CN111337152B - Electronic skin and electronic equipment - Google Patents
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- CN111337152B CN111337152B CN202010120771.XA CN202010120771A CN111337152B CN 111337152 B CN111337152 B CN 111337152B CN 202010120771 A CN202010120771 A CN 202010120771A CN 111337152 B CN111337152 B CN 111337152B
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- 239000013078 crystal Substances 0.000 claims abstract description 30
- 239000011540 sensing material Substances 0.000 claims abstract description 16
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K7/00—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements
- G01K7/003—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements using pyroelectric elements
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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
- G01L1/16—Measuring force or stress, in general using properties of piezoelectric devices
Abstract
The invention discloses an electronic skin and an electronic device, wherein the electronic skin comprises: a first substrate including a first electrode, a second electrode, and a temperature sensitive material layer interposed between the first and second electrodes; a second substrate including a third electrode, a fourth electrode, and a piezoelectric material layer interposed between the third and fourth electrodes; the piezoelectric sensor layer is arranged between the first substrate and the second substrate and comprises a neuron crystal array, and the output end and the input end of the neuron crystal array are respectively connected with the second electrode and the third electrode; the second electrode, the fourth electrode, the piezoelectric sensor layer and the piezoelectric material layer form a first detection unit; the first electrode to the fourth electrode, the temperature sensing material layer, the piezoelectric sensor layer and the piezoelectric material layer form a second detection unit. The electronic skin can sense the temperature and the acting force of a test object acting on the electronic skin through the first detection unit and the second detection unit, and can simulate the human skin sensing effect more truly.
Description
Technical Field
The invention relates to the technical field of sensors, in particular to an electronic skin and electronic equipment.
Background
Sensory perception plays an important role during human contact with the external environment, and the sense of touch is more difficult to imitate than the sense of sight and the sense of hearing of human beings. With the rapid development of robots and electronic medical technology, electronic skins have received much attention. At present, electronic skins mostly adopt circuit structures such as sensors to acquire signals directly, and sense different external stimuli through different and independent sensor structures, and the sensing effect has a large difference from the real skin sensing effect.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the first purpose of the present invention is to provide an electronic skin to achieve a more realistic effect of simulating the human skin's perception of external pressure and temperature.
A second object of the present invention is to provide an electronic device.
To achieve the above object, an embodiment of a first aspect of the present invention provides an electronic skin, which includes: the temperature sensing device comprises a first substrate, a second substrate and a temperature sensing material layer, wherein the first substrate comprises a first electrode, a second electrode and the temperature sensing material layer, the first electrode and the second electrode are oppositely arranged, and the temperature sensing material layer is arranged between the first electrode and the second electrode; the second substrate comprises a third electrode, a fourth electrode and a piezoelectric material layer, the third electrode and the fourth electrode are oppositely arranged, and the piezoelectric material layer is arranged between the third electrode and the fourth electrode; the piezoelectric sensor layer is arranged between the first substrate and the second substrate and comprises a neuron crystal array, the output end of the neuron crystal array is connected with the second electrode, and the input end of the neuron crystal array is connected with the third electrode; the second electrode, the piezoelectric sensor layer, the third electrode, the piezoelectric material layer and the fourth electrode form a first detection unit for detecting the acting force of the test object acting on the electronic skin; the first electrode, the temperature sensing material layer, the second electrode, the piezoelectric sensor layer, the third electrode, the piezoelectric material layer and the fourth electrode form a second detection unit for detecting the temperature of the test object by combining with the first detection unit.
According to the electronic skin provided by the embodiment of the invention, the second electrode, the piezoelectric sensor layer containing the neuron crystal array, the third electrode, the piezoelectric material layer and the fourth electrode form the first detection unit, and the first electrode, the temperature sensing material layer, the second electrode, the piezoelectric sensor layer containing the neuron crystal array, the third electrode, the piezoelectric material layer and the fourth electrode form the second detection unit.
In addition, the electronic skin according to the above embodiment of the present invention may have the following additional technical features:
according to an embodiment of the present invention, the first detection unit outputs a first detection signal through the second electrode, the second detection unit outputs a second detection signal through the first electrode, and the electronic skin further includes: and the processing module is respectively connected with the first electrode and the second electrode and is used for determining the acting force of the test object according to the first detection signal and determining the temperature of the test object according to the first detection signal and the second detection signal.
According to an embodiment of the invention, the processing module is further configured to determine an action position of the test object on the electronic skin according to the second detection signal or the first detection signal.
According to one embodiment of the present invention, the neuron crystal array comprises a plurality of diodes arranged according to a predetermined circuit rule.
According to an embodiment of the present invention, the second electrode includes a plurality of sub-electrodes, and the neuron crystal array includes: the cascade structure comprises a plurality of cascade units, each cascade unit comprises at least one diode, the number of the diodes in the lower-level cascade unit is larger than that of the diodes in the upper-level cascade unit, the input end of each diode in the upper-level cascade unit is respectively connected with the output ends of the diodes in the lower-level cascade unit, the input ends of all the diodes in the lowest-level cascade unit are respectively connected with the third electrode, and the output ends of the diodes in all the cascade units are correspondingly connected with the sub-electrodes.
According to an embodiment of the present invention, the neuron crystal array includes 3 cascade units, which are respectively referred to as a first cascade unit, a second cascade unit and a third cascade unit, the first cascade unit includes a first number of diodes, the second cascade unit includes a second number of diodes, and the third cascade unit includes a third number of diodes, wherein the first number is smaller than the second number, and the second number is smaller than the third number.
According to one embodiment of the present invention, the first substrate is disposed on a side close to a test object, and the second substrate is disposed on a side away from the test object, wherein the first electrode is disposed on a side close to the test object, and the second electrode is disposed on a side away from the test object; or the first electrode is arranged on one side far away from the test object, and the second electrode is arranged on one side close to the test object.
According to an embodiment of the present invention, the third electrode is disposed on a side close to the first substrate, and the fourth electrode is disposed on a side far from the first substrate; or the third electrode is arranged on one side far away from the first substrate, and the fourth electrode is arranged on one side close to the first substrate.
According to an embodiment of the present invention, the temperature sensing material layer and the piezoelectric material layer each include a soft conductive polymer obtained by: a metal wire having a diameter of 30 to 50 μm and a translucent polymer fiber are woven in a mesh filled with an optically transparent polymer, and an organic conductor thin layer is coated.
In order to achieve the above object, a second aspect of the present invention provides an electronic device, which includes the electronic skin of the above embodiments.
The electronic equipment provided by the embodiment of the invention adopts the electronic skin of the embodiment, so that the feeling effect of sensing the external pressure and the temperature by the human skin can be more truly simulated.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a schematic structural diagram of an electronic skin according to an embodiment of the invention;
FIG. 2 is a schematic diagram of the structure of an exemplary neuron crystal array of the present invention;
FIG. 3 is a schematic diagram of the connections of an electronic percutaneous controller in accordance with one example of the invention;
FIG. 4 is a schematic diagram of a structure of a neuron crystal array according to a specific example of the present invention;
fig. 5 is a block diagram of the electronic device of the embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
An electronic skin and an electronic apparatus according to an embodiment of the present invention are described below with reference to the drawings.
Fig. 1 is a schematic structural diagram of an electronic skin according to an embodiment of the present invention.
As shown in fig. 1, the electronic skin 100 includes: a first substrate 10, a second substrate 20, and a piezoelectric sensor layer 30.
Referring to fig. 1, a first substrate 10 includes a first electrode 11, a second electrode 12, and a temperature-sensitive material layer 13, wherein the first electrode 11 and the second electrode 12 are oppositely disposed, and the temperature-sensitive material layer 13 is disposed between the first electrode 11 and the second electrode 12; the second substrate 20 comprises a third electrode 21, a fourth electrode 22 and a piezoelectric material layer 23, wherein the third electrode 21 and the fourth electrode 22 are oppositely arranged, and the piezoelectric material layer 23 is arranged between the third electrode 21 and the fourth electrode 22; the piezoelectric sensor layer 30 is disposed between the first substrate 10 and the second substrate 20, the piezoelectric sensor layer 30 includes a neuron crystal array, an output end of the neuron crystal array is connected to the second electrode 12, and an input end of the neuron crystal array is connected to the third electrode 21.
Wherein, the neuron crystal array may include a plurality of cascade neuron units, each neuron unit of each stage may include a plurality of neurons, as shown in fig. 2, each neuron 31 includes an axon 311 and a cell body 312, the axon 311 of each neuron is connected with the cell bodies 312 of other neurons, and the number of neurons 31 in an upper neuron unit is less than the number of neurons 31 in a lower neuron unit. The neuron crystal arrays are arranged in a contact state with each other, and each neuron element 31 has a certain impedance characteristic.
In this embodiment, the second electrode 12, the piezoelectric sensor layer 30, the third electrode 21, the piezoelectric material layer 23, and the fourth electrode 22 constitute a first detection unit for detecting the acting force of the test object acting on the electronic skin; the first electrode 11, the temperature sensing material layer 13, the second electrode 12, the piezoelectric sensor layer 30, the third electrode 21, the piezoelectric material layer 23, and the fourth electrode 22 constitute a second detection unit, so as to detect the temperature of the test object by combining with the first detection unit.
Specifically, the temperature-sensitive material in the temperature-sensitive material layer 13 has a pyroelectric effect, which refers to a charge release phenomenon that the polarization intensity of a crystal changes with temperature; the piezoelectric material in the piezoelectric material layer 23 has a piezoelectric effect, which is a phenomenon in which the piezoelectric material generates a potential difference if pressure is applied to the piezoelectric material. As shown in fig. 1 and 2, when the electronic skin 100 operates, a voltage signal is applied to the fourth electrode 22. When pressure is applied to the electronic skin 100 from the outside, the piezoelectric material in the piezoelectric material layer 23 is changed by converting the pressure into an electrical signal, the electrical signal is transmitted to the third electrode 21, and the third electrode 21 transmits the electrical signal to the second electrode 12 through the piezoelectric sensor layer 30. Since the neuron crystal array in the piezoelectric sensor layer 30 adopts a cascade neuron structure, when the upper neuron unit and the lower neuron unit are connected, they cross each other, the number of neurons 31 in the lowest neuron unit is the largest, the input end (signal receiving end) thereof is connected to the third electrode 21, the neurons 31 in the lowest neuron unit can be distributed on the surface of the whole second substrate 20, and each neuron 31 in the lowest neuron unit receives signals and transmits them to the upper neuron unit. On one hand, the received signals are finally concentrated to the uppermost neuron unit, so that the signals of the uppermost neuron unit generate slight difference, the slight difference is reflected by the detection signals output by the second electrode 12, and the touch position of the test object on the electronic skin can be accurately determined according to the detection signals, and the method has the advantages of less signal quantity to be analyzed and low analysis complexity; on the other hand, a plurality of detection signals output by the second electrode 12 in the signals transmitted by the neurons 31 in each level of neuron units can be embodied, and then the touch position of the test object on the electronic skin can be accurately determined according to the detection signals.
Since the third electrode 21 outputs a pure pressure detection signal, the magnitude of the external force applied to the electronic skin can be determined only by the signal fed back from the third electrode 21.
Further, the electrical signal received by the second electrode 12 can be transmitted to the first electrode 11 through the temperature sensitive material layer 13, at this time, the signal output by the first electrode 11 includes a pressure detection signal and a temperature detection signal, a pure temperature detection signal can be obtained by subtracting the signal output by the first electrode 11 from the signal output by the second electrode 12, and the temperature of the test object can be determined according to the pure temperature detection signal.
Therefore, the electronic skin provided by the embodiment of the invention can detect the temperature of the test object and the magnitude of the acting force, can also detect the position of the acting force, and can simulate the human skin feeling effect more truly.
In one embodiment of the present invention, the first detecting unit outputs a first detection signal through the second electrode 12, and the second detecting unit outputs a second detection signal through the first electrode 11. Wherein, the electronic skin 100 further comprises a processing module, the processing module is respectively connected with the first electrode 11 and the second electrode 12, and the processing module is used for determining the acting force of the test object according to the first detection signal and determining the temperature of the test object according to the first detection signal and the second detection signal.
In one embodiment of the present invention, the neuron crystal array includes a plurality of diodes arranged according to a predetermined circuit rule.
Specifically, the second electrode 12 may include a plurality of sub-electrodes, wherein each sub-electrode is not connected to another sub-electrode. The neuron crystal array includes: the cascade structure comprises a plurality of cascade units, each cascade unit comprises at least one diode, the number of the diodes in the lower-level cascade unit is larger than that of the diodes in the upper-level cascade unit, the input end of each diode in the upper-level cascade unit is respectively connected with the output ends of the diodes in the lower-level cascade unit, the input ends of all the diodes in the lowest-level cascade unit are respectively connected with the third electrode 21, and a plurality of the output ends of the diodes in all the cascade units are correspondingly connected with the sub-electrodes.
As an example, the plurality of sub-electrodes may be divided into 4 parts, the processing module may include a plurality of controllers (four controllers P1, P2, P3, and P4 disposed in two directions as shown in fig. 3), and the P1, the P2, the P3, and the P4 are respectively connected to a part of the sub-electrodes, thereby facilitating the wiring connection. The output signals of all the sub-electrodes constitute the first detection signal described above. Correspondingly, the first electrode 11 may also include a plurality of sub-electrodes, the sub-electrodes in the first electrode 11 and the sub-electrodes in the second electrode 12 are arranged in a one-to-one correspondence, each sub-electrode in the first electrode 11 is also connected to a corresponding controller, and the output signals of all the sub-electrodes in the first electrode 11 constitute the second detection signal.
In this embodiment, the cascade unit may correspond to the neuron unit, the diode may correspond to the cell body 311 of the neuron 31, and the connection line between the two diodes may correspond to the axon 312 of the neuron 31.
As an example, as shown in fig. 4, the neuron crystal array includes 3 cascade units, which are respectively referred to as a first cascade unit 32, a second cascade unit 33 and a third cascade unit 34, the first cascade unit 32 includes a first number of diodes, the second cascade unit 33 includes a second number of diodes, and the third cascade unit 34 includes a third number of diodes, wherein the first number is smaller than the second number, and the second number is smaller than the third number. It should be noted that the connection mode of the diode in fig. 4 is based on the premise that the piezoelectric material outputs a negative voltage signal through the third electrode 21; if the piezoelectric material outputs a positive voltage signal through the third electrode 21, the positions of the cathode and the anode of the diode in fig. 4 may be reversed.
Specifically, because the neuron crystal array adopts multilayer cascade distribution, the current is gradually reduced from the first cascade unit 32 to the third cascade unit 34, the current of different cascade units is different in magnitude, and three-dimensional current magnitude distribution can be realized by respectively collecting current signals of each diode in the first cascade unit 32, the second cascade unit 33 and the third cascade unit 34, so that the detection of external acting force can be realized according to the current magnitude, and the multi-layer skin touch effect can be simulated more truly. Because the pyramid structure is arranged among the first cascade unit 32, the second cascade unit 33 and the third cascade unit 34, the current is sequentially increased from bottom to top, so that the diode currents in different depths are different in magnitude, different induction forces are formed, and the induction of each layer is different, so that multi-level induction is realized.
Meanwhile, since the diode is sensitive to temperature, when the temperature is different, the current passing through the diode is different, when a test object applying pressure from the outside has a certain temperature difference with the electronic skin, the temperature sensing material in the temperature sensing material layer 13 senses the temperature difference with the test object and the temperature loss or rise speed, and outputs a corresponding electrical signal to the first electrode 11, the first electrode 11 feeds back the electrical signal to the controllers P1, P2, P3 and P4, and the controllers P1, P2, P3 and P4 judge the temperature of the contact medium by judging the current difference with the normal temperature. The detection mode is a bionic detection mode, the piezoelectric sensor layer is provided with a neuron structure, each neuron is a node, when temperature is sensed, branch current of an area near a touch point is relatively large, the current of a plurality of branches can be compared through controllers, the current of which branch is relatively large can be judged, and then accurate temperature medium contacts can be positioned through cross fixed-point query in a first direction and a second direction.
Alternatively, the material of the test object may also be judged based on the detected temperature of the test object.
To facilitate understanding of the above principles, taking human skin as an example, the temperature of the test object felt by the skin may be higher or lower than the actual temperature of the test object because: first, humans are warm-blooded animals that experience not the temperature of the object itself, but the difference between the temperature of the object and our own temperature; second, the speed at which the object "absorbs" human heat can also be sensed. For example, at the same temperature, metal is perceived to be cooler than wool because metal "absorbs" human heat faster than wool.
Optionally, when detecting the temperature, two electrodes may be further provided, which are denoted as a fifth electrode and a sixth electrode, a thermocouple is connected between the fifth electrode and the sixth electrode, the fifth electrode is disposed on a side close to the test object, the sixth electrode is disposed on a side far from the test object, a hot end of the thermocouple may be connected to the fifth electrode, a free end (cold end) may be connected to the sixth electrode, and the temperature of the test object may be obtained from an output signal of the sixth electrode. The fifth electrode, the sixth electrode, and the thermocouple are insulated from the first detection unit and the second detection unit.
In one embodiment of the present invention, the first substrate 10 is disposed on a side close to a test object, and the second substrate 20 is disposed on a side far from the test object. Therefore, the test object is close to the temperature sensing material layer, and the detected temperature can be more accurate.
Wherein the first electrode 11 can be placed at a side close to the test object, and the second electrode 12 can be placed at a side far from the test object; alternatively, the first electrode 11 may be disposed on a side away from the test object, and the second electrode 12 may be disposed on a side close to the test object. The third electrode 21 may be disposed on a side close to the first substrate 10, and the fourth electrode 22 may be disposed on a side far from the first substrate 10; alternatively, the third electrode 21 may be disposed on a side away from the first substrate 10, and the fourth electrode 22 may be disposed on a side close to the first substrate 10.
As an example, the first electrode 11 is disposed on a side close to the test object, and the second electrode 12 is disposed on a side far from the test object; the third electrode 21 is disposed on a side close to the first substrate 10, and the fourth electrode 22 is disposed on a side far from the first substrate 10. Therefore, the neuron crystal array in the piezoelectric sensor layer 30 is conveniently connected with the second electrode 12 and the third electrode 21 in a wiring mode, and the electronic skin structure can be optimized.
In an embodiment of the present invention, the temperature sensing material layer 13 and the piezoelectric material layer 23 both include a soft conductive polymer, and the soft conductive polymer is obtained by: a metal wire having a diameter of 30 to 50 μm and a translucent polymer fiber are woven in a mesh filled with an optically transparent polymer, and an organic conductor thin layer is coated.
Specifically, a metal wire with a diameter of 30 to 50 μm, for example, 40 μm, and a semitransparent polymer fiber are woven into a fine mesh filled with an optically transparent polymer, and then a solution-processed organic conductor (such as PEDOT: PSS (poly (3, 4-ethylenedioxythiophene)) is coated on the substrate in a thin layer, so as to obtain a soft conductive polymer containing no ITO (indium tin oxide).
In summary, the electronic skin according to the embodiment of the invention can well sense the magnitude of the external pressure and the temperature and the contact position of the external contact medium through the feedback of the magnitude of the multi-level current, and can judge the material of the test object according to the temperature, thereby realizing a more realistic tactile effect of simulating the human skin.
Fig. 5 is a block diagram of the electronic device of the embodiment of the present invention.
As shown in fig. 5, the electronic device 1000 includes the electronic skin 100 of the above-described embodiment.
The electronic device 1000 may be a robot or a wearable device (e.g., a smart band, smart glasses, etc.).
According to the electronic equipment provided by the embodiment of the invention, the electronic skin provided by the embodiment is adopted, and the external pressure and the temperature and the contact position of an external contact medium can be well sensed through multi-layer current magnitude feedback, so that the more real touch effect of simulating the human skin is realized.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. An electronic skin, comprising:
the temperature sensing device comprises a first substrate, a second substrate and a temperature sensing material layer, wherein the first substrate comprises a first electrode, a second electrode and the temperature sensing material layer, the first electrode and the second electrode are oppositely arranged, and the temperature sensing material layer is arranged between the first electrode and the second electrode;
the second substrate comprises a third electrode, a fourth electrode and a piezoelectric material layer, the third electrode and the fourth electrode are oppositely arranged, and the piezoelectric material layer is arranged between the third electrode and the fourth electrode;
the piezoelectric sensor layer is arranged between the first substrate and the second substrate and comprises a neuron crystal array, the output end of the neuron crystal array is connected with the second electrode, and the input end of the neuron crystal array is connected with the third electrode;
the second electrode, the piezoelectric sensor layer, the third electrode, the piezoelectric material layer and the fourth electrode form a first detection unit for detecting the acting force of the test object acting on the electronic skin;
the first electrode, the temperature sensing material layer, the second electrode, the piezoelectric sensor layer, the third electrode, the piezoelectric material layer and the fourth electrode form a second detection unit for detecting the temperature of the test object by combining with the first detection unit.
2. The electronic skin according to claim 1, wherein the first detecting unit outputs a first detection signal through the second electrode, and the second detecting unit outputs a second detection signal through the first electrode, the electronic skin further comprising:
the processing module is respectively connected with the first electrode and the second electrode, and is used for determining the acting force of the test object according to the first detection signal and determining the temperature of the test object according to the first detection signal and the second detection signal.
3. The electronic skin according to claim 2, wherein the processing module is further configured to determine an action position of the test object on the electronic skin according to the second detection signal or the first detection signal.
4. The electronic skin according to claim 1, wherein the neuron crystal array comprises a plurality of diodes arranged according to a predetermined circuit rule.
5. The electronic skin of claim 4, wherein the second electrode comprises a plurality of sub-electrodes, the neuron crystal array comprising:
the cascade structure comprises a plurality of cascade units, each cascade unit comprises at least one diode, the number of the diodes in the lower-level cascade unit is larger than that of the diodes in the upper-level cascade unit, the input end of each diode in the upper-level cascade unit is respectively connected with the output ends of the diodes in the lower-level cascade unit, the input ends of all the diodes in the lowest-level cascade unit are respectively connected with the third electrode, and the output ends of the diodes in all the cascade units are correspondingly connected with the sub-electrodes.
6. The electronic skin of claim 5, wherein the neuron crystal array comprises 3 cascade cells, respectively designated as a first cascade cell comprising a first number of diodes, a second cascade cell comprising a second number of diodes, and a third cascade cell comprising a third number of diodes, wherein the first number is less than the second number, and the second number is less than the third number.
7. The electronic skin of claim 1, wherein the first substrate is disposed on a side proximate to a test object and the second substrate is disposed on a side distal to the test object, wherein,
the first electrode is arranged at one side close to the test object, and the second electrode is arranged at one side far away from the test object; alternatively, the first and second electrodes may be,
the first electrode is arranged on one side far away from the test object, and the second electrode is arranged on one side close to the test object.
8. The electronic skin of claim 7,
the third electrode is arranged at one side close to the first substrate, and the fourth electrode is arranged at one side far away from the first substrate; alternatively, the first and second electrodes may be,
the third electrode is arranged on one side far away from the first substrate, and the fourth electrode is arranged on one side close to the first substrate.
9. The electronic skin according to claim 1, wherein the temperature-sensitive material layer and the piezoelectric material layer each comprise a soft conductive polymer obtained by:
a metal wire having a diameter of 30 to 50 μm and a translucent polymer fiber are woven in a mesh filled with an optically transparent polymer, and an organic conductor thin layer is coated.
10. An electronic device, characterized in that the electronic device comprises an electronic skin according to any of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010120771.XA CN111337152B (en) | 2020-02-26 | 2020-02-26 | Electronic skin and electronic equipment |
Applications Claiming Priority (1)
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