harder.The PDMS is non-conductive, and MWCNT forms conduction wherein
Access, when there is pressure effect on surface, the conductive path in composite material generates variation because being pressurized, so as to cause composite material
Resistance value change, can be according to resistance measurement pressure.It equally can be tangential by the resistance value difference measurements of four blocks of composite materials
The size of power, to realize the detection to three-dimensional force.
The substrate 5 selects flexible printed circuit board (FPC), and electrode and corresponding cabling are all designed on FPC, this is made
Haptic system has good flexibility, is mountable to the on-plane surface position of robot.
As shown in figure 3, Fig. 3 orbicular spots represent cilium, square represents sense of touch list for the arrangement of the cilium and strain gauge
Member, every cilium correspond to four stress gauges, and each strain gauge corresponds to four blocks of pressure resistance type composite materials, therefore is shared in Fig. 3
16*24 resistance value is to be read, can read the resistance of cilium sensor and tactile element simultaneously with the same rank scanning circuit
Value simplifies circuit design.
The disclosure additionally provides a kind of multi-function robot comprising the biomimetic tactile system, using described bionical
Haptic system perceives local environment, to more efficiently carry out task.
So far, attached drawing is had been combined the present embodiment is described in detail.According to above description, those skilled in the art
There should be clear understanding to disclosure biomimetic tactile system and multi-function robot.
In addition, the above-mentioned definition to each element and method is not limited in the various concrete structures mentioned in embodiment, shape
Shape or mode, those of ordinary skill in the art simply can be changed or replaced to it.
Particular embodiments described above has carried out further in detail the purpose, technical solution and advantageous effect of the disclosure
It describes in detail bright, it should be understood that the foregoing is merely the specific embodiment of the disclosure, is not limited to the disclosure, it is all
Within the spirit and principle of the disclosure, any modification, equivalent substitution, improvement and etc. done should be included in the guarantor of the disclosure
Within the scope of shield.
Claims (10)
1. a kind of biomimetic tactile system, including：
Skin texture comprising substrate and multiple first touch sensors, for detecting the first haptic data；And
Ciliary structures are formed on the skin texture comprising cilium and multiple second touch sensors, for detecting second
Haptic data.
2. biomimetic tactile system according to claim 1, wherein the multiple first touch sensor includes multiple stress
Sensor is set in the substrate, and first haptic data includes triaxiality data；The multiple second tactile sensing
Device includes multiple strain gauges, and second haptic data includes close to the direction of object, speed.
3. biomimetic tactile system according to claim 2, wherein the multiple first touch sensor further includes that temperature passes
Sensor and humidity sensor；First haptic data further includes temperature and humidity data.
4. biomimetic tactile system according to claim 2, wherein each strain gauge uses four unit pontoon bridge knots
Structure comprising：Four sensing units, are used to form conductive path；And a conduction unit, for conducting stress；Wherein, the biography
It leads unit and is located at the center of four sensing units, while being connect with four sensing units, and described four sensitive single
Member is about the conduction unit central symmetry.
5. biomimetic tactile system according to claim 4, wherein on the surface of skin texture and/or tangentially answer masterpiece
Used time, the sensing unit are realized according to the variation of resistance value to three since the generation deformation that is pressurized causes resistance value to change
Tie up the detection of stress.
6. biomimetic tactile system according to claim 4, wherein the material of four sensing units be doped with
The PDMS of MWCNT, by control doping so that the resistance of second touch sensor and first touch sensor
Value is in the same order of magnitude；The material of the conduction unit is SU-8 glue；The material of the cilium is flexibility PDMS or polyamides is sub-
Amine；The substrate uses flexible printed circuit board FPC.
7. biomimetic tactile system according to claim 1, wherein the skin texture further includes protective layer, is formed in institute
It states in substrate, covers the multiple first touch sensor；The cilium is located in the substrate, along the side far from the substrate
To extending and stretch out the protective layer.
8. biomimetic tactile system according to claim 7, wherein the multiple second touch sensor is four strains
Meter, the four stress gauges are arranged around cilium root, and the sensing surface of second touch sensor is passed with first tactile
The sensing surface of sensor is vertical.
9. biomimetic tactile system according to claim 1, further includes scanning circuit, for reading first tactile in real time
The resistance value of sensor and the second touch sensor.
10. a kind of multi-function robot comprising biomimetic tactile system as claimed in any one of claims 1-9 wherein.
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| CN201810133317.0A CN108332794A (en) | 2018-02-09 | 2018-02-09 | Biomimetic tactile system and multi-function robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109738097A (en) * | 2019-03-12 | 2019-05-10 | 中国科学技术大学 | A kind of multifunction electronic skin and preparation method thereof, plane external force detection method |
| CN111208316A (en) * | 2020-02-24 | 2020-05-29 | 吉林大学 | Bionic airflow omnidirectional sensing flexible sensor and preparation method thereof |
| CN111208315A (en) * | 2020-02-24 | 2020-05-29 | 吉林大学 | Bionic hairy airflow velocity sensor and preparation method thereof |
| CN111283690A (en) * | 2020-01-16 | 2020-06-16 | 中国科学院重庆绿色智能技术研究院 | Elastic bionic villus type electronic skin for human-computer interaction safety |
| CN113049148A (en) * | 2021-03-15 | 2021-06-29 | 吉林大学 | Multi-information flexible touch sensor of bionic cilium structure and preparation method thereof |
| CN113532520A (en) * | 2021-07-06 | 2021-10-22 | 吉林大学 | Vector sensor, vector sensing device, and method for manufacturing vector sensor |
| CN117067199A (en) * | 2023-07-26 | 2023-11-17 | 睿尔曼智能科技（北京）有限公司 | Mechanical arm electronic skin, mechanical arm and collision detection system thereof |
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| CN113049148A (en) * | 2021-03-15 | 2021-06-29 | 吉林大学 | Multi-information flexible touch sensor of bionic cilium structure and preparation method thereof |
| CN113532520A (en) * | 2021-07-06 | 2021-10-22 | 吉林大学 | Vector sensor, vector sensing device, and method for manufacturing vector sensor |
| CN117067199A (en) * | 2023-07-26 | 2023-11-17 | 睿尔曼智能科技（北京）有限公司 | Mechanical arm electronic skin, mechanical arm and collision detection system thereof |
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Application publication date: 20180727 |