CN205538042U - A flexible touch sensing device for three -dimensional body surface - Google Patents
A flexible touch sensing device for three -dimensional body surface Download PDFInfo
- Publication number
- CN205538042U CN205538042U CN201620320193.3U CN201620320193U CN205538042U CN 205538042 U CN205538042 U CN 205538042U CN 201620320193 U CN201620320193 U CN 201620320193U CN 205538042 U CN205538042 U CN 205538042U
- Authority
- CN
- China
- Prior art keywords
- dimensional
- sensing device
- touch
- sensing element
- pressure
- 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.)
- Expired - Fee Related
Links
Landscapes
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The utility model relates to a flexible touch sensing device, flexible touch sensing device are used for the three -dimensional body surperficial, including the linear sensing element of one -dimensional, monitoring circuit and calculation module. The linear sensing element of one -dimensional lay the three -dimensional body surface with the thoughts and feelings press the touch and with the sensing to the pressure touch convert the signal of telecommunication into. Monitoring circuit with the linear sensing element of one -dimensional links to each other in order to enlarge and the AD conversion the signal of telecommunication. Calculation module with monitoring circuit links to each other, calculates according to the signal of telecommunication after the AD conversion and presses the touch size and press and touch the position. The utility model discloses can be with surface or the internal surface of form suits such as similar gloves, socks, close -fitting underwear, leather bag at the three -dimensional body such as robot and so on to can cover the complicated shape limbs of the great area of three -dimensional body with lower cost.
Description
Technical field
This utility model relates to a kind of touch sensing device, specifically, relates to a kind of for three-dimensional body
The softness haptic perception sensing device on surface.
Background technology
Touch sensor be humanoid robot, intelligent artificial limb, Intelligent worn device, intelligence amenity facilities (as
Intelligence sofa chair/bed) etc. obtain the indispensable means of contact information.
As a example by intelligent artificial limb hands, the information provided according to touch sensor, intelligent artificial limb hands can be to object
Body reliably captures, and can the physical characteristic such as its size of perception, shape, weight, soft or hard further,
The touch sensor being applied to intelligent artificial limb hands requires that touch sensor has highly flexible and miniaturization, permissible
Firmly docile finger surface, it means that effective mounting means is same to the reliability of touch sensor
There is vital effect.
For humanoid robot, current tactile sensing device of robot's sensing is typically to arrange at health key position
Have a small amount of force transducer, not yet have be easy to larger area cover continuously robot limb surface machine sense of touch pass
Sensor occurs, and, the main direction of studying in this field concentrates on solution single-point or local pressure/temperature at present
In the solutions such as sensing detection, the such as Chinese utility model of Application No. " 201210193314.9 " is special
Profit application, application should be for the Chinese utility model patent applications etc. of " 201310756674 ".And for sense of touch,
The sensing detection of sense of heat active position not yet has suitable solution.At present, though having and multiple utilizing flexible electrical
The solution of road sensing, but be the most all to use the elastic film circuit mode that can bend, these thin film
Circuit is still not easy stretching, therefore can only discontinuously cover robot local surfaces, and area coverage remains on not
Greatly.Its difficult point is: 1, robot limb surface is typically complicated curved surface, the electricity that traditional method makes
Road is difficult in adapt to the surface of continuous bend, and sensing layer needs high resiliency, to various circuit materials and chip work
Skill requires height；2, under the scene of, test point dense distribution relatively big in sensing layer area coverage, traditional square
The methods such as configuration scanning will cause flood tide and scattered thin film to draw wire, implement difficulty big, the most useful relatively
What economic method produced can detect that the sensing device pressing active position occurs.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of flexibility for three-dimensional object surface and touches
Feel sensing device, this kind of softness haptic perception sensing device can be with shapes such as similar glove, socks, tights, leather bags
Formula is sleeved on outer surface or the inner surface of the three-dimensional body of such as robot etc such that it is able at lower cost
Cover the complicated shape limbs of three-dimensional body larger area.
In order to solve above-mentioned technical problem, the softness haptic perception for three-dimensional object surface of the present utility model senses
Device, including one-dimensional linear sensing element, telemetry circuit and computing module.One-dimensional linear sensing element applies
It is located at three-dimensional object surface and with thoughts and feelings pressure touch and the pressure touch sensed is converted to the signal of telecommunication.Telemetry circuit
It is connected with described one-dimensional linear sensing element to amplify and A/D changes the described signal of telecommunication.Computing module and institute
Stating telemetry circuit to be connected, the signal of telecommunication after changing according to A/D calculates pressure touch size and pressure touches position.
The above-mentioned softness haptic perception sensing device for three-dimensional object surface, wherein, described one-dimensional linear sensing
Element includes flexible body and is arranged at the pressure wave conducting piece in described flexible boot body.
The above-mentioned softness haptic perception sensing device for three-dimensional object surface, wherein, described flexible body is soft
Property waveguide, described pressure wave conducting piece is to riddle the liquid within flexible waveguide.
The above-mentioned softness haptic perception sensing device for three-dimensional object surface, wherein, described liquid be vegetable oil,
Mineral oil, water or anti-icing fluid.
The above-mentioned softness haptic perception sensing device for three-dimensional object surface, wherein, described one-dimensional linear sensing
Element also includes that the first detection sensor being connected to the two ends of described flexible body and the second detection pass
Sensor.
The above-mentioned softness haptic perception sensing device for three-dimensional object surface, wherein, described one-dimensional linear sensing
Element also includes multiple detection sensor being arranged on described flexible body.
Beneficial functional of the present utility model is, setting based on one-dimensional linear sensing element, can be with similar hands
The forms such as set, socks, tights, leather bag are sleeved on the outer surface of the three-dimensional body of such as robot or interior table
Face, it is possible to cover the complicated shape limbs of larger area at lower cost.It is applicable not only to robot, machine
The fields such as house pet, also can be widely used to intelligent artificial limb, Intelligent worn device, intelligence amenity facilities (such as intelligence
Can sofa chair/bed) etc. multiple association area.
Below in conjunction with the drawings and specific embodiments, this utility model is described in detail, but not as to this reality
With novel restriction.
Accompanying drawing explanation
Fig. 1 a is the structure chart of the softness haptic perception sensing device of this utility model first embodiment；
Fig. 1 b is the sectional view of the one-dimensional linear sensing element in Fig. 1 a；
Fig. 1 c is the circuit theory diagrams of the softness haptic perception sensing device of this utility model first embodiment；
Fig. 1 d is the pressure wave Cleaning Principle figure of this utility model first embodiment；
Fig. 2 is the structure chart of the softness haptic perception sensing device of this utility model the second embodiment.
Wherein, reference
10 one-dimensional linear sensing elements
11 flexible bodies
12 pressure wave conducting pieces
13 first detection sensors
14 second detection sensors
15 flexible encapsulant material
20 telemetry circuits
30 computing modules
200 robot limbs
Detailed description of the invention
With specific embodiment, technical solutions of the utility model are described in detail below in conjunction with the accompanying drawings, with more
Further appreciate that the purpose of this utility model, scheme and effect, but be not intended as right appended by this utility model
The restriction of claimed scope.
Softness haptic perception sensing device of the present utility model, is mainly used in three-dimensional object surface, including one-dimensional linear
Sensing element (Thread Sensor is called for short THS), telemetry circuit and computing module.One-dimensional linear biography
Sensing unit is laid in three-dimensional object surface to feel pressure touch and the pressure touch sensed is converted to the signal of telecommunication.
Telemetry circuit is connected with one-dimensional linear sensing element to amplify and A/D changes the described signal of telecommunication.Computing module
Being connected with telemetry circuit, the signal of telecommunication after changing according to A/D calculates pressure touch size and pressure touches position.Should
Used time, can by THS is wound around, braiding, the mode such as reciprocal or wearing be laid in robot three-dimensional surface,
Form machine touch sensing device, when defeating tactile THS outside having, according to its output signal feature, in inspection
While pressure measurement touch size, the distance of pressure contact and THS end points (or specified point) can be calculated,
And determine therefrom that pressure contact is in the position of robotic surface.
One-dimensional linear sensing element (THS) realizes the physical principle of detection and includes: pressure wave sensing, optical fiber
Sensing detection (such as OTDR Optical time domain reflectance) etc., can detect power, temperature etc..Constitute machine
The THS of touch sensor can be one, it is also possible to is many identical or different THS, with parallel or
The modes such as intertexture cover robotic surface；Can be monolayer THS, it is also possible to be two-layer or multilamellar, in order to
Compound detection pressure, shearing force, temperature etc..After machine touch sensing device assembles, can by calculate,
Or it is aided with the modes such as Active touch, makes computer system by corresponding with signal to voltage contact position and pressure touch
Relation information is modeled or store-memory is to set up initialized data, it is also possible to become according to external environment condition
Change, by modes such as machine learning, this corresponding relation is automatically adjusted.
Hymeniderm shape entirety can be made by elastic packaging material cladding outside THS to use, it is also possible to by THS
Flexible body make with encapsulating material integrated molding, it is also possible to by the flexible body of THS with encapsulation material
Material, robot limb three in one are made.
Below in conjunction with several specific embodiments, this utility model is described in detail.
First embodiment
As illustrated in figs. ia and ib, one-dimensional linear sensing element (THS) 10 include flexible body 11,
It is arranged at the pressure wave conducting piece 12 in flexible body 11, and is connected to the two of flexible body 11
First detection sensor 13 and the second detection sensor 14 of end.Flexible body 11 is flexible waveguide,
Pressure wave conducting piece 12 is to riddle the liquid within flexible waveguide.As the case may be, also can be soft
Property body 11 on ad-hoc location arrange and more detect sensor, in order to improve computational accuracy and shortening and ring
Between Ying Shi.
THS covers on the surface of robot limb 200 with canoe, and using latex as flexible package
Material 15 is packaged into membranaceous, forms machine touch sensing device.Internal liquid is that anti-icing fluid is (by 40%
Ethylene glycol+60% soft water) constitute.When touch effect is pressed by F in machine touch sensor surface, pressure
Ripple is propagated along waveguide to two ends, is detected by the first detection sensor 13 and the second detection sensor 14 respectively
Obtaining, the signal of telecommunication gives telemetry circuit 20 and computing module 30 (computing module 30 can be a computer)
Process.The first detection sensor 13 and time difference of the second detection sensor 14 is arrived according to pressure wave, can
To calculate the pressure contact distance to two ends respectively (certainly, if one-dimensional linear sensing element is at flexible body
In the case of the ad-hoc location of 11 arranges more detection sensor, it is to arrive each detection according to pressure wave
The time difference of sensor, calculates pressure contact to two ends or the distance of specified point), and then may determine that pressure is touched
Point is in the position of robot body surface；Amplitude according to pressure wave signal can calculate the big of pressure touch F
Little.
Flexible waveguide in the present embodiment is silica gel tube, its external diameter φ 3mm/ internal diameter φ 2mm, length
5900mm, robot limb external diameter φ 55mm, silica gel tube is wound around 27 circles, covers limbs length 90mm,
Cover limbs surface area 90*55*3.14=15543 square millimeter, remainder at two ends as extension
It is not wound around；First detection sensor 13 and the second detection sensor 14 are MEMS pressure sensor.Inspection
Survey principle as illustrated in figure 1 c, when THS by pressure touch effect time, the pressure wave within waveguide respectively to
Two ends are propagated, and are converted to electricity by the detection electric bridge of the first detection sensor 13 and the second detection sensor 14
Pressure signal, after amplified and A/D changes, sends into computer and calculates.In the present embodiment, when pressure is touched
Point distance first detect the distance of sensor 13 and the second detection sensor 14 be respectively LA=5500mm,
LB=400mm, pressure touch F=2 Newtonian time, as shown in Figure 1 d, pressure wave arrives the to signal waveform in advance
Two detections sensor 14 (the sensor B in Fig. 1 d), the first detection sensor 13 (figure of arrival thereafter
Sensors A in 1d), the time difference of pressure-wave emission is 144ms, and celerity of pressure wave is
(5.5m-0.4m)/0.144s=35.4m/s；The output signal strength of the second detection sensor 14 is 20mV.
Second embodiment
As in figure 2 it is shown, the present embodiment and first embodiment have same structure.Difference is,
Pressure wave conducting piece 12 is to riddle the pure water within flexible waveguide, and THS covers in complex way
On the surface of robot limb 200, remaining structure identical with first embodiment does not just repeat at this.
When machine touch sensor surface is by pressure touch effect, pressure wave is propagated along waveguide to two ends, respectively
Being obtained by the first detection sensor 13 and the second detection sensor 14 detection, the signal of telecommunication gives telemetry circuit
20 and computer 30 process.The first detection sensor 13 and the second detection sensor is arrived according to pressure wave
The time difference of 14, can calculate the pressure contact distance to two ends respectively, and then may determine that pressure contact exists
The position of robot body surface；Amplitude according to pressure wave signal can calculate the size of pressure touch F.
Flexible waveguide in the present embodiment is silica gel tube, its external diameter φ 3mm/ internal diameter φ 2mm, length
5900mm.First detection sensor 13 and the second detection sensor 14 are MEMS pressure sensor.When
When THS is by pressure touch effect, the pressure wave within waveguide is propagated to two ends respectively, and by the first inspection
The detection electric bridge surveying sensor 13 and the second detection sensor 14 is converted to voltage signal, amplified and A/D
After conversion, send into computer 30 and calculate.In the present embodiment, when touch point distance first detects sensing
The distance of device 13 and the second detection sensor 14 is respectively LA=5500mm, LB=400mm, pressure wave
The time difference propagated is 127ms, and celerity of pressure wave is 40.14m/s.
In above-mentioned first embodiment, riddling the liquid within flexible waveguide is anti-icing fluid；Second embodiment
In, riddling the liquid within flexible waveguide is pure water；But, in actual applications, liquid is not
It is confined to this, it is also possible to for vegetable oil, mineral oil etc., or other various synthesis or have additive to mix
Liquid.
Certainly, this utility model also can have other various embodiments, without departing substantially from this utility model spirit and
In the case of essence, those of ordinary skill in the art various change accordingly when can make according to this utility model
Become and deformation, but these change accordingly and deform the guarantor that all should belong to the claim appended by this utility model
Protect scope.
Claims (6)
1. the softness haptic perception sensing device for three-dimensional object surface, it is characterised in that including:
One-dimensional linear sensing element, described one-dimensional linear sensing element is laid in three-dimensional object surface to feel pressure
The pressure touch sensed also is converted to the signal of telecommunication by touch；
Telemetry circuit, is connected with described one-dimensional linear sensing element to amplify and A/D changes the described signal of telecommunication；
And
Computing module, is connected with described telemetry circuit, and the signal of telecommunication after changing according to A/D calculates pressure touch
Size and pressure touch position.
Softness haptic perception sensing device for three-dimensional object surface the most according to claim 1, it is special
Levying and be, described one-dimensional linear sensing element includes flexible body and is arranged at the pressure in described flexible boot body
Reeb conducting piece.
Softness haptic perception sensing device for three-dimensional object surface the most according to claim 2, it is special
Levying and be, described flexible body is flexible waveguide, and described pressure wave conducting piece is for riddling flexible waveguide
Internal liquid.
Softness haptic perception sensing device for three-dimensional object surface the most according to claim 3, it is special
Levying and be, described liquid is vegetable oil, mineral oil, water or anti-icing fluid.
Softness haptic perception sensing device for three-dimensional object surface the most according to claim 2, it is special
Levying and be, described one-dimensional linear sensing element also includes being connected to the first of the two ends of described flexible body
Detection sensor and the second detection sensor.
Softness haptic perception sensing device for three-dimensional object surface the most according to claim 2, it is special
Levying and be, described one-dimensional linear sensing element also includes multiple detection sensing being arranged on described flexible body
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620320193.3U CN205538042U (en) | 2016-04-15 | 2016-04-15 | A flexible touch sensing device for three -dimensional body surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620320193.3U CN205538042U (en) | 2016-04-15 | 2016-04-15 | A flexible touch sensing device for three -dimensional body surface |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205538042U true CN205538042U (en) | 2016-08-31 |
Family
ID=56793507
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620320193.3U Expired - Fee Related CN205538042U (en) | 2016-04-15 | 2016-04-15 | A flexible touch sensing device for three -dimensional body surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205538042U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105716757A (en) * | 2016-04-15 | 2016-06-29 | 林宏韬 | Flexible tactile sensing device and method for sensing contact pressure on surface of three-dimensional object |
| CN109941191A (en) * | 2017-12-21 | 2019-06-28 | 通用汽车环球科技运作有限责任公司 | Haptic apparatus with waveguide and the seat-assembly with the haptic apparatus |
| CN111912462A (en) * | 2020-08-12 | 2020-11-10 | 东南大学 | Multifunctional flexible touch sensor with sliding sense, pressure sense and temperature sense |
-
2016
- 2016-04-15 CN CN201620320193.3U patent/CN205538042U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105716757A (en) * | 2016-04-15 | 2016-06-29 | 林宏韬 | Flexible tactile sensing device and method for sensing contact pressure on surface of three-dimensional object |
| CN105716757B (en) * | 2016-04-15 | 2018-07-20 | 林宏韬 | The method that softness haptic perception sensing device and sensing three-dimensional object surface pressure are touched |
| CN109941191A (en) * | 2017-12-21 | 2019-06-28 | 通用汽车环球科技运作有限责任公司 | Haptic apparatus with waveguide and the seat-assembly with the haptic apparatus |
| CN109941191B (en) * | 2017-12-21 | 2022-10-11 | 通用汽车环球科技运作有限责任公司 | Haptic device with waveguide and seat assembly having the same |
| CN111912462A (en) * | 2020-08-12 | 2020-11-10 | 东南大学 | Multifunctional flexible touch sensor with sliding sense, pressure sense and temperature sense |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Silvera-Tawil et al. | Electrical impedance tomography for artificial sensitive robotic skin: A review | |
| Nagakubo et al. | A deformable and deformation sensitive tactile distribution sensor | |
| KR101740308B1 (en) | A Soft Sensor and Finger Motion Measurement System using The Soft Sensor | |
| Navarro et al. | A model-based sensor fusion approach for force and shape estimation in soft robotics | |
| CN205358354U (en) | A clothing for detecting device and user of minute hand and finger motion can dress | |
| Hoshi et al. | Robot skin based on touch-area-sensitive tactile element | |
| CN205538042U (en) | A flexible touch sensing device for three -dimensional body surface | |
| Li et al. | A triboelectric-inductive hybrid tactile sensor for highly accurate object recognition | |
| Alirezaei et al. | A tactile distribution sensor which enables stable measurement under high and dynamic stretch | |
| Alirezaei et al. | A highly stretchable tactile distribution sensor for smooth surfaced humanoids | |
| Cutkosky et al. | Force and tactile sensing | |
| Dahiya et al. | Tactile sensing technologies | |
| Lu et al. | A 3-D finger motion measurement system via soft strain sensors for hand rehabilitation | |
| Shih et al. | 3D printed resistive soft sensors | |
| CN105716757B (en) | The method that softness haptic perception sensing device and sensing three-dimensional object surface pressure are touched | |
| CN103063340A (en) | Two-dimensional matrix sensor of thin-film-shaped soft sensing materials | |
| Guo-Dong et al. | Flexible, conformal composite proximity sensor for detection of conductor and insulator | |
| CN103063331A (en) | Simple-structure two-dimensional matrix sensor using soft induction materials | |
| Hoshi et al. | A sensitive skin based on touch-area-evaluating tactile elements | |
| CN104296651B (en) | Multiple-supporting-arm and multiple-joint angle integration parallel detection system based on flexible fabric | |
| CN116954366A (en) | Touch perception glove based on sensor array | |
| Sim et al. | Psychological tactile sensor structure based on piezoelectric sensor arrays | |
| Ibrahim et al. | Achievements and Open Issues Toward Embedding Tactile Sensing and Interpretation into Electronic Skin Systems | |
| CN207867454U (en) | Wearable device and VR man-machine interactive systems | |
| CN205795713U (en) | A kind of intelligence wearable device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160831 Termination date: 20200415 |