CN110664512A - Structural flexible electronic skin - Google Patents
Structural flexible electronic skin Download PDFInfo
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- CN110664512A CN110664512A CN201910949802.XA CN201910949802A CN110664512A CN 110664512 A CN110664512 A CN 110664512A CN 201910949802 A CN201910949802 A CN 201910949802A CN 110664512 A CN110664512 A CN 110664512A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/10—Hair or skin implants
- A61F2/105—Skin implants, e.g. artificial skin
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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
- G01L1/18—Measuring force or stress, in general using properties of piezo-resistive materials, i.e. materials of which the ohmic resistance varies according to changes in magnitude or direction of force applied to the material
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Abstract
The invention provides a structural flexible electronic skin which consists of a flexible matrix, a touch lattice and a fiber electrode array with a sine-like structure. Under the stimulation of an external physical signal, the touch lattice structure deforms, so that the touch unit is caused to generate resistance change, and the space load condition is converted into a specific electric signal; thanks to the quasi-sinusoidal structural design of the fiber electrode, the electronic skin has good flexibility and stretchability in a low strain range, and when the tensile strain approaches the design strain, the fiber electrode starts to bear load and gives the electronic skin high tensile strength. The electronic skin has flexible and high-strength mechanical characteristics and touch sensing capability, can monitor the magnitude of strain or stress, can obtain dynamic stress distribution information, and has good application prospects in the aspects of robots, artificial limbs and the like.
Description
Technical Field
The invention relates to the technical field of flexible sensors, in particular to a structural flexible electronic skin.
Technical Field
The skin is one of the most complex organs of the human body, not only can convert environmental stimulation into physiological signals, but also can enable the joint or muscle to have elasticity, and can protect internal organs of the human body from being injured. In addition, the human skin is distributed with a plurality of mechanical signal receptors in the epidermis and the dermis, so that the human skin not only can sense the magnitude of the mechanical signals, but also can effectively identify the position and the direction of the mechanical signals, which is important for human to control objects through touch sense. Therefore, designing and manufacturing a stretchable strain sensor array as a mechanical signal receiving element of the electronic skin is the key for obtaining stress distribution information with high resolution for the electronic skin.
In addition, the mechanical properties of the electronic skin are also very important. Most of the existing electronic skins adopt high polymer elastomers as base materials (Chinese patents: CN207724341U and CN109945996A), which can endow the electronic skins or flexible sensors with excellent tensile property, and the working strain can exceed 100% at most, but the strength of the electronic skins or flexible sensors is generally low, and the electronic skins or flexible sensors cannot bear high load while maintaining large deformation, which is not favorable for protecting the integrity of internal structures.
Therefore, the novel high-strength stretchable electronic skin is developed, can be used in the fields of robots, artificial prostheses, human health monitoring and the like, plays a role in structural protection while realizing dynamic monitoring of stress distribution states, and has great significance for development of the field of electronic skin. For example, Yuanliushu et al invented a flexible high-strength robot skin preparation method (CN109249422A), which prepares a high-strength electronic skin through micro-nano processing technologies such as photoetching, micro-fluidic, 3D printing and the like, but the preparation technology is too complex, and the mechanical properties of human skin cannot be really simulated. At present, it is still a great challenge to obtain an electronic skin that can stretch, has high strength and can monitor the stress distribution state by thoroughly simulating the mechanical behavior and sensing performance of human skin.
Disclosure of Invention
The invention provides a structural flexible electronic skin which consists of a flexible matrix, a touch lattice structure and a quasi-sinusoidal structure fiber electrode array.
1) The flexible substrate is one of (including but not limited to) polydimethylsiloxane, polydiethylsiloxane, polymethylvinylsiloxane, polyurethane and other high polymer elastomer materials.
2) The touch lattice structure is composed of touch units which are uniformly distributed, and the arrangement density of the touch units in the electronic skin is 0.5-10/cm-2；
The shape of the tactile unit is a cylinder, the diameter of the cylinder is 1-50 mm, and the height of the cylinder is 1-10 mm;
the composition material of the touch unit is a flexible piezoresistive composite material, wherein the flexible piezoresistive composite material is formed by compounding a flexible base material and conductive nanoparticles.
The conductive nanoparticles are (including but not limited to) one of carbon black, carbon nanotubes, graphene, metal nanoparticles, metal nanowires and other nano conductive materials.
3) The fiber in the sine-like structure fiber electrode array is (including but not limited to) one of carbon fiber, copper wire, silver wire, gold wire or metal alloy conductive fiber; the sine-like structure is (including but not limited to) one of sine shape, sawtooth shape, "S" shape and wave shape, and can be formed by template-assisted winding.
The quasi-sinusoidal structure fiber electrode array accounts for 0.01-1% of the volume of the electronic skin;
the buckling degree (the length ratio of the fiber electrode array with the sine-like structure after being straightened to the fiber electrode array without being straightened) is 3-1.1;
4) the upper surface and the lower surface of the tactile unit are bonded with the fiber electrodes with the similar sine structures, the directions of the upper layer of fiber electrodes and the lower layer of fiber electrodes are mutually vertical to form a crossed electrode array, and the bonding material is the same as the composition material of the tactile unit.
5) And after the tactile lattice structure is bonded with the fiber electrode array with the similar sine structure, packaging the fiber electrode array with a base material to form the structural flexible electronic skin.
The working principle of the structural flexible electron provided by the invention is as follows: 1) when the electronic skin is under the action of external load, the touch unit made of piezoresistive materials deforms under the action of the load, so that resistance changes are caused, load signals are converted into electric signals, and the electronic skin has the function of sensing dynamic load distribution due to the existence of a touch lattice structure. 2) Thanks to the sine-like structure design of the fiber electrode array, the electronic skin provided by the invention shows a J-shaped stress-strain curve of human skin, namely, the electronic skin has good flexibility and stretchability in a low strain range, and when the tensile strain approaches to the design strain, the fiber electrode is straightened and starts to bear load, so that the electronic skin is endowed with high tensile strength; the electronic skin performance is adjustable, and the strength and the stretching degree can be adjusted by changing the content of the fiber electrode and the structure of the fiber electrode.
The invention has the advantages that: the structural electronic skin realizes real simulation of mechanical properties and touch properties of human skin, has the characteristics of high touch sensitivity, strong bearing capacity, large tensile strain and the like, has the advantages of simple structure, easiness in preparation and the like, and has wide application prospects in the fields of robots, artificial limbs, human motion monitoring and the like.
Drawings
Fig. 1 is a schematic structural diagram of a structural flexible electronic skin provided by the invention.
Fig. 2 shows the preparation process (a) of the structured flexible electronic skin of example 1 and a comparative picture (B) before and after stretching of the electronic skin.
FIG. 3 is a graph showing the relative resistance change under compressive strain (A) and cyclic loading (B) of the haptic cells prepared in example 1.
Fig. 4. relative resistance change to external load of the structural flexible electronic skin prepared in example 1: (A) loading weights of 100 g, 200 g and 300 g; (B) a weight of 700 grams was loaded in the center.
Detailed Description
The present invention is described in further detail below with reference to the attached drawings.
Example 1
① and evenly mixing the carbon black and the polydimethylsiloxane, pouring the mixture into a mould for curing to obtain a flexible composite material sheet with the thickness of 2 mm.
② A mould as shown in figure 2A is prepared, two bundles of carbon fibers are wound at the bottom of the short column in the mould in a crossing way to form a quasi-sinusoidal structure, the buckling degree (the length ratio of the quasi-sinusoidal structure after being straightened to the length before being straightened) of the fiber electrode array is 1.1, and the volume content of the fiber electrode array in the electronic skin is 0.52 percent.
③ the composite material sheet obtained in step ① was cut into cylindrical haptic cells of 5 x 2mm in diameter, and the haptic cells were arranged in a mold at a density of 1 haptic cell/cm as shown in FIG. 2(A)-2(ii) a Carbon fiber electrodes are cross-wound on top of the haptic elements in the same manner, in a perpendicular direction to the carbon fiber winding at the bottom of the mold stubs.
④ the piezoresistive composite material mixture (before curing) prepared in ① is used as adhesive to coat the upper and lower surfaces of the tactile unit, so as to firmly bond the carbon fiber electrode and the tactile unit.
⑤ the structural flexible electronic skin is obtained by filling the free space in the mould with pure polydimethylsiloxane, and peeling it off from the mould after curing.
The structure of the structural flexible sensor prepared in this example is shown in fig. 1, and the preparation process is shown in fig. 2 (a). As shown in fig. 2(B), the electronic skin prepared in this example has good stretchability; as shown in fig. 3(a), the haptic unit prepared in this example has good piezoresistive response characteristics in the strain range of 0-50%, and as shown in fig. 3(B), the haptic unit prepared also has stable response to cyclic load; as shown in fig. 4, the structural flexible electronic skin prepared in this embodiment can effectively identify the size and position distribution of the external load.
The tensile strength of the flexible electronic skin prepared in this example was 6.2MPa, which is 12.4 times that of pure polydimethylsiloxane (0.5MPa), and the stretchability was 10%.
Example 2
① mixing the carbon nanotubes and the polydiethylsiloxane uniformly, pouring into a mould for curing, and obtaining the flexible composite material sheet with the thickness of 4 mm.
② copper wire electrodes are wound at the bottom of the mould in a crossed manner to form a saw-toothed structure, the buckling degree (the length ratio of the saw-toothed structure after being straightened to that before being straightened) of the fiber electrode array is 1.8, and the volume content of the fiber electrode array in the electronic skin is 0.6%.
③ cutting the composite material sheet obtained in step ① into cylindrical haptic cells of 3 x 4mm diameter, and arranging the haptic cells in a mold at a haptic cell arrangement density of 3 cells/cm-2(ii) a The copper wire electrodes are cross-wound on the top of the haptic cells in the same manner, in a direction perpendicular to the copper wire wound at the bottom of the mold stub.
④ the piezoresistive composite material mixture (before curing) prepared in ① is used as adhesive to coat the upper and lower surfaces of the tactile unit, and the copper wire electrodes are firmly bonded with the tactile unit.
⑤ the structural flexible electronic skin is obtained by filling the free space in the mould with pure polydiethylsiloxane and peeling it from the mould after curing.
The tensile strength of the flexible electronic skin prepared in the example is 4.8MPa, and the stretchability is 80%.
Example 3
①, uniformly mixing the graphene and the polymethylvinylsiloxane, pouring the mixture into a mould for curing to obtain a flexible composite material sheet with the thickness of 10 mm.
② silver wire electrodes are wound on the bottom of the mould in a cross way to form an S-shaped structure, the degree of flexure of the fiber electrode array (the length ratio of the S-shaped structure after being straightened to the length before being straightened) is 2.4, and the volume content of the fiber electrode array in the electronic skin is 0.23%.
③ the composite material sheet obtained in step ① was cut into cylindrical haptic cells with a diameter of 15 x 10mm, and the haptic cells were arranged in a mold with a haptic cell arrangement density of 0.5 cells/cm- 2(ii) a The silver wire electrodes were cross-wound on top of the haptic cells in the same manner, in a perpendicular direction to the silver wire wound at the bottom of the mold stub.
④ the piezoresistive composite material mixture (before curing) prepared in ① is used as adhesive to coat the upper and lower surfaces of the tactile unit, so that the silver wire electrode and the tactile unit are firmly bonded.
⑤ the structural flexible electronic skin is obtained by filling the free space in the mould with polymethylvinylsiloxane and peeling it off from the mould after curing.
The tensile strength of the flexible electronic skin prepared in the example is 3.6MPa, and the stretchability is 140%.
Example 4
① mixing silver nanowires and polyurethane uniformly, pouring into a mould for curing, and obtaining the flexible composite material sheet with the thickness of 1 mm.
② gold wire electrodes are wound on the bottom of the mould in a crossing way to form a wave structure, the buckling degree (the length ratio of the wave structure after being straightened to that before being straightened) of the fiber electrode array is 3, and the volume content of the fiber electrode array in the electronic skin is 1%.
③ cutting the composite material sheet obtained in step ① into cylindrical haptic cells of 1 x 1mm diameter, and arranging the haptic cells in a mold at a haptic cell arrangement density of 5 cells/cm-2(ii) a Gold wire electrodes are cross-wound on the top of the haptic cells in the same manner, in a direction perpendicular to the gold wire wound on the bottom of the mold stub.
④ the piezoresistive composite material mixture (before curing) prepared in ① is used as adhesive to coat the upper and lower surfaces of the tactile unit, so as to firmly bond the gold wire electrode and the tactile unit.
⑤ the free space in the mould is filled with pure polyurethane, and after solidification, the structure type flexible electronic skin is obtained by peeling the polyurethane from the mould.
The tensile strength of the flexible electronic skin prepared in the example is 2.5MPa, and the stretchability is 200%.
Claims (9)
1. A structural flexible electronic skin is characterized in that the electronic skin is composed of a flexible matrix, a touch lattice structure and a quasi-sinusoidal structure fiber electrode array.
2. A structured flexible electronic skin, according to claim 1, wherein: the touch lattice structure consists of touch units which are uniformly distributed, the upper surface and the lower surface of each touch unit are connected with fiber electrodes which are of similar sine structures, and the directions of the upper layer of fiber electrodes and the lower layer of fiber electrodes are mutually vertical to form a crossed electrode array; the tactile unit and the fiber electrode are encapsulated by using a flexible matrix material, so that the structural flexible electronic skin can be obtained:
a) when the electronic skin is acted by external load, the touch unit deforms, so that resistance changes, and load signals are converted into electric signals.
b) Due to the quasi-sinusoidal structure design of the fiber electrode array, the electronic skin has good flexibility and stretchability in a low strain range; when the tensile strain approaches the design strain, the fiber electrode is straightened to start bearing the load, thereby giving the electronic skin high tensile strength.
3. A structured flexible electronic skin, according to claim 1, wherein: the flexible substrate is one of (including but not limited to) polydimethylsiloxane, polydiethylsiloxane, polymethylvinylsiloxane, polyurethane and other high polymer elastomer materials.
4. A structured flexible electronic skin, according to claim 1, wherein: the tactile unit in the tactile dot matrix structure is a cylinder, the diameter of the cylinder is 1-15 mm, and the height of the cylinder is 1-10 mm; the arrangement density of the tactile units in the electronic skin is 0.5-5/cm-2(ii) a The composition material of the tactile unit is a flexible piezoresistive composite material.
5. The flexible piezoresistive composite material according to claim 4, which is formed by compounding the flexible matrix material according to claim 3 with conductive nanoparticles.
6. The conductive nanoparticles as claimed in claim 5 are (including but not limited to) one of carbon black, carbon nanotubes, graphene, metal nanoparticles, metal nanowires, etc. nano conductive materials.
7. A structured flexible electronic skin, according to claim 1, wherein: the fiber electrode in the sine-like structure fiber electrode array is (including but not limited to) one of carbon fiber, copper wire, silver wire, gold wire or metal alloy conductive fiber, and the volume content of the fiber electrode array in the electronic skin is 0.01-1%.
8. A structured flexible electronic skin, according to claim 1, wherein: the quasi-sinusoidal structure fiber electrode array is (including but not limited to) one of a sinusoidal fiber electrode array, a sawtooth fiber electrode array, an 'S' -shaped fiber electrode array and a wavy fiber electrode array, the buckling degree (the length ratio of straightened fiber electrode array to non-straightened fiber electrode array) of the fiber electrode array is 3-1.1, and the fiber electrode array can be formed by winding with the assistance of a template.
9. A structured flexible electronic skin, according to claim 1, wherein: the bonding material of the tactile unit and the fiber electrode with the sine-like structure is the same as the composition material of the tactile unit.
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| CN201910949802.XA CN110664512A (en) | 2019-10-08 | 2019-10-08 | Structural flexible electronic skin |
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| CN201910949802.XA CN110664512A (en) | 2019-10-08 | 2019-10-08 | Structural flexible electronic skin |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111998977A (en) * | 2020-08-25 | 2020-11-27 | 工科思维技术(深圳)有限公司 | High-sensitivity flexible wearable sensor array and preparation method thereof |
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- 2019-10-08 CN CN201910949802.XA patent/CN110664512A/en active Pending
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| CN106612080A (en) * | 2017-01-23 | 2017-05-03 | 北京纳米能源与系统研究所 | Fully flexible friction nanogenerator, generator set, energy shoe and motion sensor |
| CN107496053A (en) * | 2017-08-11 | 2017-12-22 | 京东方科技集团股份有限公司 | Electronic skin, preparation method and driving method |
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| CN111998977A (en) * | 2020-08-25 | 2020-11-27 | 工科思维技术(深圳)有限公司 | High-sensitivity flexible wearable sensor array and preparation method thereof |
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