CN210199703U - Flexible touch glove based on super capacitor perception principle - Google Patents
Flexible touch glove based on super capacitor perception principle Download PDFInfo
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- CN210199703U CN210199703U CN201921542443.8U CN201921542443U CN210199703U CN 210199703 U CN210199703 U CN 210199703U CN 201921542443 U CN201921542443 U CN 201921542443U CN 210199703 U CN210199703 U CN 210199703U
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Abstract
The utility model discloses a flexible tactile glove based on the super capacitor perception principle, which comprises a glove body and flexible sensor layers arranged at the palm and finger belly positions of the glove body; the flexible sensor layer comprises an upper electrode layer, a lower electrode layer and an ion fiber layer arranged between the upper electrode layer and the lower electrode layer, the upper surface and the lower surface of the ion fiber layer are respectively tightly attached to the lower surface of the upper electrode layer and the upper surface of the lower electrode layer, and the edges of the upper electrode layer, the lower electrode layer and the ion fiber layer are fixed together. The whole palm surface of the touch glove is covered with the array type sensor units, the distribution density of the sensor units is high, and the pressure distribution of the whole palm and fingers of the touch glove can be accurately sensed.
Description
Technical Field
The utility model relates to a flexible electron technical field, concretely relates to flexible touch gloves based on super capacitor perception principle can be used to the interactive pressure touch perception of man-machine.
Background
The human body can easily manipulate objects and tools by applying precise control force because the human body has precise tactile perception and a perfect tactile feedback system, the human skin is the largest organ of the human body and is composed of an integrated and telescopic sensor network which can transmit signals related to tactile sense and thermal stimulation to the brain, and the human tactile sense can sense external stimulation such as continuous pressure, transverse skin stretching, skin sliding and the like, so that the sensory functions such as finger position, stable grabbing, tangential force, motion direction and the like can be easily realized. However, the extreme complexity of the human body stimulation sensing unit largely hinders the bionic research on the functions of human skin, and the research on modern robots is also a challenging task. In the application of the robot, the robot grabbing based on the computer vision is mature, but at present, the research on the tactile information which is depended on when the human body grabs the object is few, and the research on the tactile mechanism of the human body grabbing the object is a supplement to the visual robot. Accurate tactile perception and feedback may give the robot a better perception that future robots will require to perform a few trivial human tasks, such as holding a glass or inserting a key in a lock.
In recent years, there have been some achievements about the research on the tactile interaction between human and robot, and patent publication No. CN 105242788A discloses a wireless data glove circuit wiring and sensor configuration method based on a bending sensor, wherein a change signal of resistance generated according to the different bending degrees of fingers is transmitted to a microprocessor, processed and then transmitted to a wireless transmission module, and then transmitted to a PC device by the wireless transmission module through a wireless receiving module.
Boutry.C.M 1, etc. proposes a glove made of electronic skin, simulates epidermis and dermis of human skin, and proposes a bionic electronic skin concept with an interlocking microstructure, which is formed by embedding top and bottom electrodes of a group of capacitors, namely Carbon Nanotubes (CNT), into Polyurethane (PU) substrates which are vertically positioned with each other, and has a complex process when used for manufacturing a large-area sensor, and only the sensor is attached to fingertips of two gloves for experiments, and the distribution design of palms and fingertips about touch perception is not considered, and the structure is complex and the processing is complex.
The flexible touch gloves can be applied to various occasions, such as industrial operation sites needing precise and flexible control, high-risk environments (anti-terrorism and explosive disposal, toxic substances and other dangerous goods), medical operations and medical care (supporting, massaging and the like). Therefore, the tactile glove which can simultaneously meet the requirements of high sensitivity, high resolution for covering the whole hand, lightness, thinness, softness, certain flexibility, bending and stable structure is of great significance.
[1]Boutry.C.M,Negre M,Jorda M,et al.A hierarchically patterned,bioinspired e-skin able to detect the direction of applied pressure forrobotics[J].Science Robotics,2018,3(24):6914-6922.
SUMMERY OF THE UTILITY MODEL
The technical problem to be solved by the utility model is to provide a flexible touch gloves based on super capacitor perception principle, this touch gloves adopt super capacitor perception principle, and it has the array sensor unit that a plurality of cross electrodes formed to distribute on touch gloves's the palm face, carries out the perception to the object that contacts through sensor unit during the gripping object, judges the shape of object according to the distribution characteristic of power.
The utility model provides a technical scheme is:
a flexible touch glove based on a super-capacitor sensing principle comprises a glove body and flexible sensor layers arranged at the palm and finger belly positions of the glove body; the flexible sensor layer comprises an upper electrode layer, a lower electrode layer and an ion fiber layer arranged between the upper electrode layer and the lower electrode layer, the upper surface and the lower surface of the ion fiber layer are respectively tightly attached to the lower surface of the upper electrode layer and the upper surface of the lower electrode layer, and the edges of the upper electrode layer, the lower electrode layer and the ion fiber layer are fixed together;
a strip-shaped and B strip-shaped parallel longitudinal electrodes are respectively arranged on the palm and the thumb of the upper electrode layer, wherein the palm and a strip-shaped longitudinal electrodes at the crossing positions of the index finger, the middle finger, the ring finger and the little finger respectively extend towards the fingertips of the corresponding fingers, a strip-shaped parallel longitudinal electrodes lead out a first circuit connecting end from the upper electrode layer towards the wrist part, B strip-shaped parallel longitudinal electrodes lead out a second circuit connecting end from the upper electrode layer, and A, B and a are positive integers; n parallel transverse electrodes are arranged on the palm of the lower electrode layer, wherein the N parallel transverse electrodes at the cross position of the palm and the thumb extend towards the finger tip of the thumb; m transverse electrodes parallel to the transverse electrodes at the palm position of the lower electrode layer are respectively arranged on the index finger, the middle finger, the ring finger and the little finger of the lower electrode layer, the M transverse electrodes on the four fingers are electrically connected in a one-to-one correspondence manner, and the connecting lines of the transverse electrodes on the fingers are not staggered; a third circuit connecting end is led out of the N parallel electrodes on the lower electrode layer, a fourth circuit connecting end is led out of the M transverse electrodes on the four fingers on the lower electrode layer, and N, M and N are positive integers; thus, the electrodes on the upper electrode layer and the lower electrode layer are vertically intersected in space, each intersection part forms a capacitor unit, each capacitor unit forms a small sensor unit, namely, the palm and the thumb of the flexible sensor layer are respectively provided with N × A, N × B array capacitor units, and the index finger, the middle finger, the ring finger and the little finger are respectively provided with M × a array capacitor units; the four circuit connecting ends are respectively connected with the flexible flat cables with the same width as the corresponding connecting ends, and each flexible flat cable is fixed with the corresponding circuit connecting end by the double faced adhesive tape overlapping paste conducted by the Z axis.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the resolution of the measured pressure distribution diagram is high. The whole palm surface of the touch glove is covered with the array type sensor units, the distribution density of the sensor units is high, and the pressure distribution of the whole palm and fingers of the touch glove can be accurately sensed.
2. The sensitivity is higher. The ionic fiber layer in the middle of the flexible sensor layer adopts double electric layer capacitance, the capacitance is at least 1000 times higher than that of the traditional parallel plate device, the signal-to-noise ratio is improved, the anti-interference performance is high, the sensitivity of the sensor can be effectively improved due to the characteristics of the ionic fiber layer, the pressure is converted into the capacitance to the maximum extent, the capacitance measurement is more accurate, and the pressure applied or sensed by the touch glove can be more accurately detected.
3. The touch glove has stable structure and can meet the requirement of flexible operation of fingers. The electrodes manufactured by the screen printing process are not easy to fall off, the sensor unit is well packaged by the screen printing glue and the double-sided adhesive tape, the structure stability of the touch glove can be ensured, and the fingers can move freely without affecting the performance of the sensor unit.
4. Customizable for specific needs. The size of the touch glove can be customized according to the size of hands of different users, different resolutions can be set according to different requirements of a use scene on precision, and the touch glove is wide in application range and customizable.
Drawings
Fig. 1 is a schematic structural view of an upper electrode layer of a flexible sensor layer according to embodiments 1 and 2 of the present invention;
fig. 2 is a schematic structural view of a lower electrode layer according to embodiment 1 of the present invention;
fig. 3 is a schematic view of the overall structure of embodiment 1 of the present invention;
fig. 4 is a schematic structural view of the lower electrode layer according to embodiment 2 of the present invention;
fig. 5 is a schematic view of the overall structure of embodiment 2 of the present invention;
fig. 6 is a schematic diagram of the capacitance of a single sensor on a flexible sensor layer of the present invention as a function of pressure;
FIG. 7 is an enlarged fragmentary view of the abscissa region of FIG. 6 at 0 to 50 kPa;
fig. 8 is a graph of the dynamic characteristics of a single sensor on a flexible sensor layer of the present invention;
in the figure: 1. an upper electrode layer; 2. a lower electrode layer; 3. a first circuit connection terminal; 4. a second circuit connection terminal; 5. a third circuit connection terminal; 6. a fourth circuit connection terminal; 7. and (4) conducting wires.
Detailed Description
Specific embodiments of the present invention are given below. The specific examples are only used to illustrate the present invention in further detail, and do not limit the scope of the present invention.
The utility model provides a flexible tactile glove (referred to as tactile glove for short, see figures 1-8) based on super capacitance sensing principle, which comprises a glove body and a flexible sensor layer arranged at the palm and finger belly positions of the glove body; the flexible sensor layer comprises an upper electrode layer 1, a lower electrode layer 2 and an ion fiber layer arranged between the upper electrode layer and the lower electrode layer, the upper surface and the lower surface of the ion fiber layer are respectively tightly attached to the lower surface of the upper electrode layer 1 and the upper surface of the lower electrode layer 2, and the edges of the upper electrode layer 1, the lower electrode layer 2 and the ion fiber layer are fixed together;
a strip-shaped and B strip-shaped parallel longitudinal electrodes are respectively arranged on the palm and the thumb of the upper electrode layer 1, wherein the palm and a strip-shaped longitudinal electrodes at the crossing positions of the index finger, the middle finger, the ring finger and the little finger respectively extend towards the fingertips of the corresponding fingers, the A strip-shaped parallel longitudinal electrodes lead out a first circuit connecting end 3 from the upper electrode layer 1 towards the wrist part, the B strip-shaped parallel longitudinal electrodes lead out a second circuit connecting end 4 from the upper electrode layer 1, and A, B and a are positive integers; n parallel transverse electrodes are arranged on the palm of the lower electrode layer 2, wherein the N parallel transverse electrodes at the cross position of the palm and the thumb extend towards the fingertips of the thumb; m transverse electrodes parallel to the transverse electrodes at the palm position of the lower electrode layer are respectively arranged on the index finger, the middle finger, the ring finger and the little finger of the lower electrode layer, the M transverse electrodes on the four fingers are electrically connected in a one-to-one correspondence manner, and the connecting lines of the transverse electrodes on the fingers are not staggered; a third circuit connecting end 5 is led out of the N parallel electrodes on the lower electrode layer, a fourth circuit connecting end 6 is led out of the M transverse electrodes on the four fingers on the lower electrode layer, and N, M and N are positive integers; thus, the electrodes on the upper electrode layer 1 and the lower electrode layer 2 are vertically intersected in space, each intersection part forms a capacitor unit, each capacitor unit forms a small sensor unit, namely, the palm and the thumb of the flexible sensor layer are respectively provided with N × A, N × B array capacitor units, and the index finger, the middle finger, the ring finger and the little finger are respectively provided with M × a array capacitor units; the four circuit connecting ends are respectively connected with the flexible flat cables with the same width as the corresponding connecting ends, and each flexible flat cable is fixed with the corresponding circuit connecting end by the double faced adhesive tape overlapping paste conducted by the Z axis.
The glove body is a commercially available glove, preferably a rubber glove; the number of electrodes and the distance between the electrodes at each part of the upper electrode layer and the lower electrode layer can be flexibly designed according to the actual situation.
The utility model discloses a theory of operation and work flow are:
the principle of the super capacitor is that when electrode materials are respectively contacted with two ends of the solid electrolyte, surface charges inside the electrodes can adsorb ions from the electrolyte under the action of an external power supply, the ions form an interface layer with the same charge quantity as that of the charge on the inner surface of the electrodes and the opposite sign on one side of the electrolyte of the electrode/electrolyte interface, and because of the potential difference existing on the electrode/electrolyte interface, the charges of the upper electrode layer and the lower electrode layer can not cross the boundary and are neutralized with each other, so that a double electric layer with stable structure is formed, and the super capacitor is generated;
the ionic fiber layer is sandwiched between two layers of electrode materials, the ionic fiber layer is compressed to generate deformation under the action of external pressure, and the contact area between the nanofiber layer and the conductive fabrics (the upper electrode layer and the lower electrode layer) is increased due to structural deformation predicted by a classic fiber aggregate compression model, so that the capacitance is increased. The change of the capacitance can be converted into an electric signal and transmitted to a subsequent processing circuit, so that the pressure is obtained.
Example 1
The embodiment of the flexible touch glove (see fig. 1-3) based on the super capacitor sensing principle comprises a rubber glove and a flexible sensor layer, wherein the flexible sensor layer is attached to the palm of the rubber glove and the finger abdomen of each finger through double-sided adhesive; the flexible sensor layer comprises an upper electrode layer 1, a lower electrode layer 2 and an ionic fiber layer arranged between the upper electrode layer and the lower electrode layer; the palm of the upper electrode layer 1 is provided with 17 longitudinally parallel electrodes, wherein 3 electrodes are arranged on the index finger, the middle finger, the ring finger and the little finger, and 11 longitudinally parallel electrodes are arranged on the thumb; the palm of the lower electrode layer 2 is provided with 15 transversely parallel electrodes, wherein 3 electrodes are arranged on the thumb, 15 transversely parallel electrodes are arranged on the index finger, the middle finger, the ring finger and the little finger, and the electrodes on the four fingers are connected with the palm surface in a one-to-one correspondence manner through leads; thus, the electrodes on the upper electrode layer 1 and the lower electrode layer 2 are vertically intersected in space, each intersection part forms a capacitor unit, each capacitor unit forms a small sensor unit, namely, a palm and a thumb of the flexible sensor layer are respectively provided with 255 and 33 array sensor units, and a forefinger, a middle finger, a ring finger and a little finger are respectively provided with 45 array sensor units;
the rubber gloves are L-shaped, namely the width of the palm is 10 cm; the width of each electrode is 1 mm;
the touch glove of the embodiment is provided with more sensor units, so that the resolution is higher and the measuring effect is better; however, the process of connecting the electrodes at the finger part through the lead is complex, and the lead is positioned on the palm surface of the hand to influence the flexibility of the finger part to a certain extent; the glove is suitable for massage, the force applied to different positions of the hand can be accurately sensed through the tactile glove, the force of each part of the hand can be accurately controlled, the excessive force is prevented, and the massage is more comfortable.
Example 2
The embodiment of the flexible touch glove based on the super-capacitor sensing principle (see fig. 1, 4 and 5) comprises a rubber glove and a flexible sensor layer, wherein the flexible sensor layer is attached to the palm of the rubber glove and the finger abdomen of each finger through double-sided adhesive tapes; the flexible sensor layer comprises an upper electrode layer 1, a lower electrode layer 2 and an ionic fiber layer arranged between the upper electrode layer and the lower electrode layer; the structure of the upper electrode layer 1 is the same as that of embodiment 1; the palm of the lower electrode layer 2 is provided with 15 parallel transverse electrodes, wherein the thumb is provided with 3 transverse electrodes; 9 parallel transverse electrodes are arranged on the index finger, the middle finger, the ring finger and the little finger, the two ends of each electrode are provided with larger allowance (the part with the folded electrode end part in fig. 4) for connecting with the adjacent electrodes, and the electrodes on the index finger, the middle finger, the ring finger and the little finger are respectively connected on the back of the hand in a one-to-one correspondence way through conductive adhesive tapes with the width of 2 mm; thus, the electrodes on the upper electrode layer 1 and the lower electrode layer 2 are vertically intersected in space, each intersection part forms a capacitor unit, each capacitor unit forms a small sensor unit, namely, the palm and the thumb of the flexible sensor layer are respectively provided with 255 and 33 array sensor units, and the index finger, the middle finger, the ring finger and the little finger are respectively provided with 27 array sensor units;
the rubber gloves are L-shaped, namely the width of the palm is 10 cm; the width of each electrode is 1 mm;
the tactile gloves of the embodiment have fewer distributed sensor units than those of the embodiment 1, so that the precision of the tactile gloves is reduced; the glove is suitable for assisting, the magnitude of the force applied to different positions of the hand during massage can be accurately sensed through the tactile glove, the force of each part of the hand can be accurately controlled, and the discomfort caused to a person who is assisted by excessive force is prevented.
As can be seen from fig. 6, the capacitance of a single sensor on the flexible sensor layer of the present invention has a good linear relationship with the applied pressure, and the linearity error is 5.07%; the sensitivity of the sensor is high, namely the slope of the curve is large and can reach 3.97 nF/kPa; the method comprises the following steps of (1) circularly applying pressure to a sensor by using a press, wherein the pressure application frequency is 2.5Hz, and performing dynamic response test on the sensor by using an impedance meter, wherein the experimental result is shown in figure 8, when the pressure is applied to the sensor, the capacitance value is immediately increased, and the change of the capacitance is in positive correlation with the pressure applied to the sensor; when the pressure is released, the capacitance value is quickly restored to the initial state; namely, the sensor can better carry out dynamic response along with external pressure stimulation, and the high sensitivity and the good flexibility of the sensor are shown.
The utility model discloses the nothing is mentioned the part and is applicable to prior art.
Claims (2)
1. A flexible touch glove based on a super-capacitor sensing principle is characterized by comprising a glove body and flexible sensor layers arranged at the palm and finger belly positions of the glove body; the flexible sensor layer comprises an upper electrode layer, a lower electrode layer and an ion fiber layer arranged between the upper electrode layer and the lower electrode layer, the upper surface and the lower surface of the ion fiber layer are respectively tightly attached to the lower surface of the upper electrode layer and the upper surface of the lower electrode layer, and the edges of the upper electrode layer, the lower electrode layer and the ion fiber layer are fixed together;
a strip-shaped and B strip-shaped parallel longitudinal electrodes are respectively arranged on the palm and the thumb of the upper electrode layer, wherein the palm and a strip-shaped longitudinal electrodes at the crossing positions of the index finger, the middle finger, the ring finger and the little finger respectively extend towards the fingertips of the corresponding fingers, a strip-shaped parallel longitudinal electrodes lead out a first circuit connecting end from the upper electrode layer towards the wrist part, B strip-shaped parallel longitudinal electrodes lead out a second circuit connecting end from the upper electrode layer, and A, B and a are positive integers; n parallel transverse electrodes are arranged on the palm of the lower electrode layer, wherein the N parallel transverse electrodes at the cross position of the palm and the thumb extend towards the finger tip of the thumb; m transverse electrodes parallel to the transverse electrodes at the palm position of the lower electrode layer are respectively arranged on the index finger, the middle finger, the ring finger and the little finger of the lower electrode layer, the M transverse electrodes on the four fingers are electrically connected in a one-to-one correspondence manner, and the connecting lines of the transverse electrodes on the fingers are not staggered; a third circuit connecting end is led out of the N parallel electrodes on the lower electrode layer, a fourth circuit connecting end is led out of the M transverse electrodes on the four fingers on the lower electrode layer, and N, M and N are positive integers; thus, the electrodes on the upper electrode layer and the lower electrode layer are vertically intersected in space, each intersection part forms a capacitor unit, each capacitor unit forms a small sensor unit, namely, the palm and the thumb of the flexible sensor layer are respectively provided with N × A, N × B array capacitor units, and the index finger, the middle finger, the ring finger and the little finger are respectively provided with M × a array capacitor units; the four circuit connecting ends are respectively connected with the flexible flat cables with the same width as the corresponding connecting ends, and each flexible flat cable is fixed with the corresponding circuit connecting end by the double faced adhesive tape overlapping paste conducted by the Z axis.
2. A tactile glove according to claim 1, wherein the palm of the upper electrode layer is provided with 17 longitudinally parallel electrodes, wherein the index, middle, ring and little fingers are provided with strips, and the thumb is provided with 11 longitudinally parallel electrodes; the palm of the lower electrode layer is provided with 15 transversely parallel electrodes, and the thumb is provided with 3 electrodes; the index finger, the middle finger, the ring finger and the little finger are all provided with 15 transverse parallel electrodes, namely the palm and the thumb of the flexible sensor layer are respectively provided with 255 and 33 array sensor units, and the index finger, the middle finger, the ring finger and the little finger are respectively provided with 45 array sensor units.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021208038A1 (en) * | 2020-04-16 | 2021-10-21 | 鹏鼎控股(深圳)股份有限公司 | Virtual reality gloves and manufacturing method therefor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021208038A1 (en) * | 2020-04-16 | 2021-10-21 | 鹏鼎控股(深圳)股份有限公司 | Virtual reality gloves and manufacturing method therefor |
| CN114727676A (en) * | 2020-04-16 | 2022-07-08 | 鹏鼎控股(深圳)股份有限公司 | Virtual reality glove and manufacturing method thereof |
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