CN218211722U

CN218211722U - Flexible touch sensor electrode and flexible pulse detection sensor electrode

Info

Publication number: CN218211722U
Application number: CN202222704492.5U
Authority: CN
Inventors: 钟西舟; 丁显波; 赵鑫
Original assignee: Shenzhen Yixin Technology R & D Co ltd
Current assignee: Shenzhen Yixin Technology R & D Co ltd
Priority date: 2022-10-13
Filing date: 2022-10-13
Publication date: 2023-01-03
Anticipated expiration: 2032-10-13

Abstract

The utility model discloses a flexible touch sensor electrode and flexible pulse detection sensor electrode. The flexible tactile sensor electrode includes: a flexible substrate, a sub-electrode attached on the flexible substrate; the sub-electrode includes: the device comprises a first lead, a second lead, a stress resistance pattern and a control circuit, wherein the stress resistance pattern is respectively connected with the first lead and the second lead and is arranged in an array; the stress resistance graph is made of vertical graphene. The first wire and the second wire are electrified after the first wire and the second wire are attached to the surface of the finger of the robot. When the finger of the robot touches, the stress of each stress resistance graph is different, so that the resistance generated by each stress resistance graph is different, the resistance flowing through the stress resistance graph is different, and the position on the surface of the finger of the robot and the force applied to the finger can be reversely deduced. Therefore, the scheme can accurately simulate the touch sense of a human and further improve the overall function of the robot to provide a foundation.

Description

Flexible touch sensor electrode and flexible pulse detection sensor electrode

Technical Field

The utility model relates to a sensor technical field especially relates to a flexible touch sensor electrode and flexible pulse detection sensor electrode.

Background

Robots are the common name for automatic control machines (Robot) that include all machines that simulate human behavior or thought and other creatures (e.g., machine dogs, machine cats, etc.). In the humanoid robot, because various operations of a human hand need to be simulated, a pressure sensor is arranged at the finger end of the manipulator so as to know the real-time pressure of the finger. However, such pressure sensors are too extensive to simulate human touch. In the traditional Chinese medicine diagnosis, pulse feeling is one of important means, the traditional Chinese medicine senses the pulse condition through hands, the pulse condition cannot be displayed visually, the pulse condition sensed through the hands is easy to have difference due to different individuals of each traditional Chinese medicine, different diagnosis conclusions are easy to appear, and the accuracy is insufficient.

Thus, the prior art is deficient and needs improvement.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is: the flexible touch sensor electrode can be applied to the finger end of a robot, so that the touch of a human can be simulated, and a foundation is provided for further improving the overall function of the robot. The flexible pulse detection sensor electrode is used for detecting the condition of pulse, conveniently and accurately detecting the pulse and providing accurate information for diagnosis.

The technical scheme of the utility model as follows: there is provided a flexible tactile sensor electrode comprising: a flexible substrate, a sub-electrode attached on the flexible substrate; the number of the sub-electrodes is not less than 4, and the sub-electrodes comprise: the device comprises a first lead, a second lead, a stress resistance pattern and a control circuit, wherein the stress resistance pattern is connected with the first lead and the second lead respectively and is arranged in an array; the stress resistance graph is made of vertical graphene. The force resistance pattern is preferably a spiral. The first conducting wire, the second conducting wire and the stressed resistor pattern are made of the same material. The spiral structure can contain more resistor patterns, so that the force can be more easily applied, and the force condition can be accurately known. The first lead, the second lead and the stressed resistor pattern are made of the same material, so that the first lead, the second lead and the stressed resistor pattern can be conveniently formed together, the process flow is reduced, and the cost is saved.

The product is attached to the surface of a finger of a robot, and then the first lead and the second lead are connected to a voltage. Taking 3 × 3 arrays as an example, the sensor has 9 stressed resistance patterns (i.e., mechanical sensing sites) of 3 × 3 arrays, and each mechanical sensing site can independently sense the mechanical change of the sensor. When the finger of the robot touches, the stress of each point is different, so that the resistance generated by each stress resistance graph is different, the current flowing through the stress resistance graph is different, and according to the difference of the current flowing through the 9 mechanical sensing points, the position on the surface of the finger of the robot and the magnitude of the force can be reversely deduced. By extending this, sensors in 4 x 4, 5 x 5, n x n arrays can also be made, with more array sites sensing more accurately. Therefore, the scheme can accurately simulate the touch sense of a human and further improve the overall function of the robot to provide a foundation.

In the scheme, the pattern of the sub-electrode can be formed by removing redundant vertical graphene on the flexible substrate attached with the vertical graphene film layer through technologies such as laser engraving, mechanical engraving, chemical etching, plasma etching and photoetching, and the remaining part of the pattern forms the sub-electrode.

Further, the sub-electrodes further include: the first wiring plate is connected with the first lead, the second wiring plate is connected with the second lead, and the first wiring plate and the second wiring plate are arranged on the outer side of the stress resistance patterns distributed in the array. The patch panel can facilitate the connection of cables for voltage access.

Further, the first land extends from a side of the first conductor, and the second land extends from a side of the second conductor. The extension from the side can effectively reduce the space and occupy, conveniently holds more sub-electrodes.

Further, when the first and second wires are disposed on the same side, the first and second pads are opposed to each other.

Furthermore, the flexible substrate is made of any one of PVDF, PS, PE and PDMS.

The utility model also provides a flexible pulse detection sensor electrode, include: a flexible substrate, a sub-electrode attached on the flexible substrate; the sub-electrode includes: the first conducting wire and the second conducting wire are respectively connected with stress resistance graphs; the stress resistance graph is made of vertical graphene. The stress resistance pattern is in a vortex shape, and the first conducting wire, the second conducting wire and the stress resistance pattern are made of the same material. The first lead and the second lead are arranged at two different ends of the flexible substrate. During the application, paste flexible substrate in wrist department, hug closely pulse department with the atress resistance figure, voltage access first wire, second wire, because the beating of pulse can extrude the atress resistance figure to cause the atress resistance figure to carry out deformation, and deformation can lead to the change of the resistance of atress resistance figure, through knowing the change of the electric current that flows through on the atress resistance figure, thereby learn the change of its resistance, then can learn the condition that the pulse is beated.

Adopt above-mentioned scheme, the utility model provides a flexible touch sensor electrode pastes its finger surface at the robot, then inserts first wire, second wire voltage. Taking 3 × 3 arrays as an example, the sensor has 9 stressed resistance patterns (i.e., mechanical sensing sites) of 3 × 3 arrays, and each mechanical sensing site can independently sense the mechanical change of the sensor. When the fingers of the robot touch, the stress of each point is different, so that the resistance generated by each stress resistance graph is also different, and according to the difference of the resistances of the 9 mechanical sensing points, the position and the magnitude of the force on the finger surface of the robot can be converted. Therefore, the scheme can accurately simulate the touch sense of a human and further improve the overall function of the robot to provide a foundation. The utility model also provides a flexible pulse detects sensor electrode, during the application, paste flexible substrate in wrist department, hug closely pulse department with the atress resistance figure, voltage access first wire, the second wire, because the beating of pulse can extrude the atress resistance figure, thereby cause the atress resistance figure to carry out deformation, and deformation can lead to the change of the resistance of atress resistance figure, through knowing the change of the electric current that flows through on the atress resistance figure, thereby learn the change of its resistance, then can learn the condition that the pulse is beated.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention;

fig. 2 is a schematic structural diagram of another embodiment of the present invention.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

Example 1

Referring to fig. 1, the present embodiment provides a flexible tactile sensor electrode, including: a flexible substrate 10, a sub-electrode attached on the flexible substrate 10; in this embodiment, the number of the sub-electrodes is 9, and the sub-electrodes include: the device comprises a first lead 11, a second lead 12, and stressed resistor patterns 13 respectively connected with the first lead 11 and the second lead 12, wherein the stressed resistor patterns 13 are arranged in an array; the stressed resistor pattern 13 is made of vertical graphene. The force resistance pattern 13 is preferably spiral-shaped. The first conducting wire 11, the second conducting wire 12 and the stressed resistor pattern 13 are made of the same material. The spiral structure can contain more resistor patterns, so that the force can be more easily applied, and the force condition can be accurately known. The first lead 11, the second lead 12 and the stress resistance pattern 13 are made of the same material, so that the first lead 11, the second lead 12 and the stress resistance pattern 13 can be conveniently formed together, the process flow is reduced, and the cost is saved. In this embodiment, the flexible substrate 10 is made of PDMS.

The product is attached to the surface of a finger of a robot, and then the first lead 11 and the second lead 12 are connected with voltage. In this embodiment, taking a 3 × 3 array as an example, there are 9 force-bearing resistor patterns 13 (i.e., mechanical sensing sites) of the 3 × 3 array on the sensor, and each mechanical sensing site can independently sense the mechanical change of the sensor. When the finger of the robot touches, the stress of each point is different, so the resistance generated by each stress resistance graph 13 is also different, namely the current flowing through the stress resistance graph is also different, and according to the difference of the current flowing through the 9 mechanics sensing points, which position on the surface of the finger of the robot is subjected to which force can be reversely deduced. Therefore, the scheme can accurately simulate the touch sense of a human and further improve the overall function of the robot to provide a foundation.

In this embodiment, the sub-electrodes further include: the first wiring pad 14 connected with the first lead 11, and the second wiring pad 15 connected with the second lead 12, wherein the first wiring pad 14 and the second wiring pad 15 are arranged outside the stressed resistor pattern 13 arranged in the array. The patch panel can facilitate connection of cables.

In this embodiment, the first land 14 extends from the side of the first conductor 11, and the second land 15 extends from the side of the second conductor 12. The extension from the side can effectively reduce the space and occupy, conveniently holds more sub-electrodes. When the first and

second wires

11, 12 are disposed on the same side, the first and

second terminal pads

14, 15 are opposed to each other.

Example 2

The utility model also provides a flexible pulse detects sensor electrode, include: a flexible substrate 10, a sub-electrode attached on the flexible substrate 10; the sub-electrode includes: a first lead 11, a second lead 12, a stress resistance pattern 13 connected to the first lead 11 and the second lead 12, respectively; the stress resistance pattern 13 is made of vertical graphene. The stress resistance pattern 13 is in a spiral shape, and the first lead wire 11, the second lead wire 12 and the stress resistance pattern 13 are made of the same material. The first conducting wire 11 and the second conducting wire 12 are arranged at different two ends of the flexible base material 10. During the application, paste flexible substrate 10 in wrist department, hug closely pulse department with atress resistance figure 13, voltage access first wire 11, second wire 12, because the beating of pulse can extrude atress resistance figure 13 to cause atress resistance figure 13 to carry out deformation, and deformation can lead to the change of the resistance of atress resistance figure 13, through knowing the change of the electric current that flows through on the atress resistance figure 13, thereby learn the change of its resistance, then can learn the condition that the pulse is beated.

To sum up, the utility model provides a flexible touch sensor electrode pastes its finger surface at the robot, then inserts first wire, second wire voltage. Taking 3 × 3 array as an example, there are 9 force resistance patterns (i.e., mechanical sensing sites) of 3 × 3 array on the sensor, and each mechanical sensing site can sense the mechanical change of the sensor independently. When the fingers of the robot touch, the stress of each point is different, so that the resistance generated by each stress resistance graph is different, and according to the difference of the resistances of the 9 mechanical sensing points, the position on the surface of the fingers of the robot and the force applied to the surface of the fingers of the robot can be converted. Therefore, the scheme can accurately simulate the touch sense of a human and further improve the overall function of the robot to provide a foundation. The utility model also provides a flexible pulse detects sensor electrode, during the application, paste flexible substrate in wrist department, hug closely pulse department with the atress resistance figure, voltage inserts first wire, the second wire, because the beating of pulse can extrude the atress resistance figure, thereby cause the atress resistance figure just to carry out deformation, and deformation can lead to the change of the resistance of atress resistance figure, through knowing the change of the electric current that flows through on the atress resistance figure, thereby learn the change of its resistance, then can learn the condition that the pulse beated.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims

1. A flexible tactile sensor electrode, comprising: a flexible substrate, a sub-electrode attached on the flexible substrate; the number of the sub-electrodes is not less than 4, and the sub-electrodes comprise: the device comprises a first lead, a second lead, a stress resistance pattern and a control circuit, wherein the stress resistance pattern is connected with the first lead and the second lead respectively and is arranged in an array; the stress resistance graph is made of vertical graphene.

2. A flexible tactile sensor electrode according to claim 1, wherein the force resistance pattern is a spiral.

3. The flexible tactile sensor electrode according to claim 1, wherein the first conductive wire, the second conductive wire and the force-receiving resistive pattern are made of the same material.

4. A flexible tactile sensor electrode according to claim 1, wherein the sub-electrodes further comprise: the first wiring plate is connected with the first lead, the second wiring plate is connected with the second lead, and the first wiring plate and the second wiring plate are arranged on the outer side of the stress resistance patterns distributed in the array.

5. A flexible tactile sensor electrode according to claim 4, wherein the first pad extends from the side of the first conductor and the second pad extends from the side of the second conductor.

6. A flexible tactile sensor electrode according to claim 5, wherein the first and second pads are opposed when the first and second leads are disposed on the same side.

7. The flexible tactile sensor electrode according to any one of claims 1 to 6, wherein the flexible substrate is made of any one of PVDF, PS, PE and PDMS.

8. A flexible pulse detection sensor electrode, comprising: a flexible substrate, a sub-electrode attached on the flexible substrate; the sub-electrode includes: the first conducting wire and the second conducting wire are respectively connected with stress resistance graphs; the stress resistance graph is made of vertical graphene.

9. The flexible pulse detection sensor electrode according to claim 8, wherein the force-receiving resistance pattern is a spiral shape, and the first and second wires are made of the same material as the force-receiving resistance pattern.

10. The flexible pulse detection sensor electrode according to claim 8 or 9, wherein the first and second conductive wires are disposed at different ends of the flexible substrate.