CN107329436A - Flexible touch sensation sensor and robotic handling systems - Google Patents
Flexible touch sensation sensor and robotic handling systems Download PDFInfo
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- CN107329436A CN107329436A CN201710678410.5A CN201710678410A CN107329436A CN 107329436 A CN107329436 A CN 107329436A CN 201710678410 A CN201710678410 A CN 201710678410A CN 107329436 A CN107329436 A CN 107329436A
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- sensor
- pet film
- metal electrode
- flexible
- touch sensation
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/005—Measuring force or stress, in general by electrical means and not provided for in G01L1/06 - G01L1/22
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a kind of flexible touch sensation sensor, including：The flexible substrates and PET film being oppositely arranged, the flexible substrates are insulation, the flexible substrates are provided with metal electrode at it in face of the side of the PET film, pad is provided between the flexible substrates and the PET film, the flexible substrates side of sensor, which is attached to robot, needs the surface of touch feedback, the sensor has flexibility, it is adapted to be attached at plane or non-planar surfaces, the sensor is not when by external force, due to the effect of the pad, there is certain interval between the PET film and the metal electrode；When the external object touching PET film makes the sensor by external force, the PET film is deformed upon, and is come in contact with the metal electrode, so as to there is electric signal generation.Prior art is compared, and the present invention is under external force, it is not necessary to which the external world provides power supply and signal conversion circuit again, and its own can directly produce electric signal, export to system.It can be made by high surface area, it is convenient to which large area covers robotic surface.And the large batch of production of industrialization can be carried out to it, cost is reduced.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of flexible touch sensation sensor and robotic handling systems.
Background technology
The detection sense of various contact forces in environment can be achieved as one kind of intelligent robot skin in flexible touch sensation sensor
Know, be the necessary medium that robot directly perceives environmental activity.This tactilely-perceptible sensor will have as the skin of people
Pliability, can pass through any flexural deformation, be covered in robot body surface, and its thickness will be controlled at one preferably
In the range of, while it should also have system feedback function, machine can be realized by tactile data Real-time Feedback to control centre
People's intelligent control is responded.
At present, widely using due to robot, the flexible touch sensation sensor applied to intelligent robot skin is obtained
Extensive concern, based on different principle and different flexible materials, designs and has made various different types of flexible sensors.It is soft
Property touch sensor principle typically using pressure resistance type, condenser type etc..The flexible material of flexible touch sensation sensor is typically using polymerization
Thing, such as PET, silica gel, PDMS.
At present, the flexible touch sensation sensor applied to intelligent robot skin mainly has pressure resistance type, condenser type etc..Pressure resistance type
The operation principle of flexible touch sensation sensor is that in the presence of external force, resistance changes, and is powered and passed through by external power source
The change of resistance is converted into electric signal by change-over circuit, then electric signal is fed back into system.Condenser type flexible touch sensation sensor
Operation principle is that in the presence of external force, electric capacity changes, and is powered by external power source and by change-over circuit by electric capacity
Change is converted into electric signal, then electric signal is fed back into system.
The power supply of external power source is required for when pressure resistance type flexible touch sensation sensor and the work of condenser type flexible touch sensation sensor
Electric signal output is carried out with External reforming circuit, this improves the complexity of system.They other manufacture craft is also relatively multiple
Miscellaneous, processing cost is higher, has certain limitation in mass production and large-scale commercial application aspect.And they plus
Work typically uses lithographic equipment, and because the maximum exposure area by lithographic equipment is limited, the sensor array processed can be covered
The limited area of robotic surface.
The content of the invention
In order to overcome the drawbacks described above of prior art, the technical problems to be solved by the invention are to provide a kind of softness haptic perception
Sensor and robotic handling systems, can directly produce electric signal under external force.
The present invention concrete technical scheme be：A kind of flexible touch sensation sensor, including：The flexible substrates that are oppositely arranged and
PET film, the flexible substrates are insulation, and the flexible substrates are provided with metal at it in face of the side of the PET film
Electrode, is provided with pad between the flexible substrates and the PET film, the flexible substrates side of sensor is attached to robot
The surface of touch feedback is needed, the sensor has flexibility, is adapted to be attached at plane or non-planar surfaces, the sensor exists
When not by external force, due to the effect of the pad, there is certain interval between the PET film and the metal electrode；It is extraneous
When the object touching PET film makes the sensor by external force, the PET film is deformed upon, with the metal electrode
Come in contact, so as to there is electric signal generation.
Preferably, the PET film is provided with micro-structural in the side towards the flexible substrates, and the micro-structural is by rolling up
Volume nanometer embossing is made.
Preferably, the quantity of the metal electrode is multiple, and each metal electrode is respectively connected with leading for output signal
Line.
Preferably, the flexible substrates and the PET film in the form of sheets, the pad and the metal electrode be it is multiple,
Multiple pads extend along first axle direction, and multiple pads are spaced along second axis direction, multiple described
Metal electrode is formed with the unit between two pads, and the metal electrode in each unit is along first axle direction interval
Arrangement.
Preferably, the pad is made up of foam or other flexible materials.
This application discloses a kind of robotic handling systems, including：Flexible touch sensation sensor described above and the flexibility
The control system that the signal processing module and the signal processing module that touch sensor is electrically connected with are electrically connected with, the control
System processed is used to be controlled robot according to the signal processing module.
Preferably, the signal processing module is used for the electricity for contacting generation with the metal electrode according to the PET film
Signal, judges to act on the force value of the flexible touch sensation sensor.
Preferably, the signal processing module is used for the electricity for contacting generation with the metal electrode according to the PET film
Signal, judges to act on the position of the active force of the flexible touch sensation sensor.
Preferably, the signal processing module includes microprocessor and peripheral circuit, and the flexibility is attached when external force is acted on
When on the robotic surface of sensor, sensor sends electric signal, and signal processing module receives electric signal and handled, then
Signal is sent to robot control system, robot control system carries out corresponding actions according to signal controlling machine device people.
Compared with prior art, the present invention under external force, it is not necessary to the external world power supply and signal conversion circuit are provided again,
Its own can directly produce electric signal, export to system.Because the PET film with micro-structural can be using volume to volume nanometer pressure
Print technique, it can be made by high surface area, it is convenient to which large area covers robotic surface.And to its can carry out
The large batch of production of industrialization, reduces cost.
Brief description of the drawings
Accompanying drawing described here is only used for task of explanation, and is not intended in any way limit model disclosed by the invention
Enclose.In addition, shape and proportional sizes of each part in figure etc. are only schematical, the understanding of the present invention is used to help, and
It is not the shape and proportional sizes for specifically limiting each part of the invention.Those skilled in the art under the teachings of the present invention, can
To select various possible shapes and proportional sizes to implement the present invention as the case may be.
Fig. 1 be the embodiment of the present application in flexible touch sensation sensor configuration schematic diagram；
Fig. 2 be the embodiment of the present application in flexible touch sensation sensor front view；
Fig. 3 is the structural representation of PET film；
Fig. 4 is operation principle schematic diagram of the flexible touch sensation sensor in an action process；
Fig. 5 is the principle schematic of the robotic handling systems using flexible touch sensation sensor.
The reference of the figures above：1st, flexible substrates；2nd, metal electrode；3rd, pad；4th, PET film；5th, lead；6th, it is micro-
Structure；7th, resistance；8th, flexible touch sensation sensor；9th, signal processing module；91、MCU；92nd, peripheral circuit；10th, control system.
Embodiment
With reference to the description of accompanying drawing and the specific embodiment of the invention, the details of the present invention can be clearly understood.But
It is, the embodiment of invention described herein to be only used for explaining the purpose of the present invention, and can not understands in any way
Into being limitation of the present invention.Under the teachings of the present invention, technical staff is contemplated that any possible change based on the present invention
Shape, these are regarded as belonging to the scope of the present invention.
This application discloses a kind of flexible touch sensation sensor 8, including the flexible substrates 1 and PET film 4 being oppositely arranged, institute
It is insulation to state flexible substrates 1, and the flexible substrates 1 are provided with metal electrode 2, institute at it in face of the side of the PET film 4
State and pad 3 is provided between flexible substrates 1 and the PET film 4, the flexible substrates side of sensor is attached to robot needs
The surface of tactile feedback, because the sensor has flexibility, is adapted to be attached at plane or non-planar surfaces.The sensor 8
When not by external force, due to the effect of the pad 3, there is certain interval between PET film 4 and metal electrode 2；External object
When touching the PET film and making sensor 8 by external force, the PET film 4 is deformed upon, and is come in contact with metal electrode 2,
So as to there is electric signal generation.
Specifically, shown referring to Figures 1 and 2, the flexible substrates 1 have back to upper side and downside.It is described
Flexible substrates 1 can be by being made with good flexible insulation material, such as PET.
The metal electrode 2 can be covered on the upper side of the flexible substrates 1.Due to the friction of copper and PET film
Preferably, the metal electrode 2 can be made up raw electricity effect of very thin copper foil.Other frictional electricitys can also be used in practice
The good material of effect.Particularly, each metal electrode 2 is also associated with wire, so that by the electric signal output of generation.Certain,
The number of metal electrode 2, shape and distributing position in flexible substrates 1 can be according to being actually designed.The pad 3
It is arranged on the upper side of the flexible substrates 1.The PET film 4 is attached on the pad 3.Pad 3 can be touched in the flexibility
Feel that sensor 8 does not deform upon or occurs to make in the case of certain deformation to have between the PET film 4 and the metal electrode 2
There are certain intervals.Certain, the thickness of pad 3 and the distribution in flexible substrates 1 can be designed according to actual conditions.
When the flexible touch sensation sensor 8 is by external force, the PET film 4 produces deformation, can be with the metal electrode
2 contacts, because frictional electricity and electrostatic induction are coupled generation electric signal.
In order to increase the effect of frictional electricity, it is designed with the PET film 4 surface relative with metal electrode 2 micro-
The array of structure 6, as shown in figure 3, the array of this micro-structural 6 is square boss array, size is 1mm*1mm, and gap length is
1mm, is highly 25 μm.Certain, the array of micro-structural 6 in practice can be designed according to actual conditions.Micro-structural 6 can be big
The big output voltage for improving flexible friction electric-type flexible touch sensation sensor 8 this be due to：First, micro-structural 6 adds two kinds and rubbed
The contact area of material is wiped, and then enhances frictional electricity effect；Second, micro-structural 6 is compared with planar structure, point discharge effect
Should be more obvious, it is easier to produce triboelectric charge.Micro-structural 6 in the application is made using volume to volume nanometer embossing, can
To carry out large area and large batch of making, therefore overcome that working (finishing) area that conventional lithography process brings is small and low production efficiency
Shortcoming.
Preferably, in the form of sheets, the pad 3 and the metal electrode 2 are many for the flexible substrates 1 and the PET film 4
Individual, multiple pads 3 extend along first axle direction, and multiple pads 3 are spaced along second axis direction, multiple
The metal electrode 2 is formed with metal electrode 2 in the unit between two pads 3, each unit along first axle
Direction is spaced.Specific pad is not limited to form given in figure with the distribution of metal electrode on a flexible substrate, as long as often
There are certain intervals between individual metal electrode, pad can make the presence of certain interval between PET film and metal electrode.The sensing
Device is all fabricated from a flexible material, and for sheet, thickness glue is thin, so with good flexibility, be adapted to be attached at plane or
Nonplanar surface.
The operation principle of flexible touch sensation sensor 8 in the application is substantially as follows：Metal electrode 2 and PET film 4, which are used as, rubs
Material is wiped, PET material obtains electronic capability by force, and the easy betatopic of copper.When sensor 8 does not stress, due to the presence of pad 3, gold
Belonging to electrode 2 and PET film 4 has certain space.When ambient pressure is applied on flexible touch sensation sensor 8, PET film 4
Contacted with each other with following metal electrode 2, due to frictional electricity effect, occur electric charge transfer so that the inner surface of metal electrode 2
Positively charged, and the inner surface of PET film 4 is negatively charged；When deformation power is discharged, the surface of two oppositely chargeds is divided automatically
Open, electric field can be formed between the friction material of oppositely charged, the inner surface of metal electrode 2 is positively charged, due to metal electricity
Pole 2 is grounded, so electrons flow to positively charged one end from earth terminal, so as to produce electric current, is produced in this process
Electric current will continue, until distance reaches maximum and when no longer changing, the electricity between two metal electrodes 2 between two metal electrodes 2
Gesture reaches state of electrostatic equilibrium, external current zero；Then when two materials are acted on by external force being compressed to other side again, band
The electronics of one end of positive charge will be flowed back to along former road, so that another current impulse in opposite direction is produced, until two kinds of materials
Again contact, electric current zero.When this periodic mechanical deformation continues, AC signal will continue to produce.
Because the size for the voltage magnitude for producing electric signal is relevant with the size by external force, external force is bigger so that friction material
The area of contact is also bigger, and the charge number isolated is also more, so that the electrical signal voltage amplitude of the bigger generation of external force is also bigger,
So by measuring the voltage magnitude size of the electric signal produced, the size of external force can be reflected within the specific limits.Each gold
Category electrode 2 has a single lead 5, when so having external force effect, it is possible to which identification is the electricity which metal electrode 2 is sent
Signal, identifies the particular location by external force.
Disclosed herein as well is a kind of robotic handling systems, including：Flexible touch sensation sensor 8 described above, with it is described
The control system that the signal processing module 9 and the signal processing module 9 that flexible touch sensation sensor 8 is electrically connected with are electrically connected with
10, the control system 10 is used to be controlled robot according to the signal processing module 9.Flexible touch sensation sensor 8
Lead 5 accesses signal processing module 9.
The flexible substrates 1 of flexible touch sensation sensor 8 are attached to robotic surface, because the sensor has flexibility, fitted
Conjunction is attached at plane or non-planar surfaces.External force acts on robotic surface, and flexible touch sensation sensor 8 sends electric signal, signal
Processing module 9 can recognize that the particular location of stress and the size of stress by analyzing the electric signal, and these information transmissions are given
The control system 10 of robot, the control system 10 of robot will make corresponding reaction according to these information.
By preceding described, the signal processing module 9 with the metal electrode 2 can contact generation according to the PET film 4
Electric signal, judge to act on the force value of the flexible touch sensation sensor 8.The control system 10 can be according to external force
Size is carried out control machine people and acted.
The signal processing module 9 can contact the electric signal of generation according to the PET film 4 with the metal electrode 2,
Judgement acts on the position of the active force of flexible touch sensation sensor 8.The control system 10 can be according to the position of external force
Carry out control machine people to be acted.
Preferably, the signal processing module 9 includes MCU91 and peripheral circuit 92.Microprocessor is by receiving sensor
Electric signal；Then microprocessor will send peripheral circuit to after data processing, and control system is conveyed to by peripheral circuit.
Each embodiment in this specification is described by the way of progressive, what each embodiment was stressed be with
Between the difference of other embodiment, each embodiment identical similar part mutually referring to.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar can understand present disclosure and implement according to this, and it is not intended to limit the scope of the present invention.It is all according to the present invention
The equivalent change or modification that Spirit Essence is made, should all be included within the scope of the present invention.
Claims (9)
1. a kind of flexible touch sensation sensor, it is characterised in that including：The flexible substrates and PET film being oppositely arranged, the flexibility
Substrate is insulation, and the flexible substrates are provided with metal electrode, the flexible substrates at it in face of the side of the PET film
Pad is provided between the PET film, the flexible substrates side of sensor, which is attached to robot, needs touch feedback
Surface, the sensor have flexibility, be adapted to be attached at plane or non-planar surfaces, the sensor when not by external force, due to
, there is certain interval between the PET film and the metal electrode in the effect of the pad；External object touches the PET
When film makes the sensor by external force, the PET film is deformed upon, and is come in contact with the metal electrode, so as to have
Electric signal is produced.
2. flexible touch sensation sensor according to claim 1, it is characterised in that the PET film is towards the flexibility
The side of substrate is provided with micro-structural, and the micro-structural is made by volume to volume nanometer embossing.
3. flexible touch sensation sensor according to claim 1, it is characterised in that the quantity of the metal electrode be it is multiple,
Each metal electrode is respectively connected with the wire for output signal.
4. flexible touch sensation sensor according to claim 1, it is characterised in that the flexible substrates and the PET film
In the form of sheets, the pad and the metal electrode are multiple, and multiple pads extend along first axle direction, and multiple described
Pad is spaced along second axis direction, and multiple metal electrodes are formed with the unit between two pads, each
Metal electrode in individual unit is spaced along first axle direction.
5. flexible touch sensation sensor according to claim 1, it is characterised in that the pad is by foam or other flexible materials
Material is made.
6. a kind of robotic handling systems, it is characterised in that including：Softness haptic perception as described in any one of claim 1 to 5 is passed
What sensor, the signal processing module being electrically connected with the flexible touch sensation sensor and the signal processing module were electrically connected with
Control system, the control system is used to be controlled robot according to the signal processing module.
7. robotic handling systems according to claim 6, it is characterised in that the signal processing module is used for according to institute
The electric signal that PET film contacts generation with the metal electrode is stated, judges to act on the active force of the flexible touch sensation sensor
Value, when external force is acted on the robotic surface for attaching the flexible sensor, sensor sends electric signal, signal processing module
Receive electric signal and handled, then send signal to robot control system, robot control system is according to signal control
Robot carries out corresponding actions..
8. robotic handling systems according to claim 7, it is characterised in that the signal processing module is used for according to institute
The electric signal that PET film contacts generation with the metal electrode is stated, judges to act on the active force of the flexible touch sensation sensor
Position.
9. robotic handling systems according to claim 6, it is characterised in that the signal processing module includes microprocessor
Device and peripheral circuit.
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| CN107941246A (en) * | 2017-11-10 | 2018-04-20 | 北京大学 | A kind of contactless self-driven electronic skin and preparation method thereof |
| CN108444620A (en) * | 2018-02-08 | 2018-08-24 | 浙江大学 | A kind of multiple stage array pressure sensor of same laminar |
| CN108433734A (en) * | 2018-02-08 | 2018-08-24 | 浙江大学 | A kind of discrete threshold values formula plantar pressure sensing device |
| CN108627288A (en) * | 2018-05-08 | 2018-10-09 | 清华大学 | Softness haptic perception sensing device, manufacturing method, system and touch detection method |
| CN109141696A (en) * | 2018-07-31 | 2019-01-04 | 上海材料研究所 | A kind of flexible touch sensation sensor and its signal processing system based on piezoelectric membrane |
| CN109602423A (en) * | 2019-02-01 | 2019-04-12 | 清华大学深圳研究生院 | It is a kind of for preventing the wearable device of diabetes |
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| CN111006795A (en) * | 2019-11-11 | 2020-04-14 | 南京航空航天大学 | Triboelectric three-dimensional flexible touch sensor and sensing unit |
| CN111595491A (en) * | 2020-05-18 | 2020-08-28 | 重庆大学 | Low-crosstalk matrix type touch sensing unit capable of being infinitely subdivided |
| CN111780898A (en) * | 2020-07-02 | 2020-10-16 | 苏州大学 | Flexible pressure sensor suitable for curved surface stress measurement and preparation method thereof |
| CN112798153A (en) * | 2020-12-25 | 2021-05-14 | 苏州大学 | Flexible capacitive pressure sensor and preparation method thereof |
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| CN109141696B (en) * | 2018-07-31 | 2020-08-25 | 上海材料研究所 | Flexible touch sensor based on piezoelectric film and signal processing system thereof |
| CN109602423A (en) * | 2019-02-01 | 2019-04-12 | 清华大学深圳研究生院 | It is a kind of for preventing the wearable device of diabetes |
| CN109602423B (en) * | 2019-02-01 | 2023-11-03 | 清华大学深圳研究生院 | Wearable device for preventing diabetic foot |
| CN110487450A (en) * | 2019-08-23 | 2019-11-22 | 南方科技大学 | A kind of flexible touch sensation sensor and its preparation method and application |
| CN110487450B (en) * | 2019-08-23 | 2021-09-07 | 南方科技大学 | Flexible touch sensor and preparation method and application thereof |
| CN111006795A (en) * | 2019-11-11 | 2020-04-14 | 南京航空航天大学 | Triboelectric three-dimensional flexible touch sensor and sensing unit |
| CN111595491A (en) * | 2020-05-18 | 2020-08-28 | 重庆大学 | Low-crosstalk matrix type touch sensing unit capable of being infinitely subdivided |
| CN111780898A (en) * | 2020-07-02 | 2020-10-16 | 苏州大学 | Flexible pressure sensor suitable for curved surface stress measurement and preparation method thereof |
| CN112798153A (en) * | 2020-12-25 | 2021-05-14 | 苏州大学 | Flexible capacitive pressure sensor and preparation method thereof |
| CN112798153B (en) * | 2020-12-25 | 2022-12-23 | 苏州大学 | Flexible capacitive pressure sensor and preparation method thereof |
| CN113103258A (en) * | 2021-05-17 | 2021-07-13 | 浙江大学 | Expandable and reconfigurable interactive flexible robot skin |
| CN113509023A (en) * | 2021-07-14 | 2021-10-19 | 重庆大学 | Self-powered human body sitting posture monitoring back cushion |
| CN113885092A (en) * | 2021-07-15 | 2022-01-04 | 清华大学无锡应用技术研究院 | Explosion-proof soft touch sensor |
| CN113885092B (en) * | 2021-07-15 | 2024-03-26 | 清华大学无锡应用技术研究院 | Explosion-proof soft touch sensor |
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