CN113386158A - Full-printing bionic super-sensing flexible robot skin - Google Patents
Full-printing bionic super-sensing flexible robot skin Download PDFInfo
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- CN113386158A CN113386158A CN202110533975.0A CN202110533975A CN113386158A CN 113386158 A CN113386158 A CN 113386158A CN 202110533975 A CN202110533975 A CN 202110533975A CN 113386158 A CN113386158 A CN 113386158A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/084—Tactile sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/086—Proximity sensors
Abstract
The invention discloses a full-printing bionic super-sensing flexible robot skin. The temperature-proximity composite sensitive layer is closely assembled with the flexible lower substrate layer from top to bottom in sequence; the pressure sensitive layer, the top electrode layer and the temperature-proximity composite sensitive layer jointly realize pressure sensing; the pressure sensitive layer is used as a dielectric medium of the pressure sensitive capacitor; the top electrode layer is used as a top electrode of the pressure-sensitive capacitor; the temperature-proximity composite sensitive layer is used for temperature sensing by the resistance value while being used as the bottom electrode of the pressure-sensitive capacitor, and the proximity sensing of an object by the capacitance value to the ground. The preparation method is based on a printable scheme, has the advantages of being light, thin, customizable and mild in processing conditions, can be used as a human-computer interaction interface in scenes such as industrial production, home care and the like, and can realize the functions of pressure sensing, temperature sensing and proximity sensing only by using three layers of functional materials.
Description
Technical Field
The invention relates to a flexible skin in the technical field of flexible sensors, in particular to a full-printing bionic super-sensing flexible robot skin.
Background
The service robot is gradually entering into the production and life of people, and plays an increasingly important role in the development of the human society. The collaborative robot application design specification ISO TS 15066 shows that the closer the human-computer interaction, the higher the design requirements. Frequent and complex human-computer interaction scenes put higher-level requirements on the perception function of the robot. Bionics is a research hotspot in the field of robotics. Tactile perception and temperature perception are basic means for adapting organisms to environmental changes. Haptics in the conventional sense include the perception of variables such as pressure, shear force, texture, etc. The tactile sensor can assist the service robot to complete expected actions in an unstructured environment and perform safe human-robot interaction. The temperature sensor can identify a heat source and a cold source in the environment, so that the robot can distinguish people from objects in the environment to carry out targeted interaction. The touch perception and the temperature perception of the simulation organism, and the proximity sensor is integrated in the skin of the robot, so that the robot can identify the whole process from the approach to the contact of an external object with the body, further can be competent for more complex working scenes, and is also beneficial to ensuring the intrinsic safety in the human-computer interaction process.
At present, most of robot skin applied to a large area is based on a traditional silicon-based circuit, and has the defects of being heavy, stiff and inconvenient to customize according to an application scene. The production of robot skin by depositing thin films on flexible substrates, combined with printing processes and flexible functional materials, is a viable alternative. However, most of the existing printable solutions require a medium such as a mask plate to participate therein, and the flexibility of production is not high. In addition, most of the existing flexible robot skin only has 1 to 2 perception modes, and the improvement on the perception capability of the robot is limited. How to prepare the robot skin with various perception functions by a simple and flexible means still has research value.
Disclosure of Invention
In order to provide the perception capability of multiple modes for the robot, the invention provides the full-printing bionic super-perception flexible robot skin, the functions of pressure perception, temperature perception and proximity perception can be realized only by three layers of functional materials, and the full-printing bionic super-perception flexible robot skin can be applied to intelligent man-machine interaction.
The invention combines two digital processing technologies of ink-jet printing and dispensing to deposit patterns on the flexible substrate layer by layer so as to prepare the light, smooth and convenient-to-customize robot skin. Meanwhile, one layer of electrode is multiplexed into multiple sensing functions, so that the integration level of the multi-mode sensing device is improved, and the robot skin has the multi-mode sensing function and portability; the invention ensures the performance of various perception modes by reasonably designing the patterns of each layer.
The patterning in the preparation flow is based on a printable scheme, for example, the temperature-proximity composite sensitive layer is prepared by ink-jet printing, the pressure sensitive layer and the top electrode layer are prepared by dispensing, and the method has the advantages of lightness, thinness, customization and mild processing conditions, and can be used as a human-computer interaction interface in scenes such as industrial production, home care and the like.
The technical scheme adopted by the invention is as follows:
the temperature-proximity composite sensor mainly comprises a flexible upper substrate layer, a top electrode layer, a bonding layer, a pressure sensitive layer, a temperature-proximity composite sensitive layer and a flexible lower substrate layer which are tightly assembled from top to bottom in sequence;
the flexible upper substrate layer protects the device, and the flexible lower substrate layer bears the whole device; the bonding layer is positioned between the pressure sensitive layer and the top electrode layer;
the temperature-proximity composite sensitive layer is mainly composed of at least one electrode unit which is uniformly distributed in an array and is connected in series with each other, and the electrode unit is led out to an external acquisition circuit through a lead to form an electrode array;
the pressure sensitive layer comprises at least four dielectric medium units which are uniformly distributed in an array and are respectively positioned right below each electrode unit of the top electrode layer;
the top electrode layer comprises at least four electrode units which are uniformly distributed in an array, and each electrode unit is electrically led out to an external acquisition circuit by a separate lead;
a dielectric unit is arranged right above four corners of each electrode unit, and an electrode unit is arranged right above each dielectric unit. The top electrode layer, the temperature-proximity composite sensitive layer leads are connected to an external acquisition circuit.
After 4 electrode units are arranged on the temperature-proximity composite sensitive layer, the outer edges of every two adjacent electrode units are connected through respective conductive paths along the circumferential direction, a notch is arranged at one conductive path to break the conductive path, a square outer edge frame with the notch is formed, all the electrode units are enclosed in the square outer edge frame, and each electrode unit is provided with 2 leads to be electrically connected.
The dielectric unit is made of flexible materials and is composed of a plane and a plurality of bulges which are uniformly distributed on the plane in an array mode, and the lattice-shaped dielectric unit is formed.
In specific implementation, the top electrode layer includes 16 electrode units arranged in a 4 × 4 array, the pressure sensitive layer includes 16 dielectric units arranged in a 4 × 4 array, and the temperature-proximity composite sensitive layer includes 4 electrode units arranged in a 2 × 2 array. The total number of dielectric units of the pressure sensitive layer and electrode units of the top electrode layer is 4 x 4, and the total number of electrode units of the temperature-proximity composite sensitive layer is 2 x 2.
The dielectric elements of the pressure sensitive layer adopt a lattice-like geometry including, but not limited to.
The shape of the electrode unit of the top electrode layer and the shape of the electrode unit of the temperature-proximity composite sensitive layer are square.
The top electrode layer, the pressure sensitive layer and the temperature-proximity composite sensitive layer are all made of functional ink by printing, and the rest of the flexible upper substrate layer, the bonding layer and the flexible lower substrate layer are all made of thin film materials.
The printing raw material of the electrode array of the temperature-proximity composite sensitive layer is a conductive material with thermal resistance characteristics, such as PEDOT, PSS aqueous solution and nano silver particle solution (AgNP).
The printing material of the pressure sensitive layer is a dielectric material with elasticity, such as polydimethylsiloxane and silicon rubber.
The printing material of the top electrode layer and all leads is a conductive material with low resistivity and scratch resistance, such as conductive silver adhesive.
The adhesive layer includes, but is not limited to, commercially available PET tape. The base material is transparent polyethylene terephthalate, and the viscous material is acrylic acid. The adhesive layer fixes the relative position between the top electrode layer and the pressure sensitive layer, and simultaneously can avoid short circuit between the top electrode layer and the temperature-proximity composite sensitive layer.
The flexible upper substrate layer and the flexible lower substrate layer are made of an electrically insulating and room-temperature stable organic material, such as polyethylene terephthalate and polyimide.
The flexible robot skin is formed by assembling a flexible upper substrate layer loaded with a top electrode layer and a flexible lower substrate layer loaded with an adhesive layer, a pressure sensitive layer and a temperature-proximity composite sensitive layer in a way of overturning and attaching, and fixedly connecting by means of the viscosity of the adhesive layer.
The pressure sensitive layer is deposited on the surface of the temperature-proximity composite sensitive layer in a pneumatic dispensing mode.
The top electrode layer and the lead are deposited on the surface of the flexible upper substrate layer in a pneumatic dispensing mode.
The electrode array of the temperature-proximity composite sensitive layer is deposited on the surface of the flexible lower substrate layer by a piezoelectric ink-jet printing method and the like.
The invention realizes pressure sensing through the matching relation among the top electrode layer, the pressure sensitive layer and the temperature-proximity composite sensitive layer: after the external pressure is applied to the skin by the object to be detected, the external pressure causes the pressure sensitive layer to deform, and further causes the distance between the electrode unit of the top electrode layer and the electrode unit of the temperature-proximity composite sensitive layer to change, so that the capacitance between the electrode units is changed.
When the pressure causes the dielectric element to deform, the distance between the electrode elements above and below it decreases, resulting in an increase in capacitance in this portion. The positive pressure at the position can be obtained by detecting the capacitance between the electrode units at the top and the bottom.
The invention realizes temperature perception and proximity perception simultaneously through the temperature-proximity composite sensitive layer:
when an object to be detected contacts the skin, the temperature is transmitted to the surface of the temperature-proximity composite sensitive layer through the flexible upper basal layer, the top electrode layer, the adhesive layer and the pressure sensitive layer in a heat conduction mode, so that the temperature of the temperature-proximity composite sensitive layer changes, the resistivity of an electrode array material in the temperature-proximity composite sensitive layer changes along with the temperature change, and the resistance of each electrode unit is detected to realize the temperature sensing.
The electrode unit of the temperature-approaching composite sensitive layer has thermal resistance characteristics, and the temperature of the position of the electrode unit can be obtained by measuring the resistance among 2 leads of any one electrode unit.
When an object to be measured approaches the skin, the electrode array of the temperature-proximity composite sensitive layer has the property of a conductor based on the self-capacitance principle, and the capacitance between the temperature-proximity composite sensitive layer and the ground is increased along with the approach of the object to be measured. And for the change of the capacitance of the ground, the capacitance change of the temperature-proximity composite sensitive layer relative to the ground is detected, so that the sensing that the object to be detected is close to the skin is realized, and the sensing distance is obtained.
The material of the temperature-proximity composite sensitive layer has good conductivity, and an outer frame formed by the electrode units can be used as a polar plate of the capacitor and can form a capacitor structure with a virtual ground. After an object in the external environment approaches the plate, the approach of the object will cause an increase in capacitance between the plate and the virtual ground due to capacitive coupling between the external object and the virtual ground. The approach of an external object can be detected by measuring the capacitance change between the temperature-proximity composite sensitive layer and the virtual ground.
The object to be detected can be an object, an animal or a plant.
The invention is specially provided with the temperature-proximity composite sensitive layer, improves the sensing function and performance by realizing proximity sensing and temperature sensing, and realizes the bionic super sensing.
The invention adopts the idea of electrode multiplexing, and the special shape of the temperature-proximity composite sensitive layer is designed, so that the temperature-proximity composite sensitive layer is multiplexed in pressure sensing, temperature sensing and proximity sensing; the pressure sensing and the approach sensing output capacitance variation, the temperature sensing output resistance variation and the detection modes are mutually independent, and the coupling of the temperature variation in the pressure sensing/approach sensing output quantity is avoided.
Each electrode unit of the temperature-proximity composite sensitive layer is provided with the hollow-out groove with the same property, so that the temperature change of a small area can also cause obvious resistance change, the temperature sensing effect when an object to be detected does not completely cover or cannot completely cover the surface of the electrode unit of the temperature-proximity composite sensitive layer is improved, and the sensing sensitivity is improved.
The multi-modal perception capability of the invention is embodied in that the multiple perception modes of the robot skin are independent from each other in the detection principle, and are not coupled in the aspects of the types and the acquisition modes of detection signals. Furthermore, the temperature-proximity composite sensitive layer is used for three sensing modalities: in temperature sensing, 4 electrode units form 4 independent temperature-sensitive resistors; in the approach sensing, the outer frame connected with 4 electrode units forms a polar plate of a self-capacitance; in pressure sensing, the electrode units form the bottom electrode of the pressure-sensitive capacitor, and 4 independent pressure-sensitive layer units and top electrode layer units are arranged above each electrode unit. The design simplifies the number of layers of the robot skin and has better integration level.
The pressure sensitive layer, the top electrode layer and the temperature-proximity composite sensitive layer form a pressure sensitive capacitor together on the basis of a dielectric material; the top electrode layer is used as a top electrode of the pressure-sensitive capacitor; the temperature-proximity composite sensitive layer is used as a bottom electrode of the pressure-sensitive capacitor, and the resistance value of the temperature-proximity composite sensitive layer indicates temperature sensing and the capacitance value to the ground indicates proximity sensing.
In the invention, the pressure sensing adopts a capacitance principle instead of a resistance principle, thereby avoiding the influence of resistance change caused by temperature change on pressure sensing output; the temperature-proximity composite sensitive layer is positioned below the pressure sensitive layer, so that the deformation of the temperature-proximity composite sensitive layer caused by external pressure is reduced, and further the resistance change caused by strain under the external pressure is reduced, and the influence of the pressure change on the temperature sensing output is reduced. In addition, each electrode unit of the temperature-proximity composite sensitive layer is used as a bottom electrode of a plurality of pressure-sensitive capacitors, so that the deformation of the temperature-proximity composite sensitive layer affects a plurality of pressure sensing output quantities, and therefore, the layer is arranged below the pressure-sensitive layer to reduce the deformation of the layer, and the crosstalk between the adjacent pressure-sensitive capacitors is favorably reduced.
The different electrode units of the top electrode layer in the present invention are not connected by conductive paths. Considering that the conductive material has a higher young's modulus than the base material, which easily causes local deformation to be transmitted to the periphery, the distributed design of each electrode unit in the top electrode layer maximally suppresses the pressure-sensing crosstalk caused by the transmission of the deformation of the layer.
The pressure sensitive layer has a lattice-shaped geometric structure printed by a dispensing process, and is beneficial to generating local stress concentration when being pressed, so that the integral deformation is improved, and the sensitivity of pressure sensing is finally improved.
The invention adopts the digital printing technology to carry out patterning in the whole process, including ink-jet printing and dispensing. The characteristics of digital processing enable the design to flexibly adjust the whole size and the spatial resolution and patterning shape of various perception modes according to different carrying robots and different application scenes, and the application range of the design structure is expanded.
The invention has the beneficial effects that:
the invention simulates the compliance characteristic and the multi-modal perception function of the skin of an organism and can independently measure a plurality of variables in the human-computer interaction process. The same layer of electrodes are multiplexed to multiple sensing functions, so that the number of layers of the sensing device is reduced, the characteristics of lightness and thinness are realized, and the limitation of the robot activity caused by the robot skin is reduced to the greatest extent.
The invention carries out fine design on the laminating mode of the robot skin and the patterns of each printing layer, and inhibits the coupling between different perception modes and the crosstalk between different perception points in the same perception mode.
The invention is based on a digital printing process, can flexibly adjust design details according to different application scenes, and has wider application range compared with other types of robot skin.
Drawings
FIG. 1 is a schematic view of a laminated structure of a fully-printed bionic super-sensing flexible robot skin according to the present invention;
FIG. 2 is an overall appearance diagram of a fully-printed bionic super-sensing flexible robot skin according to the present invention;
FIG. 3 is a schematic diagram of the resistance equivalent of an array of electrode units of a temperature-proximity composite sensing layer;
FIG. 4 is a flow chart of the preparation process of the fully-printed bionic super-sensing flexible robot skin of the present invention;
in the figure: the flexible upper substrate layer 1, the top electrode layer 2, the bonding layer 3, the pressure sensitive layer 4, the temperature-proximity composite sensitive layer 5, the electrode unit 501 of the temperature-proximity composite sensitive layer, the electrode array 502 of the temperature-proximity composite sensitive layer and the flexible lower substrate layer 6.
FIG. 5 is a graph showing the relative variation of the pressure-sensitive capacitance during cyclic pressurization;
FIG. 6 is a schematic diagram of the capacitance increase due to weight loading;
FIG. 7 is a schematic diagram of capacitance increase caused by proximity perception response caused by a wooden palm model;
fig. 8 is a schematic diagram of a modified design of the counter electrode unit 501;
fig. 9 is a schematic diagram of the relative increase in resistance due to the temperature sensing performance of differently shaped electrode units.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, an embodiment of the present invention comprises a flexible upper substrate layer 1, a top electrode layer 2, an adhesive layer pressure sensitive layer 3, a pressure sensitive layer 4, a temperature-proximity composite sensitive layer 5, and a flexible lower substrate layer 6. The electrode units of the top electrode layer 2 are arranged in a 4 × 4 equally spaced array, and together with the leads thereof, form the top electrode layer 2. The dielectric units of the pressure sensitive layer 4 are arranged in a 4 × 4 equally spaced array, are respectively located right below the electrode units of the top electrode layer 2, and are fixed by the adhesion of the adhesive layer 3. The temperature-proximity composite sensitive layer 5 comprises 2 x 2 electrode units 501 arranged at equal intervals, each electrode unit 501 is provided with 2 outgoing lines and is positioned right below the 2 x 2 dielectric units, 4 electrode units 501 are connected in series through an outer frame to form an electrode array 502 of the temperature-proximity composite sensitive layer, and the outgoing lines of the layer together form the temperature-proximity composite sensitive layer 5. The flexible lower substrate layer 6 is located lowermost, carrying the entire device, in abutment with the mounting plane of the robot. The flexible upper substrate layer 1 is in direct contact with an external object, and the whole device is packaged and protected.
In order to allow the pressure sensing of the robot skin to identify details of the contours of the external object when using the device, the dimensions of the dielectric elements of the pressure sensitive layer 4 and the electrode elements of the top electrode layer 2 should be limited. For example, the dielectric elements of the embodied pressure-sensitive layer 4 and the electrode elements of the top electrode layer 2 may have a side length of 5 mm.
When the device is used, the approach perception of the robot skin is based on the self-capacitance principle, and the maximum perception distance of the robot skin to a specific object is positively correlated with the overall dimension of the polar plate. To ensure that the robot skin can sense the approach of the limb, the physical dimensions of the electrode array 502 of the temperature-proximity composite sensitive layer 5 should be determined experimentally. For example, the outer frame of the electrode array 502 of the embodied temperature-proximity composite sensitive layer 5, as a polar plate, may have a side length of 44 mm.
The number of the top electrode layer 2 and the pressure sensitive layer 4 of the fully-printed bionic super-sensing flexible robot skin comprises but is not limited to 4 x 4, and the number of the electrode units 501 of the temperature-proximity composite sensitive layer 5 comprises but is not limited to 2 x 2. The number of cells should be determined taking into account the size of the cells, as determined by the specific needs of the application scenario.
Because the printing technology has the characteristics of customized design and digital processing, the parameters such as the shape, the size, the number and the like can be flexibly adjusted according to the requirement.
The printing raw materials of the fully-printed bionic super-sensing flexible robot skin temperature-approaching composite sensitive layer 5 include but are not limited to PEDOT, PSS aqueous solution or AgNP solution.
The material of the pressure sensitive layer 4 of the embodied fully-printed bionic super-sensing flexible robot skin comprises but is not limited to dielectrics with elasticity, such as polydimethylsiloxane and silicon rubber.
The top electrode layer of the embodied fully-printed bionic super-sensing flexible robot skin and the printing raw materials of all leads include, but are not limited to, a conductive material with low resistivity and scratch resistance, such as conductive silver adhesive.
The materials of the flexible upper substrate layer 1 and the flexible lower substrate layer 6 of the fully-printed bionic super-sensing flexible robot skin include, but are not limited to, polyethylene terephthalate or polyimide.
The embodied fully-printed temperature-approaching composite sensitive layer 5 electrode array 502 of the bionic super-sensing flexible robot skin is deposited on the surface of the flexible lower substrate layer 6 by methods including but not limited to piezoelectric ink-jet printing and the like; the pressure sensitive layer 4 is deposited on the surface of the temperature-proximity composite sensitive layer 5 by a method including but not limited to air pressure type glue dispensing; the top electrode layer 2 is deposited on the surface of the flexible upper substrate layer 1 by methods including, but not limited to, air-pressure dispensing.
The assembly process of the invention comprises the steps of attaching the flexible upper substrate 1 and the bearing object thereof to the flexible lower substrate 6 and the bearing object thereof, and fixing the pressure sensitive layer 4 and the top electrode layer 2 through the viscosity of the bonding layer 3. When the two substrates are attached, the leads of the top electrode layer 2 and the leads of the temperature-proximity composite sensitive layer 5 are in different orientations. The substrate of the adhesive layer 3 may be a thin and light polyethylene terephthalate so that it does not have a significant effect on the thickness of the robot skin. The function of the adhesive layer 3 also includes: the lead of the top electrode layer 2 is electrically isolated from the crossing position of the temperature-proximity composite sensitive layer 5, so that short circuit is avoided; the air gap between the raised structure of the pressure sensitive layer 4 and the top electrode layer 2 is reduced, and the air is prevented from participating in the dielectric medium of the pressure sensitive capacitor to cause uncertainty on the sensing performance of the pressure sensitive capacitor.
The shapes of the temperature-proximity composite sensitive layer unit 501, the dielectric unit of the pressure sensitive layer and the electrode unit of the top electrode layer of the fully-printed bionic super-sensing flexible robot skin include, but are not limited to, a square. The signal acquisition circuit outside the robot skin can measure the capacitance between the electrode unit 501 of the temperature-proximity composite sensitive layer and the electrode unit of the top electrode layer and the capacitance to ground of the temperature and the proximity composite sensitive layer 5 by an RC charge-discharge principle, can measure the resistance of the electrode unit 501 of the temperature-proximity composite sensitive layer by a voltage division method, then sends the measurement result to a computer, and analyzes the pressure and the temperature of different positions of the robot skin and the proximity of an external object by the computer, thereby carrying out feedback and implementing corresponding safety strategies.
As shown in fig. 2, an axonometric view of the fully-printed bionic super-sensing flexible robot skin formed by assembling the flexible lower substrate layer 6, the temperature-proximity composite sensitive layer 5, the pressure sensitive layer 4, the adhesive layer 3, the top electrode layer 2 and the flexible upper substrate layer 1 is shown in fig. 2.
As shown in fig. 3, an electrode array 502 of the temperature-proximity composite sensitive layer 5 comprises 2 x 2 electrode units 501. The resistance equivalent diagram shows that the whole electrode array 502 is displayed in a straight line, and a plurality of electrode units 501 are in series connection, so that the resistance values of 4 electrode units 501 are independent of each other, the resistance between any 1 pair of extraction points only depends on the electrode unit 501 at the inner side of the extraction point, and the part at the outer side of the extraction point is bypassed. The square outer frame connecting the plurality of electrode units 501 encloses all the electrode units inside. A notch is designed on the right side of the outer frame, so as to avoid forming a loop, otherwise, any 1 electrode unit 501 and the rest 3 electrode units are in a parallel relation, not a series relation.
As shown in fig. 4, the patterning of the fabrication flow of the present invention is based on a digital processing technique. On the left side of the figure, firstly, an electrode array 502 with temperature-approximate composite sensitive layer 5 is deposited on a blank flexible lower substrate layer 6 through ink-jet printing, AgNP solution is selected as a printing raw material, and after the printing is finished, the flexible lower substrate layer 6 is placed on a heating table at 150 ℃ for annealing for 10 minutes to solidify the pattern. And next, sequentially depositing a lead wire of the temperature-approximate composite sensitive layer 5 and the pressure sensitive layer 4 on the electrode array 502 by using air pressure type dispensing, respectively selecting conductive silver adhesive and silicon rubber as raw materials, and annealing the flexible lower substrate layer 6 on a heating table at 120 ℃ for 30 minutes to solidify the pattern. Thereafter, the adhesive layer 3 is manually applied on top of the pressure sensitive layer 4. And on the right side of the figure, depositing a top electrode layer 2 on the flexible upper substrate layer 1 through air pressure type dispensing, selecting conductive silver adhesive as a raw material, and annealing the flexible upper substrate layer 1 on a heating table at 120 ℃ for 30 minutes to solidify the pattern. And finally, cutting the redundant parts around the lead-out flat cables of the flexible lower substrate layer 6 and the flexible upper substrate layer 1, and overturning and attaching the flexible upper substrate layer 1 to the upper part of the flexible upper substrate layer 6 to complete the whole preparation process.
Example 1
The test conditions of the 0.3-1N reciprocating cyclic force loading experiment are as follows: the invention is fixed on a fixed table top of a testing machine, a plastic cylinder is fixed on a movable table top, and the movable table top drives the plastic cylinder to downwards extrude a certain dielectric unit of the robot skin. When the detection amount of the force sensor connected with the movable table top exceeds 1N, the movable table top drives the plastic cylinder to be away from the robot skin until the detection amount of the force sensor is less than 0.3N. The above process is then immediately repeated and the next extrusion is performed. The number of cyclic loads is about 2500.
The relative change in the pressure-sensitive capacitance values during cyclic pressurization is shown in fig. 5: the figure shows the output of 10 consecutive loads in the initial stage and the later stage of the experiment. The peaks and valleys of the response curves in both cases are highly consistent.
It can be shown that the pressure sensing of the present invention has the ability to operate stably under dynamic pressure application conditions.
Example 2
To evaluate the pressure sensing of the present invention for the presence of crosstalk, the capacitance at a certain dielectric element is measured by a capacitance measuring device under different scenarios: no weight is loaded, the weight is loaded at the position to be measured, the weight is loaded at the upper adjacent position of the position to be measured, the weight is loaded at the right adjacent position of the position to be measured, and the weight is loaded at the diagonal adjacent position of the position to be measured. In the experimental process, the robot skin is fixed on a hard table top, and the contact area of the weight and the robot skin is close to the area of the dielectric unit.
Under different scenes, the capacitance increment caused by weight loading is shown in FIG. 6: it is evident from the figure that the voltage-dependent capacitance can only be increased significantly if the weight is located exactly at the position to be measured.
Therefore, the pressure sensing of the invention can avoid the crosstalk phenomenon between adjacent sensing points under the test condition, and each sensing point can be independently measured.
Example 3
The test conditions of the proximity perception experiment of the invention are as follows: the robot skin is fixed on a certain plane, and the wooden palm model is placed on another plane parallel to the plane and positioned right above the robot skin. The distance between the two planes is adjusted and the proximity perception output is recorded at this distance with and without the palm model using a capacitance measuring device.
The increase in capacitance to ground of the temperature-proximity composite sensitive layer 5 recorded during the experiment is shown in fig. 7: when the distance between the palm model and the robot skin is 7cm, 5.5cm and 3cm respectively, the capacitance increment caused by the palm model is larger and larger as the distance is smaller and smaller.
Therefore, the approach perception of the invention can effectively perceive the object which is close to the approach in the external environment, and greatly improves the perception function and performance.
Example 4
When an external object cannot sufficiently contact the temperature, which is close to the entire area of the electrode unit 501 corresponding to the sensitive layer 5, it is difficult to generate a significant change in the resistance thereof. In this case, the electrode unit 501 is modified as shown in fig. 8, and the originally solid electrode unit 501 may be designed as a meandering electrode unit 503. Since the electrode unit 503 retains the area of the electrode unit 501 directly below the dielectric unit, the pressure sensitive capacitance still exists, and the improvement does not sacrifice pressure sensing; since the outer frame of the modified 2 × 2 electrode units 503 remains unchanged, the plate of the self-capacitance of the temperature-proximity composite sensitive layer 5 still exists, and the improvement does not sacrifice proximity sensing. The conductive paths of the meandering electrode unit 503 are highly concentrated at the center of the pattern, while only a portion of the conductive paths of the solid electrode unit 501 passes through the center of the pattern. Therefore, when only the temperature at the center of the pattern changes, the meandering electrode unit 503 should have a more significant response than the solid electrode unit 501.
The experiment of fig. 9 demonstrates the above discussion. When the fingertip touches the whole electrode, the response values of the two electrodes approach each other. When the fingertip touches only the center of the electrode, the response value of the meandering electrode unit 503 is almost unchanged, and the response value of the solid electrode unit 501 is not as good as before.
Therefore, the improved design of the pattern of the electrode unit 501 can effectively improve the response of temperature sensing to insufficient contact, and greatly improve the sensing performance of the invention in practical application.
Claims (9)
1. The utility model provides a print bionic super sense flexible robot skin entirely which characterized in that:
the temperature-proximity composite sensitive sensor mainly comprises a flexible upper substrate layer (1), a top electrode layer (2), a bonding layer (3), a pressure sensitive layer (4), a temperature-proximity composite sensitive layer (5) and a flexible lower substrate layer (6) which are tightly assembled from top to bottom in sequence;
the temperature-proximity composite sensitive layer (5) is mainly composed of at least one electrode unit (501) which are uniformly distributed in an array and connected in series with each other to form an electrode array (502);
the pressure sensitive layer (4) comprises at least four dielectric units which are uniformly distributed in an array;
the top electrode layer (2) comprises at least four electrode units which are uniformly distributed in an array, and each electrode unit is electrically led out by a separate lead;
a dielectric unit is arranged right above four corners of each electrode unit (501), and an electrode unit is arranged right above each dielectric unit.
2. The fully-printed bionic super-perception flexible robot skin as claimed in claim 1, wherein: after 4 electrode units (501) are arranged on the temperature-proximity composite sensitive layer (5), the outer edges of every two adjacent electrode units (501) are connected through respective conductive paths along the circumferential direction, and a notch is arranged at one conductive path to disconnect the conductive path.
3. The fully-printed bionic super-perception flexible robot skin as claimed in claim 1, wherein: the dielectric unit is made of flexible materials and is composed of a plane and a plurality of bulges which are uniformly distributed on the plane in an array mode, and the lattice-shaped dielectric unit is formed.
4. The fully-printed bionic super-perception flexible robot skin as claimed in claim 1, wherein: the top electrode layer (2), the pressure sensitive layer (4) and the temperature-proximity composite sensitive layer (5) are all made of functional ink through printing, and the rest of the flexible upper substrate layer (1), the bonding layer (3) and the flexible lower substrate layer (6) are all made of thin film materials.
5. The fully-printed bionic super-perception flexible robot skin as claimed in claim 1, wherein: the flexible robot skin is formed by assembling a flexible upper substrate layer (1) loaded with a top electrode layer (2) to a flexible lower substrate layer (6) loaded with an adhesive layer (3), a pressure sensitive layer (4) and a temperature-proximity composite sensitive layer (5) in a turnover mode and fixedly connected by the viscosity of the adhesive layer (3).
6. The fully-printed bionic super-perception flexible robot skin as claimed in claim 5, wherein: the pressure sensitive layer (4) is deposited on the surface of the temperature-proximity composite sensitive layer (5) in a pneumatic dispensing mode.
7. The fully-printed bionic super-perception flexible robot skin as claimed in claim 5, wherein: the top electrode layer (2) and the lead are deposited on the surface of the flexible upper substrate layer (1) in a pneumatic dispensing mode.
8. The fully-printed bionic super-perception flexible robot skin as claimed in claim 5, wherein: the electrode array (502) of the temperature-proximity composite sensitive layer (5) is deposited on the surface of the flexible lower substrate layer (6) by a piezoelectric ink-jet printing method and the like.
9. The fully-printed bionic super-perception flexible robot skin as claimed in claim 5, wherein: and each electrode unit (501) of the temperature-proximity composite sensitive layer (5) is provided with a hollow groove with the same property.
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