CN109163824A - A kind of flexible electronic skin with tactile and close feel bimodulus perceptional function - Google Patents
A kind of flexible electronic skin with tactile and close feel bimodulus perceptional function Download PDFInfo
- Publication number
- CN109163824A CN109163824A CN201811179905.4A CN201811179905A CN109163824A CN 109163824 A CN109163824 A CN 109163824A CN 201811179905 A CN201811179905 A CN 201811179905A CN 109163824 A CN109163824 A CN 109163824A
- Authority
- CN
- China
- Prior art keywords
- layer
- sensing unit
- crown layer
- tactile
- close
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- G01L1/14—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators
- G01L1/142—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators using capacitors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
- G01B7/023—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring distance between sensor and object
Abstract
The invention discloses a kind of with tactile and the close flexible electronic skin for feeling bimodulus perceptional function, which is multilayered structure, is followed successively by top crown layer, middle dielectric layer and bottom crown layer, this three-decker constitutes sensing unit；Top crown layer, middle dielectric layer and bottom crown layer constitute perception of the tactile sensing unit realization to power size, and top crown layer constitutes close to feel sensing unit and realizes the perception adjusted the distance；Sensing unit array is arranged, and transversely or longitudinally the metal film of sensing unit is connected as one on same layer, is communicated using same channel, is connected corresponding analog switch by lead and spread out of signal；Upper and lower pole plate layer is connected to capacitor acquisition chip by analog switch, and the acquisition of signal and the switching of tactilely-perceptible mode and close feel perceptual model are realized using the on-off of microprocessor control analog switch.The present invention has tactile and close to feel bimodulus perceptional function, and rigidity is little, is easily bent, and the covering of different area can be realized by splicing.
Description
Technical field
The present invention relates to the technical fields of robot collaborative perception, and in particular to one kind has tactile and close feel bimodulus sense
Know the flexible electronic skin of function.
Background technique
The measure of extraneous personal protection is mainly isolated in robot by machine man-hour with personnel, but in intelligence
In energy manufacturing process, robot and Collaboration is needed to work, therefore it is required that robot can constantly monitor extraneous personnel's distance
Information is enable to respond quickly when operator surmounts safe distance to support personnel's safety, while in some crawl objects
Occasion can be realized the monitoring to grasp force, to guarantee that target is not damaged.Robot relies on self-contained sensor
The variation of detection system sensing external environment, electronic bio skin is the most important perceptive mode in addition to robotic vision system,
Can the flexible electronic skin auxiliary robot of perception and range information realize tactile and close to feeling bimodulus perception, and then realize with
External environment carries out safe and efficient interaction.Robot is had the disadvantage in that with electronic skin and is had a single function at present, can only realize certain
The extraction of one single piece of information, it is difficult to realize the integrated of multiple functions；Degree of flexibility is inadequate, and the sensor rigidity of design is big, is not easy reality
It is now bent, it is difficult to the covering of different area is realized by splicing.
Summary of the invention
In view of this, the present invention provides a kind of with tactile and approaches the flexible electronic skin of feel bimodulus perceptional function,
With tactile and close to feel bimodulus perceptional function, and rigidity is little, is easily bent, and can realize covering for different area by splicing
Lid.
A kind of flexible electronic skin with tactile and close feel bimodulus perceptional function, the flexible electronic skin is multilayer
Structure, is followed successively by top crown layer, middle dielectric layer and bottom crown layer from top to bottom, the top crown layer, middle dielectric layer and under
Pole plate layer constitutes sensing unit；Pole plate base material be flexible material, surface cover metal film constitute electrode, top crown layer, in
Between dielectric layer and bottom crown layer constitute tactile sensing unit and realize perception to power size, top crown layer is constituted close to feeling that sensing is single
Member realizes the perception adjusted the distance；
The sensing unit array is arranged, and transversely or longitudinally the metal film of sensing unit is connected as one on same layer,
It is communicated using same channel, corresponding analog switch is connected by lead and spreads out of signal；
Upper and lower pole plate layer is connected to capacitor acquisition chip by the analog switch, controls analog switch using microprocessor
On-off realize signal acquisition and perceptual model switching；Top crown layer and the analog switch of bottom crown layer connection connect simultaneously
When logical, it is in tactilely-perceptible mode, the analog switch of top crown layer is connected to, when the analog switch of bottom crown layer disconnects, in connecing
It is close to feel perceptual model.
Further, the metal film is " ten " font, including long side and short side, and long side length is equal to single sensing unit
Side length, can be spliced along long side extending direction；
Top crown layer is embedded in flexible base material lower surface by metal film and constitutes, and bottom crown layer is embedded in soft by metal film
Property base material upper surface constitute, the metal film long side spatially orthogonal overlapping of top crown layer and bottom crown layer, lap
For tactile sensing unit area.
Further, the top crown layer is equipped with convexity layer, and the convexity layer is by protrusion and dimethyl silicone polymer base
Bottom material is constituted, and protrusion setting is in dimethyl silicone polymer base material upper surface, and the protrusion is located at tactile sensing unit
Overlying regions.
Further, the middle dielectric layer is in tactile sensing unit area hollow out, rest part spin coating poly dimethyl silicon
Oxygen alkane.
Further, the interlayer dielectric thickness is 120 microns~200 microns.
The utility model has the advantages that
1, the present invention is based on flat capacitor sensors to realize tactilely-perceptible, is realized based on plane formula capacitance sensor close
Feel perception, realize tactile and close to the integrated of two kinds of perceptual models is felt, there is small in size, high sensitivity, low noise, low temperature
The remarkable advantages such as drift, the simple, rapid dynamic response speed of structure, realize the monitoring to power and distance, so not only can be to people
Machine interaction is more to protect together, is also effectively reduced the load of robot sensing's system；
Secondly, transversely or longitudinally sensing unit is communicated using same channel on same layer, reduce single sensing unit
Signal lead, and the base material of electrode plate use flexible material, sensor rigidity is little, is easily bent, and can pass through spelling
Connect the covering for realizing different area.
2, convexity layer is arranged on top crown layer in the present invention, and stress concentration can be enhanced, promote sensing unit sensitivity.
3, middle dielectric layer of the present invention does hollow processing on the corresponding position in tactile sensing unit area, can increase
The deflection of upper and lower pole plate, further promotes sensing unit sensitivity.
4, middle dielectric layer of the present invention with a thickness of 120 microns~200 microns, interlayer dielectric thickness is excessive to will affect biography
Feel the sensitivity of unit, thickness is too small, and upper and lower pole plate layer is easily connected, and cannot constitute flat capacitor sensor.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the explosive view of the single sensing unit of the present invention；
Fig. 3 is the perspective view of Fig. 2；
Fig. 4 is the multiplexing structure schematic diagram of top crown layer；
Fig. 5 is signal acquisition schematic diagram.
Wherein, 1- convexity layer, 2- top crown layer, 3- middle dielectric layer, 4- bottom crown layer.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The present invention provides a kind of with tactile and the close flexible electronic skin for feeling bimodulus perceptional function, the flexible electronic
Skin is four film structures, is followed successively by convexity layer 1, top crown layer 2, middle dielectric layer 3 and bottom crown layer 4 from top to bottom and constitutes biography
Feel unit.As shown in Figure 1, being single sensing unit, flexible electronic skin includes 8x8 distributed sensing unit battle array in the present embodiment
Column.
As shown in Figure 2 and Figure 3, top crown layer 2 is embedded in flexible base material lower surface by metal film and constitutes, metal film choosing
With copper Cu, flexible base material uses polyimides PI, which is " ten " font, including long side and short side, long side length
Equal to the side length of single sensing unit, can be spliced along long side extending direction.
Bottom crown layer 4 is embedded in flexible base material upper surface by metal film and constitutes, the metal film structures of bottom crown layer 4 with
The metal film of top crown 2 is consistent, while the long side extending direction of the metal film long side extending direction of bottom crown layer 4 and top crown 2
It is orthogonal.Top crown layer 2 and the spatially orthogonal overlapping of the metal film of bottom crown layer 4 as a result, lap is tactile sensing
Unit area.
Convexity layer 1 is arranged on top crown layer 2, is made of protrusion and base material, the base material of convexity layer 1 and centre
3 material of dielectric layer is consistent, is dimethyl silicone polymer, and protrusion is located above tactile sensing unit area, for enhancing stress
It concentrates, promotes sensing unit sensitivity.
Top crown layer 2 is separated with bottom crown layer 4 by middle dielectric layer 3, top crown layer 2, middle dielectric layer 3 and bottom crown
Layer 4 constitutes tactile sensing unit, and as flat capacitor sensor realizes the perception to power size, forms 64 tactile sensings altogether
Unit.
For the sensitivity for further increasing sensing, engraved on middle dielectric layer 3 in the corresponding region in tactile sensing unit area
Sky, rest part spin coating dimethyl silicone polymer, and middle dielectric layer 3 with a thickness of 120 microns~200 microns.
Top crown layer 2 is constituted close to the perception for feeling that sensing unit realization is adjusted the distance, as plane formula capacitance sensor.
For the signal lead for reducing single sensing unit, with transversely or longitudinally 8 sensing units for one in sensor array
Group, using multiplexing structure, such as the strip structure in Fig. 4 dotted line frame, 8 top crown layers 2 are multiplexing structure, this 8 top crown layers 2
The metal film long side of sensing unit is connected as one, and constitutes bar shaped sensing unit, i.e., the biography in each bar shaped sensing unit structures
Sense unit can be communicated by same channel；8 bottom crown layers 4 equally use multiplexing structure, 4 sensing unit of bottom crown layer
Metal film long side be connected as one, the metal film longitudinal direction with 2 sensing unit of upper electrode plate is in spatial vertical.Bar shaped passes
Sense unit connects corresponding analog switch by lead and spreads out of signal.
Upper and lower pole plate layer is connected to capacitor acquisition chip by analog switch, using microprocessor realize signal acquisition with
And the switching of perceptual model.When the analog switch that top crown layer 2 and bottom crown layer 4 connect is connected to simultaneously, it is in tactilely-perceptible mould
Formula, the analog switch connection of top crown layer 2 when the analog switch of bottom crown layer 4 disconnects, feel perceptual model in close.
When realizing tactilely-perceptible, upper and lower pole plate layer constitutes tablet type sensor；When realizing close feel perception, sensor array
In upper electrode plate constitute plane formula sensor, pass through microprocessor and control analog switch array and realize two kinds of perceptual models
Switching.
As shown in figure 5, being sequentially completed the detection of each bar shaped sensing unit information using the method that determinant scans, pass through
The on-off of analog switch is controlled to complete gating and the disconnection of each bar shaped sensing unit.Under tactilely-perceptible mode, bottom crown layer 4
The analog switch of connection is connected to ground connection, and bottom crown layer 4 is used as receiving electrode, and top crown layer 2 is connected to the appearance of capacitor acquisition chip
Property input terminal as excitation electrode, to complete the extraction of the unit information.After contacting with target object, contact load causes pole
So as to cause capacitance variation, the variable quantity according to capacitor can complete the calibration of sensing unit capacitance and power for plate spacing variation
To realize tactilely-perceptible.
Close to feeling under perceptual model, 8, upper layer sensing unit forms fringe field as excitation electrode, i.e. a bar shaped passes
Feel unit and constitute one close to sensing unit, target object is connected to capacitor acquisition chip as receiving electrode, by excitation electrode
Capacitive input terminal, receiving electrode ground connection complete the acquisition of signal.Using fringe field effects, when target object is close to two electrodes
When, the effective dielectric constant above electrode changes, and the capacitive between object, excitation electrode and the earth changes, from
And causing the variation of plane formula capacitance sensor capacitor, the variable quantity according to capacitor can complete sensing unit capacitance and distance
Calibration to realize close to feel perception.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (5)
1. a kind of with tactile and the close flexible electronic skin for feeling bimodulus perceptional function, which is characterized in that the flexible electronic
Skin is multilayered structure, is followed successively by top crown layer, middle dielectric layer and bottom crown layer, the top crown layer, centre from top to bottom
Dielectric layer and bottom crown layer constitute sensing unit；Pole plate base material is flexible material, and surface covers metal film and constitutes electrode, on
Pole plate layer, middle dielectric layer and bottom crown layer constitute perception of the tactile sensing unit realization to power size, and top crown layer composition connects
It is close to feel that sensing unit realizes the perception adjusted the distance；
The sensing unit array is arranged, and transversely or longitudinally the metal film of sensing unit is connected as one on same layer, is used
Same channel communication, connects corresponding analog switch by lead and spreads out of signal；
Upper and lower pole plate layer is connected to capacitor acquisition chip by the analog switch, utilizes the logical of microprocessor control analog switch
The disconnected acquisition for realizing signal and the switching of perceptual model；Top crown layer and the analog switch of bottom crown layer connection are connected to simultaneously
When, it is in tactilely-perceptible mode, the analog switch of top crown layer is connected to, when the analog switch of bottom crown layer disconnects, in close
Feel perceptual model.
2. as described in claim 1 with tactile and the close flexible electronic skin for feeling bimodulus perceptional function, which is characterized in that
The metal film is " ten " font, including long side and short side, and long side length is equal to the side length of single sensing unit, can prolong along long side
Direction is stretched to be spliced；
Top crown layer is embedded in flexible base material lower surface by metal film and constitutes, and bottom crown layer is embedded in flexible base by metal film
Bottom material upper surface is constituted, the metal film long side spatially orthogonal overlapping of top crown layer and bottom crown layer, and lap is touching
Feel sensing unit region.
3. as claimed in claim 2 with tactile and the close flexible electronic skin for feeling bimodulus perceptional function, which is characterized in that
The top crown layer is equipped with convexity layer, and the convexity layer is made of protrusion and dimethyl silicone polymer base material, and protrusion is set
It sets in dimethyl silicone polymer base material upper surface, and the protrusion is located above tactile sensing unit area.
4. as claimed in claim 2 with tactile and the close flexible electronic skin for feeling bimodulus perceptional function, which is characterized in that
The middle dielectric layer is in tactile sensing unit area hollow out, rest part spin coating dimethyl silicone polymer.
5. as claimed in claim 4 with tactile and the close flexible electronic skin for feeling bimodulus perceptional function, which is characterized in that
The interlayer dielectric thickness is 120 microns~200 microns.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811179905.4A CN109163824A (en) | 2018-10-10 | 2018-10-10 | A kind of flexible electronic skin with tactile and close feel bimodulus perceptional function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811179905.4A CN109163824A (en) | 2018-10-10 | 2018-10-10 | A kind of flexible electronic skin with tactile and close feel bimodulus perceptional function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109163824A true CN109163824A (en) | 2019-01-08 |
Family
ID=64877658
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811179905.4A Pending CN109163824A (en) | 2018-10-10 | 2018-10-10 | A kind of flexible electronic skin with tactile and close feel bimodulus perceptional function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109163824A (en) |
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110243396A (en) * | 2019-06-24 | 2019-09-17 | 广州市香港科大霍英东研究院 | Bimodulus sensing unit and dual mode transducer |
| CN110666841A (en) * | 2019-10-28 | 2020-01-10 | 上海幂方电子科技有限公司 | Body surface control device |
| CN110987029A (en) * | 2019-12-17 | 2020-04-10 | 华中科技大学 | Multifunctional flexible sensor and preparation method and application thereof |
| CN111121607A (en) * | 2019-12-13 | 2020-05-08 | 深圳大学 | Method for training three-dimensional positioning model and three-dimensional positioning method and device |
| CN111123941A (en) * | 2019-12-27 | 2020-05-08 | 深圳市越疆科技有限公司 | Object area identification method, device, equipment and computer readable storage medium |
| CN111203875A (en) * | 2020-01-07 | 2020-05-29 | 重庆邮电大学 | Mechanical arm collision safety level detection system |
| CN111238545A (en) * | 2020-01-17 | 2020-06-05 | 腾讯科技（深圳）有限公司 | Sensor, intelligent device, sensing method and storage medium |
| CN111256571A (en) * | 2020-01-20 | 2020-06-09 | 腾讯科技（深圳）有限公司 | Flexible capacitive touch sensor, preparation method thereof and touch sensing system |
| CN111735561A (en) * | 2020-07-29 | 2020-10-02 | 河北工业大学 | Flexible proximity sense and touch sense dual-mode sensor for robot |
| CN111829432A (en) * | 2020-07-27 | 2020-10-27 | 上海大学 | Soft body curvature sensor with double-layer sensing structure and capable of being modularly used |
| CN111897323A (en) * | 2020-06-24 | 2020-11-06 | 深圳市越疆科技有限公司 | Robot emergency stop control method and device based on proximity perception and storage medium |
| CN111906778A (en) * | 2020-06-24 | 2020-11-10 | 深圳市越疆科技有限公司 | Robot safety control method and device based on multiple perceptions |
| CN111982162A (en) * | 2020-08-18 | 2020-11-24 | 西安电子科技大学 | Flexible capacitive proximity-touch dual-mode sensing array and preparation method thereof |
| CN112129434A (en) * | 2019-06-25 | 2020-12-25 | 海宁先进半导体与智能技术研究院 | Electronic skin design for detecting pressure size and position by adopting two-dimensional material heterostructure |
| CN112472033A (en) * | 2020-12-11 | 2021-03-12 | 西安建筑科技大学 | Multi-layer ion skin finger joint movement angle measuring system and method |
| CN112611923A (en) * | 2020-11-24 | 2021-04-06 | 安徽大学 | Intelligent module, multifunctional device and application thereof in wireless charging, electric field sensing and proximity sensing |
| CN113093948A (en) * | 2021-04-28 | 2021-07-09 | 东南大学 | Flexible touch mobile robot operation input device and interaction method |
| CN113103259A (en) * | 2021-05-17 | 2021-07-13 | 浙江大学 | Interactive flexible robot skin of extensible |
| WO2021139352A1 (en) * | 2020-01-08 | 2021-07-15 | 腾讯科技（深圳）有限公司 | Flexible sensing system, proximity sensing method and apparatus, smart robot, and device |
| CN113155344A (en) * | 2021-01-25 | 2021-07-23 | 电子科技大学 | Flexible electronic skin device with touch information perception function |
| CN113263512A (en) * | 2021-05-17 | 2021-08-17 | 浙江大学 | Bionic luminous interactive flexible robot skin |
| CN113319822A (en) * | 2021-05-22 | 2021-08-31 | 深圳市越疆科技有限公司 | Flexible device housing, mechanical arm and robot |
| CN113639767A (en) * | 2021-10-12 | 2021-11-12 | 江苏集萃脑机融合智能技术研究所有限公司 | Intelligent electronic target identification method for skin |
| CN113721515A (en) * | 2021-08-30 | 2021-11-30 | 太原理工大学 | Active safety device of mechanical arm and safety control method thereof |
| CN113970395A (en) * | 2021-11-16 | 2022-01-25 | 浙江大学 | Flexible sensor with contact and non-contact sensing functions and manufacturing method thereof |
| CN114347063A (en) * | 2022-01-26 | 2022-04-15 | 浙江大学 | Multi-mode expandable interactive flexible robot skin |
| CN114441461A (en) * | 2021-12-16 | 2022-05-06 | 之江实验室 | Proximity sense-contact sense sensor based on micro-nano optical fiber |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102455823A (en) * | 2010-10-15 | 2012-05-16 | 罗技欧洲公司 | Dual mode touchpad with a low power mode using a proximity detection mode |
| CN204286649U (en) * | 2014-11-19 | 2015-04-22 | 衢州学院 | A kind of bionic three-dimensional capacitance type touch sensor of tentacle structure |
| CN104764481A (en) * | 2015-04-08 | 2015-07-08 | 合肥工业大学 | Full-compliancy capacitance and resistance dual mode proximate sense transducer |
| CN106706176A (en) * | 2016-11-23 | 2017-05-24 | 浙江大学 | Capacitive touch sensor having patterned microstructure array |
| CN107677296A (en) * | 2017-09-25 | 2018-02-09 | 合肥工业大学 | A kind of Grazing condition is close to touch-pressure sensation sensor |
| CN108362428A (en) * | 2018-01-31 | 2018-08-03 | 北京他山科技有限公司 | A kind of capacitance-resistance combined type touch sensor, electronic skin and intelligent robot |
-
2018
- 2018-10-10 CN CN201811179905.4A patent/CN109163824A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102455823A (en) * | 2010-10-15 | 2012-05-16 | 罗技欧洲公司 | Dual mode touchpad with a low power mode using a proximity detection mode |
| CN204286649U (en) * | 2014-11-19 | 2015-04-22 | 衢州学院 | A kind of bionic three-dimensional capacitance type touch sensor of tentacle structure |
| CN104764481A (en) * | 2015-04-08 | 2015-07-08 | 合肥工业大学 | Full-compliancy capacitance and resistance dual mode proximate sense transducer |
| CN106706176A (en) * | 2016-11-23 | 2017-05-24 | 浙江大学 | Capacitive touch sensor having patterned microstructure array |
| CN107677296A (en) * | 2017-09-25 | 2018-02-09 | 合肥工业大学 | A kind of Grazing condition is close to touch-pressure sensation sensor |
| CN108362428A (en) * | 2018-01-31 | 2018-08-03 | 北京他山科技有限公司 | A kind of capacitance-resistance combined type touch sensor, electronic skin and intelligent robot |
Cited By (38)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110243396A (en) * | 2019-06-24 | 2019-09-17 | 广州市香港科大霍英东研究院 | Bimodulus sensing unit and dual mode transducer |
| CN112129434A (en) * | 2019-06-25 | 2020-12-25 | 海宁先进半导体与智能技术研究院 | Electronic skin design for detecting pressure size and position by adopting two-dimensional material heterostructure |
| CN110666841A (en) * | 2019-10-28 | 2020-01-10 | 上海幂方电子科技有限公司 | Body surface control device |
| CN111121607A (en) * | 2019-12-13 | 2020-05-08 | 深圳大学 | Method for training three-dimensional positioning model and three-dimensional positioning method and device |
| CN110987029B (en) * | 2019-12-17 | 2020-11-24 | 华中科技大学 | Multifunctional flexible sensor and preparation method and application thereof |
| CN110987029A (en) * | 2019-12-17 | 2020-04-10 | 华中科技大学 | Multifunctional flexible sensor and preparation method and application thereof |
| CN111123941A (en) * | 2019-12-27 | 2020-05-08 | 深圳市越疆科技有限公司 | Object area identification method, device, equipment and computer readable storage medium |
| CN111203875A (en) * | 2020-01-07 | 2020-05-29 | 重庆邮电大学 | Mechanical arm collision safety level detection system |
| CN111203875B (en) * | 2020-01-07 | 2022-08-09 | 重庆邮电大学 | Mechanical arm collision safety level detection system |
| WO2021139352A1 (en) * | 2020-01-08 | 2021-07-15 | 腾讯科技（深圳）有限公司 | Flexible sensing system, proximity sensing method and apparatus, smart robot, and device |
| CN111238545A (en) * | 2020-01-17 | 2020-06-05 | 腾讯科技（深圳）有限公司 | Sensor, intelligent device, sensing method and storage medium |
| CN111238545B (en) * | 2020-01-17 | 2021-10-12 | 腾讯科技（深圳）有限公司 | Sensor, intelligent device, sensing method and storage medium |
| WO2021143271A1 (en) * | 2020-01-17 | 2021-07-22 | 腾讯科技（深圳）有限公司 | Sensor, device, sensing method and apparatus, and computer-readable storage medium |
| CN111256571A (en) * | 2020-01-20 | 2020-06-09 | 腾讯科技（深圳）有限公司 | Flexible capacitive touch sensor, preparation method thereof and touch sensing system |
| CN111897323A (en) * | 2020-06-24 | 2020-11-06 | 深圳市越疆科技有限公司 | Robot emergency stop control method and device based on proximity perception and storage medium |
| CN111906778A (en) * | 2020-06-24 | 2020-11-10 | 深圳市越疆科技有限公司 | Robot safety control method and device based on multiple perceptions |
| CN111829432A (en) * | 2020-07-27 | 2020-10-27 | 上海大学 | Soft body curvature sensor with double-layer sensing structure and capable of being modularly used |
| CN111735561A (en) * | 2020-07-29 | 2020-10-02 | 河北工业大学 | Flexible proximity sense and touch sense dual-mode sensor for robot |
| CN111982162A (en) * | 2020-08-18 | 2020-11-24 | 西安电子科技大学 | Flexible capacitive proximity-touch dual-mode sensing array and preparation method thereof |
| CN112611923A (en) * | 2020-11-24 | 2021-04-06 | 安徽大学 | Intelligent module, multifunctional device and application thereof in wireless charging, electric field sensing and proximity sensing |
| CN112472033A (en) * | 2020-12-11 | 2021-03-12 | 西安建筑科技大学 | Multi-layer ion skin finger joint movement angle measuring system and method |
| CN112472033B (en) * | 2020-12-11 | 2024-04-05 | 西安建筑科技大学 | Multi-layer ionic skin finger joint movement angle measurement system and method |
| CN113155344A (en) * | 2021-01-25 | 2021-07-23 | 电子科技大学 | Flexible electronic skin device with touch information perception function |
| CN113155344B (en) * | 2021-01-25 | 2022-10-18 | 电子科技大学 | Flexible electronic skin device with touch information perception function |
| CN113093948A (en) * | 2021-04-28 | 2021-07-09 | 东南大学 | Flexible touch mobile robot operation input device and interaction method |
| CN113093948B (en) * | 2021-04-28 | 2024-03-01 | 东南大学 | Flexible touch type mobile robot operation input device and interaction method |
| CN113103259A (en) * | 2021-05-17 | 2021-07-13 | 浙江大学 | Interactive flexible robot skin of extensible |
| CN113263512B (en) * | 2021-05-17 | 2022-12-02 | 浙江大学 | Bionic luminous interactive flexible robot skin |
| CN113263512A (en) * | 2021-05-17 | 2021-08-17 | 浙江大学 | Bionic luminous interactive flexible robot skin |
| CN113319822A (en) * | 2021-05-22 | 2021-08-31 | 深圳市越疆科技有限公司 | Flexible device housing, mechanical arm and robot |
| CN113721515A (en) * | 2021-08-30 | 2021-11-30 | 太原理工大学 | Active safety device of mechanical arm and safety control method thereof |
| CN113639767B (en) * | 2021-10-12 | 2022-02-08 | 江苏集萃脑机融合智能技术研究所有限公司 | Intelligent electronic target identification method for skin |
| CN113639767A (en) * | 2021-10-12 | 2021-11-12 | 江苏集萃脑机融合智能技术研究所有限公司 | Intelligent electronic target identification method for skin |
| CN113970395A (en) * | 2021-11-16 | 2022-01-25 | 浙江大学 | Flexible sensor with contact and non-contact sensing functions and manufacturing method thereof |
| CN114441461A (en) * | 2021-12-16 | 2022-05-06 | 之江实验室 | Proximity sense-contact sense sensor based on micro-nano optical fiber |
| CN114441461B (en) * | 2021-12-16 | 2024-04-02 | 之江实验室 | Proximity sense-contact sense sensor based on micro-nano optical fiber |
| CN114347063A (en) * | 2022-01-26 | 2022-04-15 | 浙江大学 | Multi-mode expandable interactive flexible robot skin |
| CN114347063B (en) * | 2022-01-26 | 2023-12-19 | 浙江大学 | Multi-mode expandable interactive flexible robot skin |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109163824A (en) | A kind of flexible electronic skin with tactile and close feel bimodulus perceptional function | |
| US20160364070A1 (en) | Touch device | |
| CN108195490B (en) | With timesharing, the sensor of subregion function of shielding, electronic skin and robot | |
| US20120062516A1 (en) | Touch with feedback system | |
| US11226248B2 (en) | Touch sensor with multifunctional layers, electronic skin and intelligent robot | |
| US9971441B2 (en) | Touch sensitive system with haptic feedback | |
| DE60026019D1 (en) | INPUT DEVICE WITH EVALUATION OF MECHANICAL INTERACTIONS | |
| CN103765349A (en) | Method for presenting tactile sensation and device therefor | |
| CN108332794A (en) | Biomimetic tactile system and multi-function robot | |
| US20140253504A1 (en) | Mobile electronic device with sensors | |
| CN114459642B (en) | Global rigidity controllable bionic flexible electronic skin of robot | |
| CN104897317A (en) | Flexible tactile sense-pressure sense sensor based on bionic structure | |
| CN106133669B (en) | The manufacturing method of touch panel, input unit, remote control apparatus and touch panel | |
| CN108362428A (en) | A kind of capacitance-resistance combined type touch sensor, electronic skin and intelligent robot | |
| CN106969861A (en) | The detection method of robot touch sensor and contact position based on steady electric field | |
| CN206977392U (en) | Button assembly and electronic equipment | |
| CN103063340A (en) | Two-dimensional matrix sensor of thin-film-shaped soft sensing materials | |
| CN207923324U (en) | With timesharing, the sensor of subregion function of shielding, electronic skin and robot | |
| US10421199B2 (en) | Skin for robot | |
| TWM352088U (en) | Sensory structure of capacitive touch panel with predetermined sensing areas | |
| CN207741882U (en) | A kind of contact sensor, electronic skin and intelligent robot with Multifunctional layered | |
| CN103063331A (en) | Simple-structure two-dimensional matrix sensor using soft induction materials | |
| KR101863818B1 (en) | Transparent electrode structure using for finger print sensor and finger print sensor having the same | |
| CN209820667U (en) | Capacitive touch sensor, electronic skin and intelligent robot | |
| CN107168584A (en) | Electronic equipment, pressure sensitive touch display screen and its pressure sensitive touch-screen |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190108 |