KR100779081B1 - Pressure sensor for electronic skin and fabrication method of pressure sensor for electronic skin - Google Patents

Abstract

The present invention relates to a pressure sensor for electronic skin and a method for manufacturing the same, the conductive rubber of which conductivity increases when a predetermined pressure or more is applied, the electrode formed on both sides of the conductive rubber to measure the current flow through the conductive rubber, and It is formed on one side of the upper end of the elastic rubber for dispersing the pressure applied to the conductive rubber; consisting of, the pressure sensor for the electronic skin can measure the degree of the pressure and it can be produced.

Description

Pressure sensor for electronic skin and fabrication method of pressure sensor for electronic skin

1 is a schematic diagram of a pressure sensor using a conventional pressure-dependent conductive rubber,

2 is a graph showing the output characteristics of the pressure sensor of FIG.

3 is a schematic diagram of an analog type electronic skin pressure sensor according to an embodiment of the present invention;

4 is a graph showing the output characteristics of the analog type electronic skin pressure sensor of FIG.

5 is a schematic diagram of a digital electronic skin pressure sensor according to an embodiment of the present invention;

6 is a schematic diagram of a pressure sensor for a digital electronic skin according to another embodiment of the present invention;

7 is a graph showing output characteristics of the digital electronic skin pressure sensor of FIG. 5 or FIG. 6, and

8 is a flowchart illustrating a manufacturing method of an electronic skin pressure sensor according to an embodiment of the present invention.

The present invention relates to a pressure sensor, and more particularly, to a pressure sensor for an electronic skin and a method for manufacturing the same that can measure the degree of pressure so that the conductivity is gently dependent on the pressure.

 Recently, artificial skin or electronic skin using pressure-sensitive or pressure-activated conductive rubber has been studied. In the case of human skin, when a certain pressure is applied, not only the presence or absence of the applied pressure can be confirmed, but also the strength of the pressure can be checked. Even in the case of electronic skin using pressure-dependent conductive rubber, it is important to play the role of the actual human skin.

Pressure-dependent conductive rubbers have conductive properties when pressure is applied, and lose their conductive properties when pressure is removed, and thus have been applied to pressure sensors.

However, the pressure-dependent conductive rubber is easy to use for on (on) / off (off) because the conductivity is suddenly increased when the applied pressure reaches a certain pressure, but difficult to use for the purpose of measuring the degree of pressure. Therefore, when the electronic skin is manufactured using the pressure-dependent conductive rubber, the presence or absence of pressure may be known, but the degree of pressure may not be known as in actual skin.

1 is a schematic diagram of a pressure sensor using a conventional pressure dependent conductive rubber. Referring to FIG. 1, a conventional pressure sensor includes a pressure dependent conductive rubber 1, an electrode 2, 3, a voltmeter 10, and an ammeter 20.

The pressure-dependent conductive rubber 1 is a material that can be bent, but when the specific pressure or more is applied, the conductivity is rapidly increased to show the conductive property.

Forming electrodes 2 and 3 on both sides of the pressure dependent conductive rubber 1 and applying a voltage through the voltmeter 10 and measuring the current through the ammeter 20 results in the pressure dependent conductive rubber 1 The presence of pressure on both sides can be checked. That is, since pressure-dependent conductive rubber 1 exhibits insulating properties in a state where no pressure is applied on either side of the pressure-dependent conductive rubber 1, no current flows in the ammeter 20, and pressure-dependent conductivity When a specific pressure is applied to either side of the rubber 1, the pressure-dependent conductive rubber 1 exhibits a conductive property, so that current flows in the ammeter 20. Therefore, the pressure sensor having the structure as shown in FIG. 1 plays a role of detecting the presence or absence of pressure applied to both ends of the electrodes 2 and 30.

FIG. 2 is a graph illustrating output characteristics of the pressure sensor of FIG. 1. Referring to FIG. 2, the pressure-dependent conductive rubber 1 has a problem in that when a specific pressure is applied, as shown in FIG. 2, the resistance decreases rapidly and the range in which the pressure can be measured is very narrow. For example, if a conventional pressure sensor is mounted at the tip of the robot and an object (eg, an egg) is lifted, inserting an egg between the two fingers of the robot and narrowing the distance between the fingers will cause the pressure-dependent conductive rubber to be pressed. In this case, if the pressed length is x and the elastic constant is k, the pressure of Equation 1 is given.

When the pressure obtained by the calculation in the equation (1) is applied to the pressure-dependent conductive rubber (1) higher than the sliding pressure of the egg and lower than the breaking pressure, the two fingers of the robot no longer lift and lift the egg.

However, there is a problem in that a new pressure sensor must be mounted in the case of continuously holding other materials (for example, heavier and slippery billiard balls). Therefore, the conventional pressure sensor can only know whether the pressure is applied, and there is a problem that can not know about the degree of pressure that can actually feel the human skin.

An object of the present invention is to provide an electronic skin pressure sensor and a method for manufacturing the same, which can measure the degree of pressure as well as the presence of pressure by placing an elastic rubber to disperse the pressure applied to the electrodes on both sides of the pressure-dependent conductive rubber to provide.

Electronic pressure sensor of the present invention for solving the above technical problem, the conductive rubber is increased in conductivity when a predetermined pressure or more is applied; Electrodes formed on both sides of the conductive rubber to measure an electric current flowing through the conductive rubber; And an elastic rubber formed at an upper end of one side of the electrode to disperse the pressure applied to the conductive rubber.

According to an aspect of the present invention, there is provided a method of manufacturing an electronic skin pressure sensor of the present invention, the method comprising: forming electrodes on both sides of a conductive rubber in which conductivity increases when a predetermined pressure or more is applied; And forming an elastic rubber to disperse the pressure applied to the conductive rubber on one side of the upper end of the electrode.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

3 is a schematic diagram of an analog type electronic skin pressure sensor according to an embodiment of the present invention, Figure 4 is a graph showing the output characteristics of the analog type electronic skin pressure sensor of FIG.

Referring to FIG. 3, the analog type electronic skin pressure sensor according to the present invention includes a pressure dependent conductive rubber 1, an electrode 2, 3, an elastic rubber 4, a voltmeter 10, and an ammeter 20. It is done by

The elastic rubber 4 is a material that causes the pressure dependent conductive rubber 1 to respond slowly to pressure. That is, the elastic rubber 4 serves to disperse the pressure applied to the pressure dependent conductive rubber 1. This elastic rubber 4 may be made of natural rubber or synthetic rubber. In addition, the elastic rubber 4 may add an additive or use foaming properties to increase elastic modulus.

For example, as shown in the above example, the analog-type electronic skin pressure sensor according to the present invention is mounted on the fingertip of the robot and applied to the pressure-dependent conductive rubber 1 according to the length x of rubber in case of lifting an object. The pressure is distributed so that the degree of pressure can be measured more precisely. In other words, when the elastic constant of the pressure-dependent conductive rubber (1) is k1 and the elastic constant of the elastic rubber (4) is k2, the total length of the object pressed is x, and the length of the pressure-dependent conductive rubber (1) If the length of the cushioning rubber is pressed x1, x2, respectively, the following equation (2) and (3).

x = x1 + x2

k1x1 = k2x2

The pressure representing the change in conductivity is applied by x1. As shown in Equation 2, the actual pressed length x is distributed between x1 and x2, so that the resistance according to the change in the length (ie, the pressure-dependent conductive rubber and the thickness of the two rubber layers) Change will be gentle.

Referring to FIG. 4, it can be seen that the output characteristic of the pressure sensor is gentle compared to FIG. 2. Therefore, the degree of pressure according to the change in length can be measured, so the pressure sensor in FIG. 3 can be utilized as an analog type electronic skin pressure sensor.

5 is a schematic diagram of a pressure sensor for digital electronic skin according to a preferred embodiment of the present invention. Referring to FIG. 5, the pressure sensor for digital electronic skin includes a pressure-dependent conductive rubber 1, an electrode 2, 3, a first elastic rubber 5, a second elastic rubber 6, and a third elastic rubber ( 7), the fourth elastic rubber 8, the voltmeter 10 and the ammeter 20.

In FIG. 5, it can be seen that the first elastic rubber 5, the second elastic rubber 6, the third elastic rubber 7, and the fourth elastic rubber 8 have different thicknesses. Here, each elastic rubber interacts with the pressure dependent conductive rubber 1 as shown in FIG. 3 and acts as an analog sensor. However, when the first elastic rubber (5), the second elastic rubber (6), the third elastic rubber (7), the fourth elastic rubber (8) are different in thickness from each other and as shown by a broken line in FIG. It will be able to operate as a digital electronic skin pressure sensor whose conductivity increases rapidly.

Herein, the elastic rubber is divided into four, such as the first elastic rubber (5), the second elastic rubber (6), the third elastic rubber (7), and the fourth elastic rubber (8). Various changes are possible. That is, by varying the thickness of the elastic rubber, it is possible to change the conduction properties in various ways to measure the degree of pressure corresponding to the number of elastic rubber.

6 is a schematic diagram of a digital electronic skin pressure sensor according to another preferred embodiment of the present invention. Referring to FIG. 6, the digital electronic skin pressure sensor includes a pressure-dependent conductive rubber 1, an electrode 2, 3, a first elastic rubber 5 ′, a second elastic rubber 6 ′, and a third elasticity. Rubber 7 ′, fourth elastic rubber 8 ′, voltmeter 10 and ammeter 20.

In FIG. 6, it can be seen that the first elastic rubber 5 ′, the second elastic rubber 6 ′, the third elastic rubber 7 ′, and the fourth elastic rubber 8 ′ have different elastic constants.

In this case, an independent one is an analog sensor, but as shown by the broken line of FIG. 7 according to the number of micro sensors, it may be configured as a digital type electronic skin pressure sensor whose conductivity rapidly increases when a certain pressure is reached.

When each micro sensor reaches the periphery pressure, it exhibits conduction characteristics. As the number of micro sensors exhibiting conduction characteristics increases, the total resistance gradually decreases, so that the pressure corresponding to the number of micro sensors can be read.

7 is a graph illustrating output characteristics of the digital electronic skin pressure sensor of FIG. 5 or FIG. 6.

8 is a flowchart illustrating a manufacturing method of an electronic skin pressure sensor according to an embodiment of the present invention. Referring to FIG. 8, first, electrodes are formed on both side surfaces of a conductive rubber in which conductivity increases when a predetermined pressure or more is applied (S800).

Next, to form an elastic rubber to disperse the pressure applied to the conductive rubber in the upper end of one side of the electrode (S820).

Next, to protect the elastic rubber to form a protective film on the surface of the elastic rubber (S840). For example, the protective film formed on the surface of an elastic rubber can be comprised by a plastic film.

Parts not described in FIG. 8 will be referred to FIGS. 3 to 7.

The invention can also be embodied as computer readable code on a computer readable recording medium. The computer-readable recording medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of computer-readable recording media include ROM, RAM, CD_ROM, magnetic tape, floppy disks, and optical data storage, and also include those implemented in the form of carrier waves (eg, transmission over the Internet). . The computer readable recording medium can also be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion.

As described above, optimal embodiments have been disclosed in the drawings and the specification. Although specific terms have been used herein, they are used only for the purpose of describing the present invention and are not intended to limit the scope of the present invention as defined in the claims or the claims. Therefore, those skilled in the art will understand that various modifications and equivalent other embodiments are possible from this. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

It is possible to read the intensity of the pressure that could not be realized in the pressure sensor using a pressure-dependent conductive rubber of the prior art, it is possible to realize the electronic skin closer to the actual skin.

Claims (12)

delete Conductive rubber having increased conductivity when a predetermined pressure or more is applied; Electrodes formed on both sides of the conductive rubber to measure an electric current flowing through the conductive rubber; And And an elastic rubber formed at an upper end of one side of the electrode to disperse the pressure applied to the conductive rubber. The elastic rubber pressure sensor for electronic skin, characterized in that the elastic constant is made of a plurality of arrays having the same thickness and different from each other. Conductive rubber having increased conductivity when a predetermined pressure or more is applied; Electrodes formed on both sides of the conductive rubber to measure an electric current flowing through the conductive rubber; And And an elastic rubber formed at an upper end of one side of the electrode to disperse the pressure applied to the conductive rubber. The elastic rubber is an electronic skin pressure sensor, characterized in that made of an array having the same thickness and different elastic constants. The method according to claim 2 or 3, The pressure sensor for electronic skin, characterized in that to form a protective film on the surface of the elastic rubber to protect the elastic rubber. The method of claim 4, wherein The protective film is an electronic skin pressure sensor, characterized in that made of a plastic film. delete delete delete Forming electrodes on both sides of the conductive rubber that increase in conductivity when a predetermined pressure or more is applied; Forming an elastic rubber to disperse the pressure applied to the conductive rubber at an upper end of one side of the electrode; And Forming a protective film on a surface of the elastic rubber to protect the elastic rubber, The elastic rubber is a method of manufacturing a pressure sensor for electronic skin, characterized in that the elastic constant is made of a plurality of arrays having the same thickness and different from each other. Forming electrodes on both sides of the conductive rubber that increase in conductivity when a predetermined pressure or more is applied; Forming an elastic rubber to disperse the pressure applied to the conductive rubber at an upper end of one side of the electrode; And Forming a protective film on a surface of the elastic rubber to protect the elastic rubber, The elastic rubber is made of an electronic skin pressure sensor, characterized in that made of an array having the same thickness and different elastic constants. Forming electrodes on both sides of the conductive rubber that increase in conductivity when a predetermined pressure or more is applied; And And forming an elastic rubber to disperse the pressure applied to the conductive rubber at an upper end of one side of the electrode. The elastic rubber is a method of manufacturing a pressure sensor for electronic skin, characterized in that the elastic constant is made of a plurality of arrays having the same thickness and different from each other. Forming electrodes on both sides of the conductive rubber that increase in conductivity when a predetermined pressure or more is applied; And And forming an elastic rubber to disperse the pressure applied to the conductive rubber at an upper end of one side of the electrode. The elastic rubber is made of an electronic skin pressure sensor, characterized in that made of an array having the same thickness and different elastic constants.

Images