CN110531863A - A kind of softness haptic perception gloves and preparation method thereof based on super capacitor perception principle - Google Patents
A kind of softness haptic perception gloves and preparation method thereof based on super capacitor perception principle Download PDFInfo
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- CN110531863A CN110531863A CN201910876138.0A CN201910876138A CN110531863A CN 110531863 A CN110531863 A CN 110531863A CN 201910876138 A CN201910876138 A CN 201910876138A CN 110531863 A CN110531863 A CN 110531863A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
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Abstract
The invention discloses a kind of softness haptic perception gloves and preparation method thereof based on super capacitor perception principle, which includes glove bulk and the flexible sensor layer that glove bulk palm and each finger pulp loss position is arranged in；Flexible sensor layer includes upper electrode layer, lower electrode layer and the ion fiber layer being placed between upper/lower electrode layer, the upper and lower surface of ion fiber layer is close to the upper surface of the lower surface of upper electrode layer, lower electrode layer respectively, and the edge of upper electrode layer, lower electrode layer and ion fiber layer three is fixed together.The entire palmar aspect of the haptic gloves is all covered with the sensor unit of array, and the distribution density of sensor unit is higher, can accurately perceive the pressure distribution of the entire palm of haptic gloves and finger.
Description
Technical field
The present invention relates to flexible electronic technical fields, and in particular to a kind of softness haptic perception based on super capacitor perception principle
Gloves and preparation method thereof can be used for the pressure tactilely-perceptible of human-computer interaction.
Background technique
The mankind can be accurately controlled power by application like a dream to manipulate object and tool, because behaviour has accurately
Tactilely-perceptible and perfect haptic feedback system, human skin as the maximum organ of human body, it be by one it is integrated, can
The sensor network composition flexible, the signal about tactile and thermostimulation can be passed to brain, the tactile of people can perceive
Lasting pressure, the lateral environmental stimulis such as skin stretch and skin glide, it is possible to realize that finger position, stabilization are grabbed easily
It takes, the sensory functions such as tangential force and the direction of motion.But the significant complexity of human body stimulation sension unit largely hinders
The bionics fiber for having hindered human skin function is also a challenging task to modern machines people research.In robot
Application in, robot based on computer vision crawl have been relatively mature, but while grabbing object to human body at present is relied on
Tactile data research it is seldom, and studying human body to grasp the haptic mechanism of object will be supplement to vision robot.Accurately
Tactilely-perceptible and feedback robot can be allowed preferably to perceive, following robot will need these feedbacks some right to complete
Inappreciable task for the mankind, for example hold a glass or be inserted into a key in lock.
In recent years, the research about haptic interaction between people and robot has had certain achievement, and publication No. is
The patent of CN105242788A discloses a kind of wireless data gloves wiring based on bending sensor and sensor configuration
Method is sent to after microprocessor processes according to the variable signal that the bending degree difference of finger generates resistance value and is sent to wireless biography
Defeated module is sent to PC equipment by wireless receiving module by wireless transport module, which has both practicability and economy, but
It is only limitted to not be able to satisfy the requirement to tactile to curved measurement.
Boutry.C.M [1] etc. proposes a kind of gloves made of electronic skin, simulation human skin epidermis and true
Skin, and the bionic skin concept with interlocking microstructure is proposed, by one group capacitor, that is, carbon nanotube (CNT)
It is formed in polyurethane (PU) matrix that electrode insertion in top and bottom positions vertically, when for making the sensor of large area
Complex process only tests the finger tip that sensor is attached to two gloves, does not consider palm and finger tip about tactile feel
The distribution design known, and its structure is complex, processing is also complicated.
Softness haptic perception gloves can such as need the accurate industrial operations flexibly controlled live in many occasions, high-risk
Environment (anti-terror explosive removing, noxious material, other dangerous material), medical operating, medical treatment and nursing (is assisted in, is massaged).Therefore providing can
Meet simultaneously highly sensitive, the full hand of covering high-resolution, it is frivolous it is soft, have certain retractility and flexible folding and structure
Stable haptic gloves have great meaning.
[1]Boutry.C.M,Negre M,Jorda M,et al.A hierarchically patterned,
bioinspired e-skin able to detect the direction of applied pressure for
robotics[J].Science Robotics,2018,3(24):6914-6922.
Summary of the invention
In view of the deficiencies of the prior art, the technical issues of present invention intends to solve is to provide a kind of based on super capacitor perception
Softness haptic perception gloves of principle and preparation method thereof, the haptic gloves use super capacitor perception principle, the palm of haptic gloves
The array-type sensor unit that multiple crossed electrodes are formed is distributed on face, by sensor unit to being contacted when grasping object
Object is perceived, according to the shape of the distribution characteristics judgment object of power.
The technical solution that the present invention solves the technical problem is:
A kind of softness haptic perception gloves based on super capacitor perception principle, including glove bulk and setting are in glove bulk hand
The flexible sensor layer of the palm and each finger pulp loss position；Flexible sensor layer includes upper electrode layer, lower electrode layer and is placed on
Ion fiber layer between lower electrode layer, the upper and lower surface of ion fiber layer are close to the lower surface of upper electrode layer, lower electrode respectively
The upper surface of layer, the edge of upper electrode layer, lower electrode layer and ion fiber layer three is fixed together；
The parallel longitudinal electrode of A item, B ribbon is respectively equipped on the palm of the upper electrode layer and thumb, wherein hand
The palm extends to the finger tip of respective finger with a longitudinal electrode of index finger, middle finger, the third finger and little finger of toe crossover location respectively respectively, A
Parallel longitudinal direction electrode draws the first circuit connecting end towards wrist in upper electrode layer, and B parallel longitudinal direction electrode is powering on
Pole layer draws second circuit connecting pin, and A, B and a are positive integer；It is parallel that the palm of the lower electrode layer is equipped with N ribbon
Transverse electrode, wherein the palm transverse electrode parallel with the n item of thumb crossover location extends to the finger tip of thumb；Lower electrode
The index finger of layer, middle finger are respectively equipped with the M item transverse direction parallel with the transverse electrode of lower electrode layer palm position on the third finger and little finger of toe
Electrode, M transverse electrode on four fingers correspond electrical connection, do not hand between the connecting line of the transverse electrode on finger
It is wrong；N parallel pole draws tertiary circuit connecting pin on lower electrode layer, and M transverse electrode on four fingers is in lower electrode
The 4th circuit connecting end is drawn on layer, N, M and n are positive integer；Electrode in this way on upper electrode layer and lower electrode layer is in space
It intersecting vertically, each cross section then constitutes a capacitor cell, each capacitor cell constitutes a small sensor unit,
I.e. the palm of the flexible sensor layer and thumb are respectively provided with N*A, n*B array capacitor units, index finger, middle finger, the third finger
With M*a array capacitor unit is all had on little finger of toe；Aforementioned four circuit connecting end is separately connected and corresponding connecting pin width phase
Same soft arranging wire, the double-sided adhesive that each soft arranging wire is connected with Z axis are overlapped patch and fix with corresponding circuit connecting end.
A kind of the step of preparation method of the softness haptic perception gloves based on super capacitor perception principle, this method, is:
S1. the preparation of flexible sensor layer
Flexible sensor layer includes vertically opposite upper and lower electrode layer and intermediate ion fiber layer, preparation process are as follows:
1) production of upper and lower electrode layer: the silk-screen halftone of upper and lower electrode pattern is had made to order respectively, using the side of silk-screen printing
Formula makes upper and lower electrode layer；
2) ion fibre the preparation of ion fiber layer: is prepared using the method that high polymer flexible fiber impregnates ionic gel liquid
Tie up layer；
3) encapsulation of flexible sensor layer: having the halftone of upper and lower electrode gap pattern made to order, will not with the mode of silk-screen printing
Dry glue is printed on the gap of every two strip electrode of each electrode layer, then is mutually perpendicular to place by the electrode of upper and lower electrode layer, point
Be not affixed on the two sides of ion fiber layer, make the electrode of the electrode of upper electrode layer, the palm of lower electrode layer and thumb part with from
Subbundle completely attaches to, the index finger of lower electrode layer, middle finger, the third finger and little finger portion the middle part of electrode contacted with ion fiber
But each finger both ends are not contacted with ion fiber, complete the encapsulation of flexible sensor layer；
S2. the encapsulation of flexible sensor layer and glove bulk
By packaged flexible sensor layer along glove bulk outer profile cut and by the index finger of flexible sensor layer, in
Finger, nameless and little finger of toe are cut off, and are careful not to destroy electrode；Again by after cutting flexible sensor layer and glove bulk pass through it is double
Face sticker is to together, it should be noted that the correspondence of the two hand position；
S3. the connection of flexible sensor layer finger part
The electrode of the index finger of the lower electrode layer of flexible sensor layer, middle finger, the third finger and little finger portion is led using connection
Line or conductive tape connect one to one, and the length of connecting wire or conductive tape, which is subject to, does not influence finger movement, complete soft
The connection of property sensor layer finger part；
S4. flexible sensor layer wiring
The upper and lower electrode layer of flexible sensor layer shares the circuit connecting end of 4 electrodes, will be with related circuit connecting pin width
The double-sided adhesive that identical soft arranging wire is connected with Z axis is overlapped patch and is fixed together with electrode terminal, can be directly connected in circuit
It uses.
Compared with prior art, the beneficial effects of the present invention are:
1, the pressure-plotting high resolution measured.The entire palmar aspect of haptic gloves is all covered with the sensor list of array
The distribution density of member, sensor unit is higher, can accurately perceive the pressure distribution of the entire palm of haptic gloves and finger.
2, sensitivity is higher.Ion fiber layer among flexible sensor layer uses electric double layer capacitance, than Conventional parallel plate
Equipment is higher by least 1000 times of capacitor, improves signal-to-noise ratio, has high anti-interference ability, characteristic can effectively improve the sensitive of sensor
Degree makes pressure be converted into capacitor to greatest extent, and measurement capacitance is more acurrate, can more accurately detect haptic gloves apply or
The pressure of perception.
3, flexible more preferable, it is thinner.The electrode layer of flexible sensor layer selects the technique of silk-screen printing, so that electrode layer
Thickness very little, the material selection flexible polymer film of buffer layer selection, can be selected the polyurethane film of 0.05mm to 0.3mm thickness,
It can achieve small thickness and high flexibility.Select rubber gloves as substrate, it is ensured that haptic gloves flexibility with it is frivolous.
4, simple process, can large-area manufacturing.Electrode material selects conductive coating, such as silver paste/graphene compound oil ink,
Resistance is smaller, and electrically conductive ink directly prints on the buffer layer, republishes adhesive sticker and encapsulates upper electrode layer and ion fiber layer.It
Flexible sensor layer and rubber gloves are directly fitted with double-sided adhesive afterwards, simple process, can large-area manufacturing and application.
5, haptic gloves stable structure can satisfy the requirement of finger flexible operating.Electrode made from silk-screen printing technique
Not easily to fall off, silk-screen printing glue and double-sided adhesive make sensor unit encapsulation good, it is ensured that haptic gloves stable structure, energy
Finger is set to move freely the performance without influencing sensor unit.
6, customizable for specific demand.Haptic gloves can customize size according to the size of different users' hand, simultaneously
Can the requirement difference according to usage scenario to precision different resolution ratio is set, have a wide range of application and may customize.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the upper electrode layer of the flexible sensor layer of Example 1 and Example 2 of the present invention；
Fig. 2 is the structural schematic diagram of the lower electrode layer of the embodiment of the present invention 1；
Fig. 3 is the overall structure diagram of the embodiment of the present invention 1；
Fig. 4 is the structural schematic diagram of the lower electrode layer of the embodiment of the present invention 2；
Fig. 5 is the overall structure diagram of the embodiment of the present invention 2；
Fig. 6 is the capacitor of single sensor on flexible sensor layer of the invention with the variation schematic diagram of pressure；
Fig. 7 is the partial enlarged view of the abscissa zone Fig. 6 0-50kPa；
Fig. 8 is the dynamic characteristic figure of single sensor on flexible sensor layer of the invention；
In figure: 1, upper electrode layer；2, lower electrode layer；3, the first circuit connecting end；4, second circuit connecting pin；5, third electricity
Road connecting pin；6, the 4th circuit connecting end；7, conducting wire.
Specific embodiment
Specific embodiments of the present invention are given below.Specific embodiment is only used for that present invention be described in more detail, unlimited
The protection scope of the application processed.
The softness haptic perception gloves that the present invention provides a kind of based on super capacitor perception principle (abbreviation haptic gloves, referring to
Fig. 1-8), including glove bulk and the flexible sensor layer that glove bulk palm and each finger pulp loss position is arranged in；Flexibility passes
Sensor layer includes upper electrode layer 1, lower electrode layer 2 and the ion fiber layer being placed between upper/lower electrode layer, ion fiber layer
Upper and lower surface is close to the upper surface of the lower surface of upper electrode layer 1, lower electrode layer 2, upper electrode layer 1, lower electrode layer 2 and ion respectively
The edge of fibrous layer three is fixed together；
The parallel longitudinal electrode of A item, B ribbon is respectively equipped on the palm and thumb of the upper electrode layer 1, wherein hand
The palm extends to the finger tip of respective finger with a longitudinal electrode of index finger, middle finger, the third finger and little finger of toe crossover location respectively respectively, A
Parallel longitudinal direction electrode draws the first circuit connecting end 3 towards wrist in upper electrode layer 1, and B parallel longitudinal direction electrode is upper
Electrode layer 1 draws second circuit connecting pin 4, and A, B and a are positive integer；The palm of the lower electrode layer 2 is equipped with N ribbon
Parallel transverse electrode, wherein the palm transverse electrode parallel with the n item of thumb crossover location extends to the finger tip of thumb；
It is parallel with the transverse electrode of lower electrode layer palm position that M item is respectively equipped on the index finger of lower electrode layer, middle finger, the third finger and little finger of toe
Transverse electrode, M transverse electrode on four fingers corresponds electrical connection, between the connecting line of the transverse electrode on finger
Do not interlock；N parallel pole draws tertiary circuit connecting pin 5 on lower electrode layer, and M transverse electrode on four fingers is under
The 4th circuit connecting end 6 is drawn on electrode layer, N, M and n are positive integer；Electrode in this way on upper electrode layer 1 and lower electrode layer 2 exists
It intersects vertically in space, each cross section then constitutes a capacitor cell, each capacitor cell constitutes a small sensing
Device unit, the i.e. palm of the flexible sensor layer and thumb are respectively provided with N*A, n*B array capacitor units, index finger, middle finger,
M*a array capacitor unit is all had on nameless and little finger of toe；Aforementioned four circuit connecting end is separately connected and corresponding connecting pin
Soft arranging wire of same size, the double-sided adhesive that each soft arranging wire is connected with Z axis are overlapped patch and fix with corresponding circuit connecting end.
The glove bulk uses commercially available gloves, preferred rubber gloves；The upper electrode layer and each position of lower electrode layer
Number of electrodes and interelectrode spacing can be according to practical flexible design.
The working principle of the invention and workflow are:
It is formed between conductive electrode (parallel pole) in upper/lower electrode layer and the solid electrolyte in ion fiber layer
Electrode/electrolyte interface, super capacitor principle are when the both ends of electrode material and solid electrolyte contact respectively, in extraneous electricity
Under the action of source, electrode interior surface charge can from electrolyte adion, electricity of these ions in electrode/electrolyte interface
It is equal with the charged amount of charge of electrode inner surface to solve matter side one amount of charge of formation, and the boundary layer that symbol is opposite to that,
Due in electrode/electrolyte interface there is potential difference so that the charge of upper/lower electrode layer cannot all cross the border and one another and, because
This forms the electric double layer of stable structure, produces super capacitor；
Ionic gel mixed liquor (such as polyvinyl alcohol-phosphate ion gel) is made, by high polymer flexible fiber (such as nothing
Woven fabric) impregnate mixed liquor after drain, form solid ion fiber, i.e. ionic gel wraps up fiber, and fibrous inside exist it is certain
Hole.Ion fiber layer is clipped among two layers of electrode material, and under external pressure effect, ion fiber layer generates shape by compression
Become, the contact area between layers of nanofibers and conductive fabric (upper and lower electrode layer) will compress mould due to classical fiber assembly
Malformation that type is predicted and increase, so as to cause the increase of capacitor.The variation of capacitor can be converted into electric signal transmission to
Subsequent process circuit, to obtain the size of pressure.
The present invention also provides a kind of preparation methods of softness haptic perception gloves based on super capacitor perception principle, specific to walk
Suddenly it is:
S1. the preparation of flexible sensor layer
Flexible sensor layer includes vertically opposite upper and lower electrode layer and intermediate ion fiber layer, preparation process are as follows:
1) production of upper and lower electrode layer
Electrically conductive ink is printed onto soft by the silk-screen halftone for having upper and lower electrode pattern made to order respectively by the way of silk-screen printing
On property polyurethane (PU) film, it is respectively formed upper and lower electrode layer；
2) preparation of ion fiber layer
Ionic gel liquid is made, is drained after high polymer flexible fiber is impregnated mixed liquor, forms solid ion fiber, i.e.,
Ionic gel wraps up fiber, and there are holes for fibrous inside；With H3PO4For-PVA, by polyvinyl alcohol (PVA), water and phosphoric acid
(H3PO4) mixed according to the ratio that mass ratio is 1:9:1 (actual ratio can be finely adjusted according to mechanics and electrology characteristic),
Be heated to 90 DEG C, magnetic agitation to mixed liquor becomes as clear as crystal, cooled to room temperature to get arrive stoste；High polymer is soft
Property fiber sufficiently impregnated in stoste, soaking time is 30 seconds, and taking-up drains and obtains ion fiber layer；
3) encapsulation of flexible sensor layer
The halftone for having upper and lower electrode gap pattern made to order, with the mode of silk-screen printing by new label printing to each electrode layer
On the gap of every two strip electrode, then the electrode of upper and lower electrode layer is mutually perpendicular to place, is affixed on the two of ion fiber layer respectively
Face completely attaches to the electrode of upper electrode layer, the electrode of the palm of lower electrode layer and thumb part and ion fiber, lower electrode
The index finger of layer, middle finger, the third finger and little finger portion the middle part of electrode contacted with ion fiber layer but the transverse electrode of each finger
Both ends do not contacted with ion fiber layer, i.e., the both ends of each finger transverse electrode reserve electrode connection surplus, complete
The encapsulation of flexible sensor layer；
S2. the encapsulation of flexible sensor layer and glove bulk
By packaged flexible sensor layer along glove bulk outer profile cut and by the index finger of flexible sensor layer, in
Finger, nameless and little finger of toe are cut off, and are careful not to destroy electrode；Again by after cutting flexible sensor layer and glove bulk pass through it is double
Face sticker is to together, it should be noted that the correspondence of the two hand position；
S3. the connection of flexible sensor layer finger part
The electrode of the index finger of the lower electrode layer of flexible sensor layer, middle finger, the third finger and little finger portion is led using connection
Line or conductive tape connect one to one, and the length of connecting wire or conductive tape, which is subject to, does not influence finger movement, complete soft
The connection of property sensor layer finger part；
S4. flexible sensor wiring
The upper and lower electrode layer of flexible sensor layer shares the circuit connecting end of 4 electrodes, will be with related circuit connecting pin width
The double-sided adhesive that identical soft arranging wire is connected with Z axis is overlapped patch and is fixed together with electrode terminal, can be directly connected in circuit
It uses.
Embodiment 1
Softness haptic perception gloves (referring to Fig. 1-3) of the present embodiment based on super capacitor perception principle, including rubber gloves and
Flexible sensor layer, flexible sensor layer are fitted in the palm of rubber gloves and the finger pulp position of each finger by double-sided adhesive；
Flexible sensor layer includes upper electrode layer 1, lower electrode layer 2 and the ion fiber layer being placed between upper/lower electrode layer；Top electrode
The palm of layer 1 is equipped with the parallel electrode in 17 longitudinal directions, is wherein equipped with 3 on index finger, middle finger, the third finger and little finger of toe, thumb
It is equipped with the parallel electrode in 11 longitudinal directions；The palm of lower electrode layer 2 is equipped with 15 horizontally-parallel electrodes, wherein sets on thumb
There are 3,15 horizontally-parallel electrodes is equipped on index finger, middle finger, the third finger and little finger of toe, the electrode on four fingers is in palm
Face is connected one to one by conducting wire；Electrode in this way on upper electrode layer 1 and lower electrode layer 2 intersects vertically in space, each
Cross section then constitutes a capacitor cell, each capacitor cell constitutes a small sensor unit, the i.e. flexible sensing
The palm and thumb of device layer are respectively provided with 255,33 sensor array units, have on index finger, middle finger, the third finger and little finger of toe
There are 45 sensor array units；
Rubber gloves is No. L, i.e., palm width is 10cm；The width of above-mentioned every strip electrode is 1mm；
More sensor unit is distributed in the haptic gloves of the present embodiment, and resolution ratio is higher, and measurement effect is preferable；But
The technique for connecting finger position electrode by conducting wire is more complex, and conducting wire is located at palmar aspect will affect finger position to a certain extent
Flexibility；Suitable for massage, the size of hand different location applied force when can accurately perceive massage by the haptic gloves,
And then the dynamics at each position of hand can be accurately controlled, overexertion is prevented, keeps massage more comfortable.
Embodiment 2
Softness haptic perception gloves (referring to Fig. 1,4,5) of the present embodiment based on super capacitor perception principle, including rubber gloves
With flexible sensor layer, flexible sensor layer is fitted in the palm of rubber gloves and the finger pulp position of each finger by double-sided adhesive
It sets；Flexible sensor layer includes upper electrode layer 1, lower electrode layer 2 and the ion fiber layer being placed between upper/lower electrode layer；It powers on
The structure of pole layer 1 is same as Example 1；The palm of lower electrode layer 2 is equipped with 15 parallel transverse electrodes, wherein sets on thumb
There are 3；9 parallel transverse electrodes are equipped on index finger, middle finger, the third finger and little finger of toe, there are larger at the both ends of every strip electrode
The surplus (part of electrode tip fold in Fig. 4) for being connect with adjacent electrode, index finger and middle finger, it is nameless on little finger of toe
Electrode connect one to one in the conductive tape that the back of the hand face passes through 2mm wide respectively；In this way on upper electrode layer 1 and lower electrode layer 2
Electrode intersect vertically in space, each cross section then constitutes a capacitor cell, each capacitor cell constitutes one
Small sensor unit, the i.e. palm of the flexible sensor layer and thumb are respectively provided with 255,33 sensor array units,
27 sensor array units are all had on index finger, middle finger, the third finger and little finger of toe；
Rubber gloves is No. L, i.e., palm width is 10cm；The width of above-mentioned every strip electrode is 1mm；
The sensor unit of the haptic gloves distribution of the present embodiment is few compared with embodiment 1, reduces the precision of haptic gloves；It is suitable
For assisting in, the size of hand different location applied force when can accurately perceive massage by the haptic gloves, and then can essence
The really dynamics at the control each position of hand, prevents overexertion from causing sense of discomfort to by the person of assisting in.
From fig. 6, it can be seen that on flexible sensor layer of the invention between the capacitor of single sensor and the pressure of application
There are good linear relationship, linearity error 5.07%；The high sensitivity of sensor, the i.e. slope of curve are big, up to 3.97nF/
kPa；Circulation is carried out to sensor using press machine and applies pressure, it is 2.5Hz that pressure, which applies frequency, using impedance instrument to sensor
Dynamic response test is carried out, experimental results are shown in figure 8, and when pressure applies on a sensor, capacitance increases immediately, capacitor
Variation be positively correlated with application pressure on a sensor；When pressure is released, capacitance is promptly restored to original state again；
I.e. sensor can be stimulated preferably with external pressure and carry out dynamic response, show the high sensitivity of sensor and flexibility
It is good.
The present invention does not address place and is suitable for the prior art.
Claims (3)
1. a kind of softness haptic perception gloves based on super capacitor perception principle, which is characterized in that exist including glove bulk and setting
The flexible sensor layer of glove bulk palm and each finger pulp loss position；Flexible sensor layer includes upper electrode layer, lower electrode layer
And it is placed on the ion fiber layer between upper/lower electrode layer, the upper and lower surface of ion fiber layer is close to the following table of upper electrode layer respectively
Face, lower electrode layer upper surface, the edge of upper electrode layer, lower electrode layer and ion fiber layer three is fixed together；
The parallel longitudinal electrode of A item, B ribbon is respectively equipped on the palm of the upper electrode layer and thumb, wherein palm point
Do not extend respectively to the finger tip of respective finger with a longitudinal electrode of index finger, middle finger, the third finger and little finger of toe crossover location, A item is flat
Row longitudinal electrode draws the first circuit connecting end towards wrist in upper electrode layer, and B parallel longitudinal direction electrode is in upper electrode layer
Second circuit connecting pin is drawn, A, B and a are positive integer；The palm of the lower electrode layer is equipped with the parallel transverse direction of N ribbon
Electrode, wherein the palm transverse electrode parallel with the n item of thumb crossover location extends to the finger tip of thumb；Lower electrode layer
The M item laterally electricity parallel with the transverse electrode of lower electrode layer palm position is respectively equipped on index finger, middle finger, the third finger and little finger of toe
Pole, M transverse electrode on four fingers correspond electrical connection, do not interlock between the connecting line of the transverse electrode on finger；N
Parallel pole draws tertiary circuit connecting pin on lower electrode layer, and M transverse electrode on four fingers is on lower electrode layer
The 4th circuit connecting end is drawn, N, M and n are positive integer；Electrode in this way on upper electrode layer and lower electrode layer is vertical in space
Intersection, each cross section then constitute a capacitor cell, each capacitor cell constitutes a small sensor unit, i.e., should
The palm and thumb of flexible sensor layer are respectively provided with N*A, n*B array capacitor units, index finger, middle finger, the third finger and small
M*a array capacitor unit is all had on finger；Aforementioned four circuit connecting end is separately connected of same size with corresponding connecting pin
Soft arranging wire, the double-sided adhesive that each soft arranging wire is connected with Z axis are overlapped patch and fix with corresponding circuit connecting end.
2. haptic gloves according to claim 1, which is characterized in that it is flat that the palm of the upper electrode layer is equipped with 17 longitudinal directions
Capable electrode, is wherein equipped with item on index finger, middle finger, the third finger and little finger of toe, thumb is equipped with the parallel electrode in 11 longitudinal directions；
The palm of lower electrode layer is equipped with 15 horizontally-parallel electrodes, and wherein thumb is equipped with 3；Index finger, middle finger, the third finger and small
15 horizontally-parallel electrodes are equipped on finger, i.e. the palm of the flexible sensor layer and thumb is respectively provided with 255,33 battle arrays
Sensor unit all has 45 sensor array units on index finger, middle finger, the third finger and little finger of toe.
3. a kind of preparation method of the softness haptic perception gloves based on super capacitor perception principle, which is characterized in that the step of this method
Suddenly it is:
S1. the preparation of flexible sensor layer
Flexible sensor layer includes vertically opposite upper and lower electrode layer and intermediate ion fiber layer, preparation process are as follows:
1) the silk-screen halftone of upper and lower electrode pattern, the system by the way of silk-screen printing the production of upper and lower electrode layer: are had made to order respectively
Make upper and lower electrode layer；
2) ion fiber the preparation of ion fiber layer: is prepared using the method that high polymer flexible fiber impregnates ionic gel liquid
Layer；
3) encapsulation of flexible sensor layer: having the halftone of upper and lower electrode gap pattern made to order, with the mode of silk-screen printing by adhesive sticker
It is printed on the gap of every two strip electrode of each electrode layer, then is mutually perpendicular to place by the electrode of upper and lower electrode layer, paste respectively
In the two sides of ion fiber layer, keep the electrode of upper electrode layer, the electrode of the palm of lower electrode layer and thumb part and ion fine
Dimension completely attaches to, the index finger of lower electrode layer, middle finger, the third finger and little finger portion the middle part of electrode contacted with ion fiber but respectively
Finger both ends are not contacted with ion fiber, complete the encapsulation of flexible sensor layer；
S2. the encapsulation of flexible sensor layer and glove bulk
By packaged flexible sensor layer along glove bulk outer profile cut and by the index finger of flexible sensor layer, middle finger,
Nameless and little finger of toe is cut off, and is careful not to destroy electrode；Again by after cutting flexible sensor layer and glove bulk by two-sided
Sticker is to together, it should be noted that the correspondence of the two hand position；
S3. the connection of flexible sensor layer finger part
By the electrode of the index finger of the lower electrode layer of flexible sensor layer, middle finger, the third finger and little finger portion using connecting wire or
Conductive tape connects one to one, and the length of connecting wire or conductive tape, which is subject to, does not influence finger movement, completes flexible pass
The connection of sensor layer finger part；
S4. flexible sensor layer wiring
The upper and lower electrode layer of flexible sensor layer shares the circuit connecting end of 4 electrodes, will be of same size with related circuit connecting pin
The double-sided adhesive that is connected with Z axis of soft arranging wire be overlapped patch and be fixed together with electrode terminal, can be directly connected to use in circuit.
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