CN107588872A - Three-dimensional force flexible touch sensation sensor based on conductive fabric - Google Patents
Three-dimensional force flexible touch sensation sensor based on conductive fabric Download PDFInfo
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Abstract
The invention discloses a kind of three-dimensional force flexible touch sensation sensor based on conductive fabric, it is characterised in that：The 4N softness haptic perception sensing units arranged in space multistory and be made up of stretching sensitive conductive fabric are provided with equal intervals in hemispherical flexibility cavity inner wall, and differential type three-dimensional force flexible touch sensation sensor is built with this.Three-dimensional force flexible touch sensation sensor of the invention based on conductive fabric realizes that high sensitivity three-dimensional force tactilely-perceptible provides a kind of possible designs scheme for electronic skin.
Description
Technical field
The invention belongs to sensor field, and in particular to a kind of three-dimensional force flexible touch sensation sensor based on conductive fabric.
Technical background
Electronic skin (e-skin) as one kind possess high suppleness and draftability can be achieved such as human skin it is outer
The artificial flexible electronic device of boundary's environmental information perceptional function turns into the study hotspot in the fields such as intelligent robot, man-machine interaction.
3 D force-touch sensor can measure power or moment components more than both direction simultaneously, be the most important biography of intelligent robot
One of sensor.With the development of flexible bionic touch sensor, the progress of intelligent robot technology, touch sensor is proposed
Requirements at the higher level, it is desirable to which it should possess the ability of human tactile perception, accurately learn space three-dimensional force information again.Sensor
Flexible surface can make the stably grasping that it matches with contour of object, this is to the accurate property for obtaining object and tentative
Lifting play the role of it is important.Meanwhile the cushioning effect of flexible surface can also reduce finger surface and be grabbed the abrasion of object.Three
The acquisition of information is tieed up, helps accurately to learn the information of effective object, lifts the performance accuracy of intelligent robot.Therefore, it is simultaneous
It is increasingly urgent in the demand of robot research field to have the touch sensor of good pliability and three-dimensional force detection, in addition, this kind of
Sensor is also with a wide range of applications in the research fields such as sports, rehabilitation medical and body biomechanicses.
Research on 3 D force-touch sensor is broadly divided into resistance-type 3 D force-touch sensor by its sensor mechanism
With the class of condenser type 3 D force-touch sensor two.Wherein, condenser type 3 D force-touch sensor be typically designed to pole-changing sheet separation,
The parallel electrode structure of polar plate area type, or based on coplanar multi-electrode principle be designed as become effective dielectric constant coplanar multi-electrode
Structure.Capacitance type sensor is because temperature stability is good, simple in construction, dynamic response is good and can realize the advantages such as non-cpntact measurement
It is used widely, the condenser type 3 D force-touch sensor of parallel-plate structure is between its pole plate under normal force or tangential force act on
Away from or polar plate area corresponding change occurs, so as to realize that haptic force perceives.However, capacitance type touch sensor is as electronics
Easily disturbed during skin by parasitic capacitance, generally require additional designs shielding measure.Resistance-type 3 D force-touch sensor is usual
Foil gauge operation principle or pressure sensitive are designed like, prepares the quick unit of power from carbon system sensitive material more.Resistance-type three-dimensional force
For touch sensor generally by electrode design in the same face, transmitting the contact force-sensitive material deformation that links by haptic force causes output electricity
Resistance changes, and this kind of 3 D force-touch sensor integration, sensitivity and dynamic response characteristic are by sensor construction and quick
It is larger to feel material limitation.
It is difficult, difficult to realize complete complicated elastomer structure, machining and paster to be present in conventional three-dimensional force-touch sensor
The drawbacks such as orientation machine overload protection and dynamic property are poor.HeFei University of Technology's Huang English etc. is based on flexible printed circuit board
(FPCB) technique, coplanar multi-electrode is designed on polyimide flex matrix, and using air and PDMS as complex media, it is proposed that
A kind of condenser type 3 D force-touch sensor of compound multimedium.Soonjae Pyo et al. are substantially set in polyimide flex
Coplanar interdigital electrode is put, composite elastic dielectric design 3 D force-touch sensor is prepared using carbon nanometer tube/silicon rubber blending.
The interdigitated electrode structure up and down that Paris, FRA synthesis Institute of Technology Dobrzynska et al. is prepared using gold, upper/lower electrode it
Between filling gel be dielectric layer, made a kind of highly sensitive condenser type 3 D force-touch sensor.Lucie Viry et al.
It using PDMS is matrix, conductive fabric for electrode to have made a kind of, air layer and the Grazing condition electric capacity that fluorosilicone is compound medium layer
Formula 3 D force-touch sensor, in 0-2KPa scopes, air layer as main deformation layer, realize minimum resolution for 10mg and
The detection that 8 μm of least displacement.
Do not possess flexibility for traditional silicon substrate, photoelectricity, piezoelectric type 3 D force-touch sensor, be easy to the drawback such as conformal, with
And coplanar electrode structure type 3 D force-touch sensor easily appears in the lower pressure sensitive of power effect and departed from electrode, influences sensor
The problems such as stability and sensitivity are low, domestic and international researcher has carried out around flexible 3 D force-touch sensor to grind extensively
Study carefully, how to lift the sensitivity of 3 D force-touch sensor turns into one of study hotspot.
The content of the invention
Perceptual performance for lifting electronic skin to three-dimensional force tactile data, the present invention propose a kind of simple in construction, high
The three-dimensional force flexible touch sensation sensor structure of sensitivity, problem to solve is that being equidistantly spaced from hemispherical cavity inwall
Several softness haptic perception sensing units made of stretching sensitive conductive fabric, and differential type three-dimensional force softness haptic perception is built with this
Sensor.
The present invention adopts the following technical scheme that to solve technical problem：
Three-dimensional force flexible touch sensation sensor based on conductive fabric, it is characterised in that：It is flexible including a bottomless hemispherical
Cavity and the rectangular-shaped softness haptic perception sensing unit of 4N identical, N are the integer not less than 1；Each softness haptic perception sensing unit warp
It is equally spaced to be bonded the inwall for being fixed on the hemispherical flexibility cavity after the pre-stretching of same stretch rate along its length
On, it is symmetrical two-by-two as line of symmetry using the axis of the hemispherical flexibility cavity, and each softness haptic perception sensing unit does not all connect mutually
Touch；Cylindrical pliable matrix is fixed with the bottom of the hemispherical flexibility cavity as support substrate, the cylindrical pliable
The radius of matrix is identical with the external diameter of the hemispherical flexibility cavity；
Described softness haptic perception sensing unit is made up of stretching sensitive conductive fabric.
Preferably, the three-dimensional force flexible touch sensation sensor based on conductive fabric, it is characterised in that：Described stretching
Sensitive conductive fabric is to be coated with graphene/polyaniline/silicon rubber composite conducting material on Lycra fabric substrate surface, described
PDMS encapsulated layers are coated with composite conducting material；Described graphene/polyaniline/silicon rubber composite conducting material is with silicon rubber
Glue is parent, and add has by graphene and polyaniline in mass ratio 3 wherein:1 conductive filler formed, the conductive filler account for
The 25~30% of the composite conducting material gross mass.
Preferably, the three-dimensional force flexible touch sensation sensor based on conductive fabric, it is characterised in that：Described stretching
Rate is 10~30%.
Preferably, the three-dimensional force flexible touch sensation sensor based on conductive fabric, it is characterised in that：Each softness haptic perception
The feather edge of sensing unit aligns with the bottom surface of the hemispherical flexibility cavity.
Preferably, the three-dimensional force flexible touch sensation sensor based on conductive fabric, it is characterised in that：Described hemisphere
Type flexibility cavity and described cylindrical pliable matrix are using silicon rubber as material.
Compared with the prior art, beneficial effects of the present invention are embodied in：
1st, compared with traditional silicon substrate, photoelectricity, piezoelectric type 3 D force-touch sensor, the three-dimensional of the invention based on conductive fabric
Power flexible touch sensation sensor overcomes that rigid three-dimensional force-touch sensor volume is heavy, it is poor etc. to be not easy conformal and wearing comfort
Drawback；
2nd, the condenser type with the coplanar electrode structure of tradition, compared with resistance-type 3 D force-touch sensor, the present invention is based on leading
The three-dimensional force flexible touch sensation sensor of electric fabric stretches softness haptic perception sensing unit made of sensitive conductive fabric by 4N and set
In hemispherical cavity inwall, stereoeffect is formed, is more beneficial for the tactilely-perceptible of three-dimensional force.Meanwhile 4N softness haptic perception
Sensing unit forms differential mode, further improves the sensitivity of three-dimensional force tactilely-perceptible；
3rd, compared with existing condenser type 3 D force-touch sensor, the three-dimensional force softness haptic perception of the invention based on conductive fabric
Sensor belongs to resistance-type, and acting on lower 4N conductive fabric output resistance change by three-dimensional force parses three-dimensional force information, overcomes
Easily disturbed when condenser type 3 D force-touch sensor uses as electronic skin by external environment (such as human body, metallics)
The problem of；
4th, 4N stretching sensitive conductive fabric is formed in the three-dimensional force flexible touch sensation sensor of the invention based on conductive fabric
Softness haptic perception sensing unit hemispherical cavity inwall is attached to by PDMS, and four softness haptic perception sensing units are in one
Surely strain regime is pre-stretched, is advantageous to lift three-dimensional force tactilely-perceptible sensitivity.
Brief description of the drawings
Fig. 1 is the overall structure figure of the three-dimensional force flexible touch sensation sensor of the invention based on conductive fabric；
Fig. 2 is the fractionation structure chart of the three-dimensional force flexible touch sensation sensor of the invention based on conductive fabric；
Fig. 3 is the sectional structure chart of the three-dimensional force flexible touch sensation sensor of the invention based on conductive fabric；
Fig. 4 is the construction profile of the three-dimensional force flexible touch sensation sensor of the invention based on conductive fabric；
Fig. 5 is the overlooking structure figure of the three-dimensional force flexible touch sensation sensor of the invention based on conductive fabric；
Fig. 6 is schematic diagram of the three-dimensional force flexible touch sensation sensor of the invention based on conductive fabric under normal force effect；
Fig. 7 is schematic diagram of the three-dimensional force flexible touch sensation sensor of the invention based on conductive fabric under tangential force effect；
Fig. 8 is the dimensional parameters in the three-dimensional force flexible touch sensation sensor embodiment of the invention based on conductive fabric；
Fig. 9 is the survey under normal force effect in the three-dimensional force flexible touch sensation sensor embodiment of the invention based on conductive fabric
Test result；
Figure 10 is in the three-dimensional force flexible touch sensation sensor embodiment based on conductive fabric of the invention under tangential force effect
Test result；
Label in figure：1 dome-type flexibility cavity；2 softness haptic perception sensing units；3 cylindrical pliable matrixes.
Embodiment
As depicted in figs. 1 and 2, the real structure of three-dimensional force flexible touch sensation sensor of the present invention based on conductive fabric is：Bag
A bottomless rectangular-shaped softness haptic perception sensing unit (2) of hemispherical flexibility cavity 1 and 4N identical is included, in embodiment and accompanying drawing
In by taking N=1 as an example；Each softness haptic perception sensing unit 2 is after the pre-stretching of same stretch rate along its length, equally spaced patch
Conjunction is fixed on the inwall of hemispherical flexibility cavity 1, symmetrical two-by-two as line of symmetry using the axis of hemispherical flexibility cavity 1, and
Each softness haptic perception sensing unit 2 is all not in contact with each other；Cylindrical pliable matrix 3 is fixed with the bottom of hemispherical flexibility cavity 1 to make
It is identical with the external diameter of hemispherical flexibility cavity 1 for support substrate, the radius of cylindrical pliable matrix 3；Shown in figure, 4 each flexibilities
Tactile sensing unit is in " ten " font in the upright projection of cylindrical pliable body upper surface.
As shown in Figure 3 and Figure 4, the bottom surface pair of the feather edge of each softness haptic perception sensing unit 2 and hemispherical flexibility cavity 1
Together.
Softness haptic perception sensing unit 2 applies certain pre-stretching when being fixed on dome-type flexibility cavity 1, and its extensibility is 10
~30%；
Softness haptic perception sensing unit is made up of stretching sensitive conductive fabric.It is in Lycra fabric base to stretch sensitive conductive fabric
Body surface face is coated with graphene/polyaniline/silicon rubber composite conducting material, is encapsulated on composite conducting material coated with PDMS
Layer；Composite conducting material is using silicon rubber as parent, and add has by graphene and polyaniline in mass ratio 3 wherein:1 composition
Conductive filler, the conductive filler account for the 25~30% of the composite conducting material gross mass.
Dome-type flexibility cavity 1 and cylindrical pliable matrix 3 are using silicon rubber as material.
The operation principle of three-dimensional force flexible touch sensation sensor of the invention based on conductive fabric is as follows：
As shown in fig. 5, it is assumed that the softness haptic perception sensing unit that four stretching sensitive conductive fabrics are formed uses R respectively1、R2、R3
And R4Represent, touch sensor is that initial resistance is in non-stressWith(four initial resistivity values are in theory
Equal).
As shown in fig. 6, under normal force F effects, the stress of dome-type flexibility cavity 1 is compressed, and is attached to dome-type flexibility
Four softness haptic perception sensing units 2 on the inwall of cavity 1 are compressed therewith, due to being applied to the prestretching of softness haptic perception sensing unit 2
Stretching strain reduces, and output resistance diminishes.
As shown in fig. 7, tangential force F effect under, the stress of dome-type flexibility cavity 1 tangentially force direction deform upon (with
Along R1、R3Direction applies exemplified by tangential force), it is equivalent to R1Generation elongation strain, R3Generation compression strain, show output resistance R1
Increase, R3Reduce, due to symmetry, R2And R4Generation strain facies is same, without exporting change after differential operational.
In three-dimensional forceUnder effect, the exporting change amount of four resistance is △ R1、△R2、△R3With △ R4, then three
Under dimension power F effect each component force cause corresponding electric resistance sensor output resistance (With) meet in formula (1-3)
Relation：
Pass through demarcationWithWith three-dimensional force component FX、FYAnd FZBetween relation, you can be finally inversed by three-dimensional force letter
Breath, so as to realize three-dimensional force tactilely-perceptible function.
For the feasibility of the checking three-dimensional force flexible touch sensation sensor of the invention based on conductive fabric, it is as follows to do example：
Draft dimensional parameters such as Fig. 8 institutes of three-dimensional force flexible touch sensation sensor of the present invention based on conductive fabric in embodiment
Show, the interior outer radius of dome-type flexibility cavity 1 is respectively 9mm and 10mm, and the radius of cylindrical pliable matrix 3 is 10mm, thickness
For 1mm.Based on 3D printing technique and fluid forming technique, mould needed for design dome-type flexibility cavity 1 and cylindrical pliable matrix 3
Tool, injects respective mould by silicon rubber, and is placed on cold curing in vacuum drying chamber, and required dome-type can be obtained after the demoulding
Flexible cavity 1 and cylindrical pliable matrix 3.
Secondly, prepare stretching sensitive conductive fabric and be used as softness haptic perception sensing unit 2.The purity of selection graphene is not less than
99.5%, a diameter of 5-10 μm, thickness 4-20nm, the number of plies is less than 30 layers.Conductive polymer polyanaline electrical conductivity 7.5S/cm,
3~5 μm of diameter, purity are not less than 99.5%.Preparation flow is as follows：
Step 1, the melt and dissolved liquid for preparing graphene/polyaniline
Weigh 0.3g graphenes and with 0.1g conductive polymer polyanalines, the ethanol solution for adding 15mL is mixed and stirred for
It is even, obtain mixed solution；By mechanical agitation 30 minutes again after mixed solution ultrasonic disperse 30 minutes, 1.2g silicon rubber machines are added
Tool stirs 60 minutes and obtains the melt and dissolved liquid of finely dispersed graphene/polyaniline.
Step 2, prepare stretchable substrate
Lycra fabric cleaning (is soaked Lycra fabric 30 minutes in deionized water solution, then dry), to remove table
Face impurity.
Step 3, prepare stretchable strain transducer
In the Lycra fabric substrate of the melt and dissolved liquid spin coating of graphene/polyaniline prepared by step 1 after treatment, spin coating is more
It is secondary, revolution 2000rpm, obtain the conductive film that thickness is 300 μm.Conductive film is put into sweat box again and is dried,
In 50 DEG C of freeze-day with constant temperature 2h, preliminary stretchable sensor is obtained.Flexible extensible electrode is placed as electrode in sensor both ends,
Finally by PDMS (PDMS matrixes and curing agent 10:1 is mixed) upper strata of stretchable sensor is spin-coated on, as encapsulated layer,
Obtain stretchable strain transducer.
After above-mentioned preparation flow, the sensitive conductive fabric of elongation strain is obtained, and it is sensitive single according to softness haptic perception in Fig. 8
The dimensional parameters of member 2 are cut into long a width of 10.5mm × 3mm, and one end is alignd with hemisphere cavity bottom and fixed by silicon rubber
Bonding.Apply 20% pre-stretching to conductive fabric, the one side that stretchable strain transducer is not coated with to composite conducting material passes through silicon
Rubber is Nian Jie with dome-type cavity inner wall, forms softness haptic perception sensing unit.Similarly, it is sensitive single that its excess-three softness haptic perception is installed
Member, and ensure that four softness haptic perception sensing units arrange in the upright projection of cylindrical pliable matrix 3 in " ten " font.Four flexibilities
Upright projection is in two softness haptic perception sensing units 2 on " ten " font one side and partnered differential knot in tactile sensing unit 2
Structure.After completing sensor preparation, the test checking three-dimensional force flexible touch sensation sensor performance of the invention based on conductive fabric is carried out
Feature, first, apply normal force, its test result is as shown in Figure 9, it can be seen that four softness haptic perception sensing units 2 are in normal direction
Its lower output resistance of power effect reduces, and shows higher uniformity.When applying tangential force (with along R1、R3Direction, which applies, cuts
To exemplified by power), its test result such as Figure 10 institutes, it can be seen that R1、R3The differential unit output increase of composition, R2、R4Form
For differential unit because its consistent output of stress is close to zero, test result demonstrates above-mentioned demonstration.Above-mentioned normal force and tangential force test
Result verification three-dimensional force flexible touch sensation sensor of the invention based on conductive fabric realizes three-dimensional force tactile as electronic skin
The feasibility of perception.
Claims (5)
1. the three-dimensional force flexible touch sensation sensor based on conductive fabric, it is characterised in that：Including a bottomless hemispherical compliance cavity
Body (1) and the rectangular-shaped softness haptic perception sensing unit (2) of 4N identical, N are the integer not less than 1；Each softness haptic perception is sensitive single
First (2) after the pre-stretching of same stretch rate along its length, equally spaced fitting is fixed on the hemispherical flexibility cavity
(1) on inwall, the axis using the hemispherical flexibility cavity (1) is symmetrical two-by-two as line of symmetry, and each softness haptic perception is sensitive
Unit (2) is all not in contact with each other；Cylindrical pliable matrix (3) is fixed with the bottom of the hemispherical flexibility cavity (1) as branch
Support group bottom, the radius of the cylindrical pliable matrix (3) are identical with the external diameter of the hemispherical flexibility cavity (1)；
Described softness haptic perception sensing unit is made up of stretching sensitive conductive fabric.
2. the three-dimensional force flexible touch sensation sensor according to claim 1 based on conductive fabric, it is characterised in that：Described
It is to be coated with graphene/polyaniline/silicon rubber composite conducting material on Lycra fabric substrate surface to stretch sensitive conductive fabric,
PDMS encapsulated layers are coated with the composite conducting material；Described graphene/polyaniline/silicon rubber composite conducting material be with
Silicon rubber is parent, and add has by graphene and polyaniline in mass ratio 3 wherein:1 conductive filler formed, the conduction are filled out
Material accounts for the 25~30% of the composite conducting material gross mass.
3. the three-dimensional force flexible touch sensation sensor according to claim 1 based on conductive fabric, it is characterised in that：Described
Extensibility is 10~30%.
4. the three-dimensional force flexible touch sensation sensor according to claim 1 based on conductive fabric, it is characterised in that：Each flexibility
The feather edge of tactile sensing unit (2) aligns with the bottom surface of the hemispherical flexibility cavity (1).
5. the three-dimensional force flexible touch sensation sensor according to claim 1 based on conductive fabric, it is characterised in that：Described
Dome-type flexibility cavity (1) and described cylindrical pliable matrix (3) are using silicon rubber as material.
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