KR100718896B1 - Flexible Actuator and Tactile Display Device using thereof - Google Patents

Abstract

The present invention relates to a flexible driver and a tactile presenting device using the same, which improves the applicability to a wearable tactile presenting device due to the rigid properties of a motor, a solenoid, a piezoelectric element, and a pneumatic actuator used in a conventional tactile presenting device. Using a plurality of actuators including a polymer dielectric film having a property, an electrode coated on the upper and lower surfaces of the polymer dielectric film, and a frame fixing the outer shell of the polymer dielectric film, a configuration arranged in a matrix is provided.

By using the flexible driver as described above and the tactile display device using the same, it is possible to solve the problem of deterioration of the driver performance by using the presentation method through the deformation of the shape of the driving film rather than the pretension method in presenting the driving direction. Effect is obtained.

Actuator, Flexible, Tactile Display, Press, Embossing

Description

Flexible Actuator and Tactile Display Device Using It

1 is an explanatory diagram showing a driving principle of a general polymer dielectric,

2 is an explanatory view showing a vertical driving by buckling using a frame as a general driving principle of a polymer dielectric;

3 is an explanatory diagram showing a manufacturing process for making a polymer dielectric driver;

4 is a cross-sectional view of stacking a driver by continuously performing the method of FIG. 3;

FIG. 5 is a real photograph of a tactile presenting device cell having a 10 × 10 matrix array actually fabricated using the method of FIG.

6 is an explanatory diagram showing a method of determining a driving direction for driving the driving shown in FIG. 2 in a desired direction;

7 is a cross-sectional view of a tactile stimulus element imparted with a driving direction using the method of FIG. 6;

8 is a photograph actually applying the method of FIG. 6 to the tactile stimulating element of FIG.

9 is a photograph showing the possibility of wearing the tactile stimulation element actually manufactured in FIG. 8,

FIG. 10 is a graph showing displacement according to a driving voltage of a tactile magnetic pole element actually manufactured in FIG. 8;

FIG. 11 is a graph showing a driving frequency range of a tactile stimulus element actually manufactured in FIG. 8;

FIG. 12 is a graph showing an output force according to a driving voltage of a tactile stimulus element actually manufactured in FIG. 8. FIG.

Explanation of symbols on the main parts of the drawings

10: dielectric film 100, 200: electrode

300: frame 400: protective film

500: small casting mold

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a flexible actuator using a polymer dielectric and a flexible tactile presentation device using the same, and in particular, a wearable tactile presentation device due to the rigid properties of a motor, a solenoid, a piezoelectric element, and a pneumatic actuator used in a conventional tactile presentation device. The present invention relates to a flexible driver and a tactile presentation device using the same, which improve the problem of applicability to a furnace.

In general, the word haptic means "tactile" to refer to the tactile sensation that a person can feel when touching an object, tactile feedback and joints that the skin feels when touching the surface of the object. It is a combination of all the kinesthetic forces that are felt when muscle movement is disturbed.

This tactile research is called haptic display feedback research, which refers to a field in which a person can receive information about an object without using direct contact with the object by using a physical device. It began with a study on teleoperation that conveys the physical properties of an object in.

However, recently, it has been applied to various fields such as braille display, virtual reality, computer interface, and medical engineering for the visually impaired. In addition, the importance of haptic display is continuously increasing due to the increasing importance of visual and tactile information and communication.

A general tactile display device stimulates tactile sensation by actively controlling displacement or force of a part in contact with a user's skin, thereby transmitting a tactile sensation. The core technology of these tactile display devices is to place a large number of tactile stimulating elements in a small area, and to integrate a large number of actuators in a small area to simulate the human skin sense. The skills that can be important are important.

Therefore, it is known that the density of the actuator for the ideal tactile display is 1 / mm 2 and has a protrusion of about 2 mm, 1N or less for each tactile magnetic pole element, a driving speed of 50 Hz or more, and an energy density of about 10 W / cm 2. This is the result of experimental evaluation of the contact surface of the human hand, but there is a difference in the sensitivity of the human hand depending on the combination of related factors such as the speed of the stimulus, the depth of the stimulus, and the strength of the stimulus. As there are many differences, when designing a tactile display, various types of devices can be developed.

Such tactile display devices include pneumatic and solenoid instruments, shape memory alloys, voice coils, motors as drivers, electrostatic principles, polymer dielectrics, and electricity skin. Stimulators have been developed.

An example of such a tactile display device is US Patent US19954102939

(Tactile display driven by shape memory wires), US19788695067 (Tactile indicating device), US19942860319 (Method and device for producing a tactile display using an electrorheological fluid), European Patent EP20010988927

(TACTILE DISPLAY SYSTEM), EP2003725735 (Tactile display device and method of controlling tactile display device) and (1) P. M. Taylor, A. Moser, A.

Creed, "The design and control of a tactile display based on shape

memory alloy "in Proc. of IEEE Int Conf. on Robotics and Automation, Volume: 2, pp. 1 / 1-1 / 4, 1997, (2) F. Toshio, M. Hideyuki, A. Fumihito, I. Hidenori, M. Hideo, "Micro resonator using electromagnetic actuator for tactile display," Int. Symposium on micromechatronics and human science, pp.143-148,1997, (3) CR Wagner, SJ Lederman, RD Howe, "A tactile shape display using servomotor, "The Tenth Symposium on Haptic Interfaces fo Virtual Environment and Teleoperator Systems, March 24-25, 2002, (4) Orlando, N. Masahi, K. Hiroyuki, S. Dairoku," 3D form display with

shape memory alloy, "Int. Conf. on Artificial Reality and Tele-Existence

(ICAT), December 3-5,2003, Japan and the like.

However, in the conventional technology as described above, there are problems such as narrow real driving area, low power density, high cost of manufacturing cost, and the need for a separate auxiliary device due to the difficulty of developing a small driver. In particular, due to the rigid nature of the actuator, various difficulties are encountered in the application of the tactile display device, which is actually developed.

On the other hand, functional polymers are capable of manufacturing small sized, inclined actuators, have a high power-to-power ratio (High power density), high driving power at low to medium speeds without a separate device, and have good output efficiency for input energy. The material cost is low, and above all, it is flexible compared to other actuators.

By fabricating such a polymer dielectric driver, it is possible to more easily solve the problem of applicability of the existing tactile presentation device.

An object of the present invention is to solve the problem that the application of the tactile display device described above is limited, to provide a flexible actuator using a functional polymer and a flexible tactile display device using the same.

Another object of the present invention is to use the method of determining the driving direction through the deformation of the driving film using a hot-pressing method in the manufacturing process, not the tensioning method used in the conventional method of determining the driving direction of the polymer actuator. It is to provide a flexible tactile presentation device that solves the problem of deterioration of the driver performance due to the tension method.

In order to achieve the above object, the driver according to the present invention is a driver using a polymer dielectric having an incompressible property, and includes a polymer dielectric film, an electrode coated on the upper and lower surfaces of the polymer dielectric film, and a frame fixing the outer shell of the polymer dielectric film, respectively. And the electrode is a flexible electrode, and the frame is made of the polymer dielectric.

In the driver according to the present invention, when the electric field is applied to the driver, the polymer dielectric film is characterized in that the compressive force acts in the thickness / axial direction expands in the horizontal / circumferential direction, and protrudes in a vertical direction.

In the driver according to the present invention, the protrusion height h of the polymer dielectric film is

Where r is the radius of curvature, θ is an arc angle.

In the driver according to the present invention, the polymer dielectric film is formed by spin coating.

delete

In the actuator according to the present invention, the flexible electrode is formed by spraying a carbon powder solution.

In the driver according to the present invention, the driver is characterized in that the continuous multi-layer structure.

In the driver according to the present invention, the protective film is formed on the top and bottom surfaces of the continuous multi-layer structure.

In the driver according to the present invention, the upper and lower protective film is characterized in that each formed in 5 to 20㎛.

In the driver according to the present invention, the overall thickness of the driver is characterized in that formed from 200 to 600㎛.

In the driver according to the present invention, an embossing is formed on the surface of the driver.

In the actuator according to the present invention, the embossing is formed by a small casting die and a hot press.

In the actuator according to the present invention, the hot press is characterized in that it is adjusted to a predetermined pressure and a temperature of 150 to 190 degrees.

In the driver according to the present invention, the displacement and the output force of the driver are characterized in that it occurs uniformly in a consistent direction.

In addition, in order to achieve the above object, the tactile display device according to the present invention includes a polymer dielectric film having an incompressible property, an electrode coated on the upper and lower surfaces of the polymer dielectric film, and a driver including a frame fixing the outer shell of the polymer dielectric film. It is arranged in a matrix using a plurality of, characterized in that the frame is made of a polymer dielectric.

In the tactile display device according to the present invention, when the actuator is provided in a 10 X 10 (100 tactile stimulus elements) matrix array, and the total size thereof is 31 mm X 31 mm, the spacing of the tactile stimulus elements is centered from the center. Until 3mm, the diameter size of the tactile stimulation element is characterized in that 2mm.

In addition, in the tactile presentation device according to the present invention, the tactile stimulation elements are each independently driven.

In the tactile presentation device according to the present invention, the 100 tactile stimulating elements have a total weight of 0.55 g, a displacement of each tactile stimulating element is 1.8 mm, a frequency driving range of 10 Hz, and the total output force of the tactile presenting device is It is characterized by more than 37N / kg

do.

In the tactile presentation device according to the present invention, the tactile presentation device is flexible.

The above and other objects and novel features of the present invention will become more apparent from the description of the specification and the accompanying drawings.

EMBODIMENT OF THE INVENTION Hereinafter, the structure of this invention is demonstrated according to drawing.

In addition, in description of this invention, the same code | symbol is attached | subjected to the same part and the repeated description is abbreviate | omitted.

First, the driving principle of the polymer dielectric according to the present invention will be briefly described as shown in FIG. 1, which is as follows. 1 is an explanatory diagram showing a driving principle of a general polymer dielectric.

Applying a compliant electrode 20 over a thin elastomeric film 10 and applying a voltage causes deformation to decrease the thickness of the film and increase its area. Such deformation is caused from an electric field generated by static electricity, and the effective pressure σ _z causing deformation of the film causes shrinkage in the direction of the electric field and can be obtained by Equation 1 below.

<Equation 1>

Where σ is the thickness stress, ε _r and ε _o are the relative permittivity and absolute dielectric constant of the polymer, E is the electric field, and V and t are the voltage and final thickness.

Therefore, the strain caused by the effective pressure σ _z is proportional to the square of the applied electric field.

Since the polymer dielectric material is incompressible, when a voltage is applied, the polymer dielectric expands in the area direction while shrinkage occurs in the thickness direction. The final thickness t by the compressive force can be expressed as follows.

<Equation 2>

Where δ _z is the vertical strain and t _o is the initial thickness. Using Equation 1 and Equation 2, it can be summarized as Equation 3 by the strain in the z direction by δ _z .

<Equation 3>

Where Y is the tensile strength of the material and δ _x is the strain in the vertical direction. In Equation 3, since the right side is a constant term according to voltage, Equation 3 is expressed as Equation 4 when expressed as a cubic equation for δ _z .

<Equation 4>

In addition, the horizontal strain δ _r can be calculated as follows.

<Equation 5>

δ _r can be obtained as shown in Equation 5, but when the approximation is obtained through series expansion, it is as follows.

<Equation 6>

Through this process, both strains in the vertical and horizontal directions of the polymer dielectric can be obtained, and the basic driving principle of the polymer dielectric can be applied as a driver without using any external device.

In order to make the actuator of the tactile presentation device using the basic driving principle of the polymer dielectric as described above, the horizontal deformation of the polymer dielectric should be changed to the vertical deformation.

Therefore, the present invention uses the "Diaphragm Method" as shown in Figure 2. Figure 2 is an explanatory view showing the vertical driving by buckling by using a frame to the general driving principle of the polymer dielectric.

In this diaphragm method, as shown in FIG. 2 (a), the frame 300 is formed by the outer shell of the polymer dielectric film 10 coated with the flexible electrodes 100 and 200, that is, the non-driving region (the portion where the electrode is not coated). After fixing by using an electric field, the dielectric film 10, which is an incompressible material, causes the compressive force to act in the vertical direction to expand the film in the horizontal direction. At this time, since the outer angle of the driving region of the polymer dielectric film 10 is fixed, the horizontal rectangular expansion deformation causes buckling due to interference caused by the frame 300, which causes buckling, which is illustrated in FIG. In addition, the frame 300 used in the present invention prevents the driver's flexibility from falling by using a material such as a driver or a very similar flexible material. It can be simply defined geometrically from the circumferential length b shown in Fig. 2.

First, changes in the radius of curvature r and θ with respect to the strain δ _a are obtained as follows.

<Equation 7>

<Equation 8>

In the above Equation 8, when sin (θ / 2) is expanded to the second order,

<Equation 9>

Substituting Equation 9 into Equation 8 and arranging is as follows.

<Equation 10>

Δ _a can be obtained using Equations 2, 3, 4, and 5, and θ can be obtained from Equation 9.

Further, the radius of curvature r = [(1 + δ _a ) a] / θ is equal. Therefore, the desired displacement h is calculated by the following equation.

<Equation 11>

Next, a manufacturing process of the driver according to the present invention will be described with reference to FIG. 3 is a simplified illustration of the manufacturing process of the driver.

After manufacturing a thin polymer film having a thickness of several μm using spin coating, a series of processes of forming an electrode by spraying a flexible electrode (carbon powder solution) using a pneumatic nozzle on the film is successively performed to stack the polymer film. . The electrode is then sprayed after masking the uncoated area of the film surface in order to apply it in a predetermined shape.

At this time, the polymer film is laminated in a very thin thickness to reduce the driving voltage, which is made of a multi-layer structure as shown in FIG. 4 is a cross-sectional view of stacking actuators by continuously performing the method of FIG. 3.

The film of the tactile display device actually manufactured by the series of processes as shown in FIG. 3 has a total of 18 layers, and the total thickness of the actuator is 200 to 600 µm, preferably about 400 µm. In addition, the finished polymer film has a protective film 400 having a thickness of 5 to 20 μm, preferably 10 μm, on the top and bottom surfaces of the film, as shown in FIG. 4, in order to prevent damage due to contact with objects when driving. I clothed you. This also prevents direct contact between the user and the conductive layer in the future, thereby preventing an electric shock to the user.

Figure 5 shows the actual production of the actuator film, the total size is composed of 31mm x 31mm, the spacing from the center of the tactile stimulus element (center) to 3mm, the size of the tactile stimulus element is 2mm.

After the manufacture of the driver by the above process, in order to give a uniform driving direction as shown in Figure 6 by using a hot press (Hot-press) to form the embossing (Embossing) on the surface of the film. FIG. 6 is an explanatory diagram illustrating a method of determining a driving direction in order to drive the driving illustrated in FIG. 2 in a desired direction.

At this time, to form a uniform embossing (Micro mold die) 500 is used, the temperature of the hot press is adjusted to 150 to 190 degrees, preferably 170 degrees. The drive film thus manufactured has a 2.5-dimensional shape as shown in FIG. 7, and the embossed protruding surface is coated with flexible electrodes 100 and 200 which are coated at the time of stacking the aforementioned film, which is subsequently touched. Will be driven.

The embossing mentioned here is necessary for stable vertical driving. If only the displacement caused by the bending of the film is used without embossing, the displacement and output force act unevenly under and vertically at the same time. That is, smooth driving to one direction drive) is not performed.

FIG. 8 is a tactile presentation device of a 10 × 10 matrix array actually fabricated through all the processes described above, FIG. 8A is a top view of the tactile presentation device, and FIG. 8B is a side view of the tactile presentation device. It has a very flexible property as shown in Figure 9 has a wearable property.

In the present invention, in order to evaluate the performance as a tactile display device driver, experiments were conducted on displacement, output force, and frequency response performance.

The displacement experiment was measured by varying the driving input voltage from 0 to 3Kv in the driving frequency range of 10Hz. As a result of the experiment, as shown in FIG. 10, the maximum displacement of the tactile stimulus element was 1.8 mm , and the maximum current consumption for driving was 0.1 mA or less, which gave a very minute electric shock to the user.

Therefore, it can be seen that the proposed tactile stimulus element has displacement performance that can be sufficiently used as a tactile presentation device.

Frequency response performance test was measured while gradually increasing the drive frequency from 0 to 300 Hz at the drive voltage 2㎸, and as a result of the experiment it can be seen that has a bandwidth (bandwidth) of about 10 Hz .

Such a result is mostly caused by the softness of the tactile presentation device substrate, and can be easily solved by increasing the rigidity of the device structure such as the use of a slightly less soft substrate, even if it adversely affects the flexibility of the tactile presentation device.

In addition, since the experiment according to the present invention is a general result without using the electric control to measure the performance of the driver itself, the application of the electric control method when using the actual device does not increase the rigidity of the structure about 200 Hz . I am sure we will have very high frequency response performance.

12 is a result of measuring the output force for one tactile stimulation cell. The total weight of the 10 × 10 tactile presentation module used in the experiment was 0.55 g . At this time, considering the weight ratio of output force-module, which can be seen from the experimental results, it can be seen that one module can output power of 37 N / Kg or more, and the other conventional Compared with the driver, it can be seen that it has a very effective driving performance.

In addition, the output force of the driver can be increased according to the number of lamination of the film when manufacturing the driver, it should be considered that the flexibility of the device also decreases proportionally as the number of lamination of the film increases.

As mentioned above, although the invention made by this inventor was demonstrated concretely according to the said Example, this invention is not limited to the said Example and can be variously changed in the range which does not deviate from the summary.

That is, in the above embodiment

Although the embodiment has been described, it is not limited thereto.

Of course, it can be realized.

As described above, the driver using the polymer dielectric according to the present invention has the advantage that it is flexible compared to other conventional drivers, and in presenting the driving direction using a presentation method through the deformation of the shape of the drive film rather than the tensioning method. Thus, the effect of solving the problem of deterioration of the driver performance is obtained.

In addition, since the tactile presentation device according to the present invention uses the flexibility of the driver as it is, the developed tactile presentation device also has a very flexible feature, thereby obtaining an effect of enabling applicability in a wide range of wearable tactile presentation devices. Lose.

In addition, according to the present invention, since it is possible to manufacture the driver using only one polymer material, the manufacturing process is very easy, and the effect of efficient cost reduction is also obtained.

Claims (32)

An actuator using a polymer dielectric having incompressible properties, Polymer dielectric film, Electrodes coated on upper and lower surfaces of the polymer dielectric film; It includes a frame for fixing the outer shell of the polymer dielectric film, The electrode is a flexible electrode, And the frame is made of the polymer dielectric. The method of claim 1, When the electric field is applied to the driver, the polymer dielectric film is a driver, characterized in that the compressive force acts in the thickness / axis direction to expand in the horizontal / circumferential direction, and protrude circularly in the vertical direction. The method of claim 2, Protruding height h of the polymer dielectric film

Wherein r is a radius of curvature, θ is an arc angle. delete The method of claim 1, And the polymer dielectric film is formed by spin coating. The method of claim 5, The flexible electrode is characterized in that formed by spraying the carbon powder solution. The method of claim 6, The driver is characterized in that the continuous multi-layer structure. The method of claim 7, wherein The driver, characterized in that the protective film is formed on the top and bottom surfaces of the continuous multi-layer structure. The method of claim 8, The upper and lower protective film is an actuator, characterized in that formed in 5 to 20㎛ each. The method of claim 9, The driver is characterized in that the overall thickness of the driver is formed from 200 to 600㎛. The method of claim 1, An embossing is formed on the surface of the driver. The method of claim 11, And said embossing is formed by a compact casting die and a hot press. The method of claim 12, The hot press is an actuator, characterized in that the pressure is controlled to a temperature of 150 to 190 degrees. The method of claim 12, And said displacement and output force of said driver occur uniformly in a consistent direction. It is arranged in a matrix using a plurality of actuators including a polymer dielectric film having an incompressible property, an electrode coated on the upper and lower surfaces of the polymer dielectric film, and a frame fixing the outer shell of the polymer dielectric film. And the frame is made of a polymer dielectric. The method of claim 15, If the actuator is arranged in a 10 X 10 (100 tactile stimulation element) matrix arrangement, the total size of which is 31 mm x 31 mm, the spacing of the tactile stimulation elements is 3 mm from center to center, and the diameter size of the tactile stimulation elements is 2 mm. Tactile display device characterized in that. The method of claim 16, And the tactile stimulating elements can be driven independently from each other. The method of claim 16, The 100 tactile stimulating elements have a total weight of 0.55 g, a displacement of each tactile stimulating element is 1.8 mm, a frequency driving range of 10 Hz, and the total output force of the tactile presenting device is 37 N / kg or more. . The method of claim 15, And the tactile presentation device is flexible. The method of claim 15, When the electric field is applied to the driver, the polymer dielectric film is a tactile display device characterized in that the compressive force acts in the thickness / axial direction to expand in the horizontal / circumferential direction, and protrude circularly in the vertical direction. The method of claim 20, Protruding height h of the polymer dielectric film

Wherein r is a radius of curvature, θ is an arc angle. delete The method of claim 15, And the polymer dielectric film is formed by spin coating. The method of claim 23, wherein The flexible electrode is a tactile display device, characterized in that formed by spraying a carbon powder solution. The method of claim 24, And the driver is a continuous multi-layered structure. The method of claim 25, Tactile presentation device characterized in that the protective film is formed on the top and bottom surfaces of the continuous multi-layer structure. The method of claim 26, The top and bottom of the protective film is a tactile display device, characterized in that each formed in 5 to 20㎛. The method of claim 27, The total thickness of the driver is 200 to 600㎛ tactile display device characterized in that formed. The method of claim 15, Tactile presentation device characterized in that the embossing is formed on the surface of the driver. The method of claim 29, And said embossing is formed by a compact casting die and a hot press. The method of claim 30, The hot press is a tactile display device characterized in that it is controlled at a constant pressure and a temperature of 150 to 190 degrees. The method of claim 31, wherein And the displacement and output force of the actuator occur uniformly in a consistent direction.

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