CN111248860A - Touch sensing system and touch sensing method for capsule robot - Google Patents

Touch sensing system and touch sensing method for capsule robot Download PDF

Info

Publication number
CN111248860A
CN111248860A CN202010038379.0A CN202010038379A CN111248860A CN 111248860 A CN111248860 A CN 111248860A CN 202010038379 A CN202010038379 A CN 202010038379A CN 111248860 A CN111248860 A CN 111248860A
Authority
CN
China
Prior art keywords
sensing
capsule robot
tactile
tactile sensing
haptic
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
Application number
CN202010038379.0A
Other languages
Chinese (zh)
Inventor
戴佺民
孙佰鑫
程光
耿瑞芳
于鑫
陈惠荣
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Union University
Original Assignee
Beijing Union University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Beijing Union University filed Critical Beijing Union University
Priority to CN202010038379.0A priority Critical patent/CN111248860A/en
Publication of CN111248860A publication Critical patent/CN111248860A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/42—Detecting, measuring or recording for evaluating the gastrointestinal, the endocrine or the exocrine systems
    • A61B5/4222—Evaluating particular parts, e.g. particular organs
    • A61B5/4255—Intestines, colon or appendix
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
    • A61B5/6847—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive mounted on an invasive device
    • A61B5/6861—Capsules, e.g. for swallowing or implanting
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
    • G01K13/00—Thermometers specially adapted for specific purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
    • G01K13/00—Thermometers specially adapted for specific purposes
    • G01K13/20—Clinical contact thermometers for use with humans or animals
    • 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
    • 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
    • G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
    • G01L1/205—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using distributed sensing elements

Landscapes

  • Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Molecular Biology (AREA)
  • General Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Biophysics (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Pathology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Endocrinology (AREA)
  • Gastroenterology & Hepatology (AREA)
  • Physiology (AREA)
  • Manipulator (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

Provided are a haptic sensing system and a haptic sensing method for a capsule robot, including a plurality of haptic sensing units. The haptic sensing system includes a processor and a capsule robot; the plurality of tactile sensing units are encapsulated on a plurality of preset tactile sensing areas on the capsule robot; the plurality of touch sensing units are used for sensing external signals; the processor is used for receiving the signals transmitted by the capsule robot and sensed by the touch sensing unit and processing the sensed signals to obtain a detection result. According to the invention, the three-dimensional touch sensing system is constructed by encapsulating the touch sensing unit on the surface of the capsule robot, so that each surface of the capsule robot has temperature and pressure sensing capabilities, and the intelligentization and man-machine interaction level of the capsule robot is improved.

Description

Touch sensing system and touch sensing method for capsule robot
Technical Field
The invention relates to the field of electronic skin, in particular to a touch sensing system and a touch sensing method for a capsule robot.
Background
Despite the progress of electronic skin research in recent years, there still exist many problems such as insufficient response sensitivity, poor stability and anti-interference capability, and narrow sensing range of sensing materials, which limit practical applications thereof. In numerous electronic skin studies, for example: the patent application of Qinghua university Von snow et al, the publication No. CN 108896219A of the flexible bionic electronic skin and the preparation method thereof, provides a flexible bionic electronic skin and the preparation method thereof. The flexible bionic electronic skin comprises: a piezoresistive layer; a thin film electrode; the manufacturing cost is high, the process is complex, and the method is difficult to apply to practical scenes. Particularly for sensing relatively small or internal environments, there is currently no associated tactile sensing system for micro-robots.
Therefore, there is a need for a tactile sensing system capable of sensing multiple directions, multiple dimensions, for use in small environments.
Disclosure of Invention
In order to solve at least the above-described problems, the present invention has been made in a number of ways as described below.
According to a first aspect of the present invention, there is provided a haptic sensing system for a capsule robot, comprising a plurality of haptic sensing units, wherein the haptic sensing system comprises:
a processor and a capsule robot;
the plurality of tactile sensing units are encapsulated on a plurality of preset tactile sensing areas on the capsule robot;
the plurality of touch sensing units are used for sensing external signals; and
the processor is used for receiving the signals transmitted by the capsule robot and sensed by the touch sensing unit and processing the sensed signals to obtain a detection result.
The sensing system is mainly constructed by encapsulating the touch sensing units on the surface of the capsule robot, so that each surface of the capsule robot has temperature and pressure sensing capabilities, and the intelligence and man-machine interaction level of the capsule robot are improved.
In one embodiment, the plurality of tactile sensing units in the form of a three-dimensional array are respectively encapsulated on a first preset tactile sensing area and a second preset tactile sensing area of the capsule robot, wherein the first preset tactile sensing area includes an end area of the capsule robot, and the second preset tactile sensing area includes a waist area of the capsule robot.
The three-dimensional array touch sensing system is constructed in the invention, so that each surface of the capsule robot has temperature and pressure sensing capabilities, and the intelligentization and human-computer interaction level of the capsule robot is improved.
In any of the above embodiments, the tactile sensing unit comprises: a pressure sensing unit and a temperature sensing unit, the signal sensed by the tactile sensing unit including at least one of: temperature change signal, deformation signal generated by pressure.
In any of the above embodiments, a control chip is disposed on the capsule robot, and the processor is configured to send the detection result to the control chip; and the control chip is used for controlling the capsule robot to carry out corresponding operation according to the detection result.
The three-dimensional array touch sensing system constructed by the invention can input deformation signals and temperature change signals generated by pressure into the control chip through the integrated circuit, and the capsule robot is controlled by the control chip, so that each surface of the capsule robot has temperature and pressure sensing capabilities, and the intelligentization and human-computer interaction level of the capsule robot is improved.
In any of the above embodiments, the electrode wires connected to the plurality of tactile sensing units extend from one end of the capsule robot and are connected to the processor.
According to a second aspect of the present invention, there is provided a tactile sensing method for a capsule robot, the tactile sensing method comprising:
encapsulating a plurality of haptic sensing units on a plurality of preset haptic sensing areas on the capsule robot;
the plurality of tactile sensing units sense signals of the outside, and the capsule robot transfers the signals sensed by the tactile sensing units to a processor; and
the processor processes the sensed signal to obtain a detection result.
According to the invention, the capsule robot has the temperature and pressure sensing capability on each surface by encapsulating the plurality of touch sensing units on the plurality of preset touch sensing areas on the capsule robot, so that the intelligentization and human-computer interaction level of the capsule robot is improved.
In one embodiment, the plurality of tactile sensing units in the form of a three-dimensional array are respectively encapsulated on a first preset tactile sensing area and a second preset tactile sensing area of the capsule robot, wherein the first preset tactile sensing area comprises an end area of the capsule robot, and the second preset tactile sensing area comprises a waist area of the capsule robot.
In any of the above embodiments, the tactile sensing unit comprises: a pressure sensing unit and a temperature sensing unit, the signal sensed by the tactile sensing unit including at least one of: temperature change signal, deformation signal generated by pressure.
In any of the above embodiments, the tactile sensing method further comprises: the processor sends the detection result to the control chip on the capsule robot; and the control chip controls the capsule robot to carry out corresponding operation according to the detection result.
In any of the above embodiments, the electrode wires connected to the plurality of tactile sensing units extend from one end of the capsule robot to connect to the processor.
By the aid of the touch sensing system and the touch sensing method, the touch sensing units are packaged on the surface of the capsule robot, so that each surface of the capsule robot has temperature and pressure sensing capabilities, and the intelligence and human-computer interaction level of the capsule robot are improved.
Drawings
Non-limiting and non-exhaustive embodiments of the present invention are described, by way of example, with reference to the following drawings, in which:
FIG. 1 shows a schematic diagram of a preferred embodiment of a haptic sensing system for a capsule robot according to the present invention;
fig. 2(a) - (b) show schematic diagrams of a preferred embodiment of a plurality of tactile sensing unit packages of a tactile sensing system for a capsule robot according to the present invention;
FIG. 3 shows a schematic view of another embodiment of a haptic sensing system for a capsule robot according to the present invention;
fig. 4 shows a flowchart of a preferred embodiment of a haptic sensing method for a capsule robot according to the present invention.
Detailed Description
In order to make the above and other features and advantages of the present invention more apparent, the present invention is further described below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limiting, for those of ordinary skill in the art.
Fig. 1 shows a schematic diagram of a haptic sensing system for a capsule robot according to an embodiment of the present invention.
As shown in fig. 1, the tactile sensing system 100 includes: a plurality of tactile sensing units 130; a processor 120 and a capsule robot 110; the plurality of tactile sensing units 130 are encapsulated on a plurality of preset tactile sensing areas on the capsule robot 110, wherein the plurality of tactile sensing units 130 include a pressure sensing unit 131 and a temperature sensing unit 132. The plurality of tactile sensing units 130 may employ an array-wise sensor, such as: a 3 x 3 array. The plurality of tactile sensing units 130 may be used to sense signals of the outside; and the processor 120 may be configured to receive the signal transmitted by the capsule robot 110 and sensed by the tactile sensing unit 130, and process the sensed signal to obtain a detection result.
Specifically, the plurality of preset tactile sensing areas on the capsule robot 110 in this embodiment may also encapsulate a plurality of flexible e-skins.
The touch sensing system adopts a plurality of touch sensing units, so that signals (such as deformation signals generated by pressure, temperature change signals and the like) generated by the outside are sensed by the touch sensing units; the sensed signal is processed by a processor or may be input to a control chip by a sensed signal integrated circuit. The control chip can enable the capsule robot to have temperature and pressure sensing capability in each place, and the intelligentization and human-computer interaction level of the capsule robot is improved.
Fig. 2(a) - (b) show schematic diagrams of a plurality of tactile sensing unit packages according to an embodiment of the present invention.
As shown in fig. 2(a), a plurality of tactile sensing units in a three-dimensional array are packaged on the first preset tactile sensing area a, a plurality of tactile sensing units in a three-dimensional array are packaged on the second preset tactile sensing area B, and a plurality of tactile sensing units in a three-dimensional array are packaged on the third preset tactile sensing area C.
Specifically, the capsule-shaped robot 110 used in this embodiment has an array structure of 14, but may be designed into other arrays as needed, and the overall length of the capsule-shaped robot 110 used in this embodiment is approximately 18 mm. As shown in fig. 2(a) and (b), a plurality of tactile sensing units 1-5 of an array are arranged at a first preset tactile sensing region a; a plurality of tactile sensing units 6-9 arranged in an array in the second preset tactile sensing region B; the third preset tactile sensation area C arranges the plurality of tactile sensing units 10 to 14 of the array.
Of course, the performance of the tactile sensing unit determines the array mechanism employed, and a 16-array configuration may also be employed. In the embodiment of the invention, the plurality of touch sensing units are prepared by adopting a resistance type preparation principle and adopting materials such as PDMS (polydimethylsiloxane) and graphene, and the materials have the advantages of high softness, strong stretchability, strong conductivity and the like.
In one embodiment, a control chip is disposed on the capsule robot 110, and the processor 120 is configured to send the detection result to the control chip; and the control chip is used for controlling the capsule robot 110 to perform corresponding operations according to the detection result.
In this embodiment, the capsule robot 110 may be a colon examination robot, N2 tactile sensing units 130 (i.e., array tactile sensors) are arranged on the outer surface of the colon examination robot, and the tactile sensing units are encapsulated on the surface of the colon examination robot, so as to construct a three-dimensional array of tactile sensing systems for colon examination. When the operation of detection inspection is carried out, the deformation signal and the temperature change signal generated by pressure are input to the control chip through the integrated circuit, the colon inspection robot is controlled through the control chip, each side of the colon inspection robot can have temperature and pressure sensing capacity, and the intellectualization and the human-computer interaction level of the colon inspection robot are improved.
FIG. 3 shows a schematic diagram of another sensing system according to an embodiment of the invention.
In one embodiment, as shown in fig. 3, the electrode wires connected to the plurality of tactile sensing units 130 extend from one end of the capsule robot 110 and are connected to the processor.
Fig. 4 shows a flowchart of a haptic sensing method for a capsule robot according to an embodiment of the present invention.
As shown in fig. 4, the haptic sensing method S100 includes:
step S110, packaging a plurality of touch sensing units on a plurality of preset touch sensing areas on the capsule robot;
a step S120 in which the plurality of tactile sensing units sense signals of the outside, and the capsule robot transfers the signals sensed by the tactile sensing units to a processor; and
step S130, the processor processes the sensed signal to obtain a detection result.
The touch sensing method of the invention senses signals (such as deformation signals generated by pressure, temperature change signals and the like) generated by the outside through the touch sensing unit; the sensed signals are processed through the processor, or the sensed signal integrated circuit can be input into the control chip, and the capsule robot is controlled through the control chip, so that each place of the capsule robot has temperature and pressure sensing capabilities, and the intelligentization and human-computer interaction level of the capsule robot is improved.
In one embodiment, the plurality of tactile sensing units in the form of three-dimensional arrays are respectively encapsulated on a first preset tactile sensing area and a second preset tactile sensing area of the capsule robot, wherein the first preset tactile sensing area comprises an end area of the capsule robot, and the second preset tactile sensing area comprises a waist area of the capsule robot.
In one embodiment, the tactile sensing unit includes: a pressure sensing unit and a temperature sensing unit, the signal sensed by the tactile sensing unit including at least one of: temperature change signal, deformation signal generated by pressure.
In one embodiment, the tactile sensing method further comprises:
the processor sends the detection result to the control chip on the capsule robot; and the control chip controls the capsule robot to carry out corresponding operation according to the detection result.
In one embodiment, electrode wires connected to the plurality of tactile sensing units extend from one end of the capsule robot to connect to the processor.
It will be understood by those skilled in the art that all or part of the steps in the method according to the above embodiments of the present invention may be indicated by the relevant hardware to be completed by a computer program, which may be stored in a non-volatile computer-readable storage medium, and which, when executed, may implement the steps of the above embodiments of the method. Any reference to memory, storage, database, or other medium used in the embodiments provided herein can include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory.
The features of the above embodiments may be arbitrarily combined, and for the sake of brevity, all possible combinations of the features in the above embodiments are not described, but should be construed as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the features.
While the invention has been described in connection with the embodiments, it is to be understood by those skilled in the art that the foregoing description and drawings are merely illustrative and not restrictive of the broad invention, and that this invention not be limited to the disclosed embodiments. Various modifications and variations are possible without departing from the spirit of the invention.

Claims (10)

1. A haptic sensing system for a capsule robot, comprising a plurality of haptic sensing units, characterized in that the haptic sensing system comprises:
a processor and a capsule robot;
the plurality of tactile sensing units are encapsulated on a plurality of preset tactile sensing areas on the capsule robot;
the plurality of touch sensing units are used for sensing external signals; and
the processor is used for receiving the signals transmitted by the capsule robot and sensed by the touch sensing unit and processing the sensed signals to obtain a detection result.
2. The tactile sensing system according to claim 1, wherein the plurality of tactile sensing units in a three-dimensional array are respectively encapsulated on a first preset tactile sensing region and a second preset tactile sensing region of the capsule robot, wherein the first preset tactile sensing region comprises an end region of the capsule robot, and the second preset tactile sensing region comprises a waist region of the capsule robot.
3. A tactile sensing system according to claim 1, wherein the tactile sensing unit comprises: a pressure sensing unit and a temperature sensing unit, the signal sensed by the tactile sensing unit including at least one of: temperature change signal, deformation signal generated by pressure.
4. A tactile sensing system according to claim 1, wherein a control chip is provided on the capsule robot, the processor being configured to send the detection results to the control chip; and the control chip is used for controlling the capsule robot to carry out corresponding operation according to the detection result.
5. A tactile sensing system according to any of claims 1 to 4, wherein the electrode wires connected to the plurality of tactile sensing units extend from one end of the capsule robot and are connected to the processor.
6. A tactile sensing method for a capsule robot, the sensing method comprising:
encapsulating a plurality of haptic sensing units on a plurality of preset haptic sensing areas on the capsule robot;
the plurality of tactile sensing units sense signals of the outside, and the capsule robot transfers the signals sensed by the tactile sensing units to a processor; and
the processor processes the sensed signal to obtain a detection result.
7. A haptic sensing method according to claim 6, wherein the plurality of haptic sensing units in a three-dimensional array are encapsulated on a first preset haptic sensing area and a second preset haptic sensing area of the capsule robot, respectively, wherein the first preset haptic sensing area includes an end area of the capsule robot, and the second preset haptic sensing area includes a waist area of the capsule robot.
8. The tactile sensing method according to claim 6, wherein the tactile sensing unit comprises: a pressure sensing unit and a temperature sensing unit, the signal sensed by the tactile sensing unit including at least one of: temperature change signal, deformation signal generated by pressure.
9. The haptic sensing system of claim 6, wherein the haptic sensing method further comprises:
the processor sends the detection result to the control chip on the capsule robot; and the control chip controls the capsule robot to carry out corresponding operation according to the detection result.
10. A tactile sensing system according to any of claims 6 to 9, wherein electrode wires connecting said plurality of tactile sensing units extend from one end of said capsule robot for connection to said processor.
CN202010038379.0A 2020-01-14 2020-01-14 Touch sensing system and touch sensing method for capsule robot Pending CN111248860A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010038379.0A CN111248860A (en) 2020-01-14 2020-01-14 Touch sensing system and touch sensing method for capsule robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010038379.0A CN111248860A (en) 2020-01-14 2020-01-14 Touch sensing system and touch sensing method for capsule robot

Publications (1)

Publication Number Publication Date
CN111248860A true CN111248860A (en) 2020-06-09

Family

ID=70923580

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010038379.0A Pending CN111248860A (en) 2020-01-14 2020-01-14 Touch sensing system and touch sensing method for capsule robot

Country Status (1)

Country Link
CN (1) CN111248860A (en)

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020156347A1 (en) * 2001-04-24 2002-10-24 Byungkyu Kim Micro-robot for colonoscope with motor locomotion and system for colonoscope using the same
CN1401393A (en) * 2002-09-19 2003-03-12 上海交通大学 All-digestive tract microcapsule non-invasive introduced diagnostic and examination system
US20030093088A1 (en) * 2001-11-09 2003-05-15 Long Gary L. Self-propelled, intraluminal device with working channel and method of use
CN2706123Y (en) * 2004-02-28 2005-06-29 重庆金山科技（集团）有限公司 Medical radio capsule type endoscope system
CN101217910A (en) * 2005-07-08 2008-07-09 西门子公司 Endoscopic capsule
US20100137683A1 (en) * 2007-07-13 2010-06-03 I3System Corp. Capsule-type endoscope having sensor and communication method thereof
CN202589487U (en) * 2012-05-04 2012-12-12 重庆金山科技（集团）有限公司 Capsule endoscopy
US20140031642A1 (en) * 2010-10-29 2014-01-30 Check-Cap Ltd. Intra body capsule motion sensing and position determination systems and methods
CN103815858A (en) * 2014-02-26 2014-05-28 上海齐正微电子有限公司 Capsular endoscope with multiple built-in sensors
CN104684460A (en) * 2012-09-07 2015-06-03 切克-卡普有限公司 Capsule with strain gauge sensors to sense events in the gastrointestinal tract
CN105796043A (en) * 2016-03-09 2016-07-27 苏州大学 Endoscope robot control method and device based on pressure sensor information
CN107225577A (en) * 2016-03-25 2017-10-03 深圳光启合众科技有限公司 Apply tactilely-perceptible method and tactile sensor on intelligent robot
CN108836241A (en) * 2018-06-20 2018-11-20 北京理工大学 A kind of capsule robot with symmetrical side force inducing function

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020156347A1 (en) * 2001-04-24 2002-10-24 Byungkyu Kim Micro-robot for colonoscope with motor locomotion and system for colonoscope using the same
US20030093088A1 (en) * 2001-11-09 2003-05-15 Long Gary L. Self-propelled, intraluminal device with working channel and method of use
CN1401393A (en) * 2002-09-19 2003-03-12 上海交通大学 All-digestive tract microcapsule non-invasive introduced diagnostic and examination system
CN2706123Y (en) * 2004-02-28 2005-06-29 重庆金山科技（集团）有限公司 Medical radio capsule type endoscope system
CN101217910A (en) * 2005-07-08 2008-07-09 西门子公司 Endoscopic capsule
US20100137683A1 (en) * 2007-07-13 2010-06-03 I3System Corp. Capsule-type endoscope having sensor and communication method thereof
US20140031642A1 (en) * 2010-10-29 2014-01-30 Check-Cap Ltd. Intra body capsule motion sensing and position determination systems and methods
CN202589487U (en) * 2012-05-04 2012-12-12 重庆金山科技（集团）有限公司 Capsule endoscopy
CN104684460A (en) * 2012-09-07 2015-06-03 切克-卡普有限公司 Capsule with strain gauge sensors to sense events in the gastrointestinal tract
CN103815858A (en) * 2014-02-26 2014-05-28 上海齐正微电子有限公司 Capsular endoscope with multiple built-in sensors
CN105796043A (en) * 2016-03-09 2016-07-27 苏州大学 Endoscope robot control method and device based on pressure sensor information
CN107225577A (en) * 2016-03-25 2017-10-03 深圳光启合众科技有限公司 Apply tactilely-perceptible method and tactile sensor on intelligent robot
CN108836241A (en) * 2018-06-20 2018-11-20 北京理工大学 A kind of capsule robot with symmetrical side force inducing function

Similar Documents

Publication Publication Date Title
US8336399B2 (en) Sensor system
US8893565B2 (en) Apparatus for sensing
EP2959430B1 (en) Integrated fingerprint sensor
CN109781315B (en) Touch sensor
US11226248B2 (en) Touch sensor with multifunctional layers, electronic skin and intelligent robot
KR20170103758A (en) Flexible transparent sensor with ionically-conductive material
KR20180118129A (en) Pressure detecting device
US10223879B2 (en) Selective control of an electric field to deliver a touchless haptic effect
EP1518315A1 (en) Tactile device
US20210041309A1 (en) Sensor with time-sharing regional shielding function, electronic skin and robot
KR101991578B1 (en) Tactile sensor for measuring of normal force, shear force and torsion force
CN108760105B (en) Bionic hair sensing structure with adjustable angle
TWI773144B (en) Piezosensitive sensor having criss-crossed electrodes
CN111248860A (en) Touch sensing system and touch sensing method for capsule robot
US10054496B2 (en) Temperature sensing device, temperature sensor using the same, and wearable device having the same
Sicotte-Brisson et al. Capacitive tactile sensor using mutual capacitance sensing method for increased resolution
KR101879811B1 (en) Tactile Sensor for Shear force and Making Method of the Same and System of Tactile Sensor
KR20210089468A (en) Conductive Thread based Pressure Sensor
EP3882613A1 (en) Stimuli-responsive sensor system, digital logic element, robotic system and method for detecting an external stimulus
CN111337152B (en) Electronic skin and electronic equipment
Pan et al. Flexible full‐body tactile sensor of low cost and minimal output connections for service robot
CN209820657U (en) Flexible pressure sensor
KR101684918B1 (en) Tacktile sensor having 3D structures
CN115452209B (en) Flexible multi-mode touch sensor based on asymmetric thermal rectification structure
KR101948749B1 (en) Apparatus and method for sensing pain

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
RJ01 Rejection of invention patent application after publication

Application publication date: 20200609

RJ01 Rejection of invention patent application after publication