CN219147554U - Compromise formula touch sensor, electron skin, pulse condition check out test set - Google Patents

Abstract

The utility model relates to a compatible tactile sensor, electronic skin and pulse condition detection device, wherein a sensor array comprises a first sensor unit and a second sensor unit; each first sensor unit is provided with a spherical or ellipsoidal first flexible multifunctional layer, each second sensor unit is provided with a strip-shaped second flexible multifunctional layer, a curved elastic upper electrode is arranged in each flexible multifunctional layer, a lower electrode is arranged below the upper electrode, an insulating layer is arranged between the upper electrode and the lower electrode, and different capacitances are formed between the upper electrode and the lower electrode to reflect components of force in different directions; in the first sensor unit, the number of at least one of the upper electrode and the lower electrode is at least three; in the second sensor unit, at least one of the upper electrode and the lower electrode is arranged in at least two, and the electrodes of the at least one are distributed on two sides of the strip of the second flexible multifunctional layer.

Description

Compromise formula touch sensor, electron skin, pulse condition check out test set

Technical Field

The utility model relates to a touch sensing technology, in particular to a touch sensor which gives consideration to three-dimensional force and channel number, and also relates to an electronic skin, pulse condition sensor or pulse condition detection device formed by using the touch sensor.

Background

The diagnosis of pulse condition is the key difficulty in objectifying the diagnosis of traditional Chinese medicine, the objectification and standardization of pulse condition are critical to the inheritance and development of traditional Chinese medicine, and the pulse condition sensor technology is the neck-clamping technology of pulse condition diagnosis. The pulse feeling of traditional Chinese medicine is to sense the pulse condition change of the arteries of the wrist, especially the arteries of the wrist, the cun and the chi of a patient by the fingers of traditional Chinese medicine, and the pulse condition change is divided into twenty eight pulse conditions, wherein the pulse condition change can be summarized into the blood pressure change information of the arteries of the wrist, especially the arteries of the wrist, the cun and the chi of the patient.

The technical development of pulse condition sensors can be divided into three phases: the single-point rigid surface pressure sensor single-head sensor appears in the period from 70 to 80 of the 1.20 century, but the single-probe pulse meter cannot collect pulse information of the cun, guan and chi parts at the same time, and the problem that the pulse information needs to be repeatedly tried to find the aiming pulse is solved, in addition, the single-point rigid surface pressure sensor is inconsistent with human body touch in bionics, and the collected pulse information is single; three-head type sensors capable of collecting pulse information of three parts of cun, guan and chi at the end of the 2.20 th century and collecting pulse information of a single part of cun, guan and chi independently are designed, and a manual vertical adjusting screw rod and a manual radial adjusting screw rod are designed to realize displacement of the sensors in radial direction and vertical direction of radial artery; since the 3.21 st century, pulse meters have been developed mainly around the following 3 points: (1) designing a common array type pressure sensor to perform multipoint acquisition on pulse information; (2) designing a flexible array type pressure sensor capable of simulating human body touch in the aspect of bionics; (3) a composite acquisition mode for cooperatively acquiring pulse information by a pressure sensor, a photoelectric sensor, a microphone and other non-contact sensors is constructed.

One of the defects in the existing pulse condition sensor technology is that the pressure sensitivity of the used electronic skin, especially the sensor therein, is not high, and the detection capability is far lower than that of the hands of Chinese medical professionals (the normal pressure threshold value of the fingertips of men is 0.055g on average, and the corresponding value of women is 0.019 g). In addition, since the sensing system needs to cover a large area of the bionic skin having a large number of sensors, the sensors are also required to meet the requirements of miniaturization, low power consumption, and convenience in forming a sensor array.

On the other hand, pressure detection is currently classified according to the sensing principle, and is mainly classified into resistive, capacitive, photoelectric, piezoelectric, inductive, microelectromechanical and composite (two or more principles are combined). Most of them are in laboratory research stage, and have not matured to practical stage, and more trends are resistive, capacitive and resistive-capacitive composite, where capacitive or resistive-capacitive composite touch sensors are the most promising.

In the related art of capacitive detection, the tafshi college and the milteur company in patent CN201980023078.6 propose one or more resistive, piezoelectric or capacitive elements to construct a sensor array, which detects changes in arterial geometry and force during the heart cycle; the Willi life sciences Limited liability company in patent CN201880008077.X proposes that a tactile sensor array comprises a plurality of capacitive sensors to detect pressure changes in the finger artery of a finger due to blood flow, wherein the pressure changes cause changes in capacitance values of one or more capacitive sensors of the tactile sensor array, the control circuit being coupled to the tactile sensor array to receive capacitance values from the tactile sensor array and to determine blood pressure based on the capacitance values; apple company in CN201680043825.9 proposes a method for measuring mean arterial pressure by configuring a capacitive node for measuring the blood pressure of a user wearing a wrist-worn device. The capacitive sensor array generally has the problems of rigidity and uncomfortable wearing for a long time of the pressure sensor, and the pressure sensor is difficult to achieve pressure resolution similar to that of a human hand.

The flexible capacitive three-dimensional force vector sensor structure disclosed in patent CN201920633712.5 can realize the touch (when the sensing system is about to or just touches an external object, the speed and distance of the external object about to or just touches should be roughly classified and judged), the functional requirements of sensing the three-dimensional force and direction (XYZ), and the requirements of high sensitivity and wide detection range and flexible touch are simultaneously considered through the upper electrode of the multifunctional layer and the lower electrode array arranged below. The sensor unit in the test can reach the resolution of 0.01 gram normal force (pressure direction and Z direction) and surpass the pressure resolution capability (0.019 gram) of the fingers of the traditional Chinese medical specialist, so that the sensor unit has the congenital advantage in the construction of the tactile sensor of the pulse condition sensor technology. However, the flexible capacitive three-dimensional force vector sensor structure of the patent CN201920633712.5 greatly increases the distribution pressure and cost of the chip channels caused by the increase of the number of electrode sampling channels when the sensor array is constructed.

Therefore, how to achieve XYZ three-dimensional force resolution while considering the distribution pressure of channels in the construction of a sensor array is a problem to be solved by the present patent proposal.

Disclosure of Invention

The utility model aims to provide a touch sensor structure which is suitable for the alignment of a close, a size and a ruler in pulse diagnosis, can realize the high resolution of XYZ three-dimensional force and can give consideration to the distribution pressure of sampling channels of a sensor array.

To this end, a compatible tactile sensor is provided, comprising a sensor array comprising at least one first sensor unit and at least one second sensor unit; each first sensor unit is provided with a spherical or ellipsoidal first flexible multifunctional layer, each second sensor unit is provided with a strip-shaped second flexible multifunctional layer, an upper electrode electrically connected with the multifunctional layers is arranged in each flexible multifunctional layer, the upper electrode is a curved elastic electrode, a lower electrode is arranged below the upper electrode, an insulating layer is arranged between the upper electrode and the lower electrode, the downward projection of the upper electrode at least covers part of the area of each lower electrode, different capacitances are formed between the upper electrode and the lower electrode to reflect components of force in different directions, and the flexible multifunctional layers are deformed by external force to drive the upper electrode to change the contact area with the insulating layer; in the first sensor unit, the number of at least one of the upper electrode and the lower electrode is at least three; in the second sensor unit, at least one of the upper electrode and the lower electrode is arranged at least two, each electrode of the upper electrode and the lower electrode is distributed on two sides of the strip of the second flexible multifunctional layer, and the second flexible multifunctional layer can drive the upper electrode to change the contact area with the insulating layer by stress deformation in the radial direction of the strip.

In the utility model, the electrode matrix of the first sensor unit is formed by at least three, and the deformation of the flexible multifunctional layer and the upper electrode and the lower electrode form different capacitances to reflect the components of force in different directions, so that the high resolution in the XYZ direction can be achieved; the electrode matrix of the second sensor unit is composed of at least two to obtain high resolution in the Z direction. Through setting up the sensor array that first sensor unit, second sensor unit constitute respectively, on the one hand every node in the array all possesses Z direction resolution capability, is convenient for to the alignment of cun guan chi and pressure detection, on the other hand the electrode matrix quantity of second sensor unit is minimum to two by four, and the required passageway quantity of whole array obtains greatly to reduce, and the cost is controllable, can rely on first sensor unit to acquire XY to the information simultaneously and supplement, consequently, compromise the distribution pressure of sensor array's sampling passageway when reaching the high resolution of XYZ three-dimensional force.

The artery of the human body is of a tubular structure, the flow of blood in the artery is periodic, the flow direction of the blood is taken as X direction, the pressure change is reflected as Z direction (normal direction) bulge information caused by the blood in the wall of the artery when the heart pumps blood, the X direction can reflect the direction type information of the flow of the blood, and the Y direction can reflect the thickness of the blood vessel. For blood pressure detection, information on pressure change is more important, and the flow direction and the thickness of blood vessels are used as auxiliary information. On the basis of adopting the tactile sensor structure, when the high-conversion rate chip with the chip conversion rate of more than 0.5ms is used for collecting capacitance values of all the electrodes, the human blood flow rate is less than 20mm/s, in other words, the resolution of 0.01 gram normal force (Z direction) can be achieved, the pressure resolution capability of fingers of a traditional Chinese medical expert is exceeded, and the resolution in the XY direction is realized. The high conversion rate chip can be an R-SpiNNaker chip, can achieve 24-bit high-speed CDC, has an effective resolution of 21.9 bits, has a conversion time of 0.5ms, and can support high-precision touch signal acquisition and encoding; the function core and SNN core architecture supports complex quasi-neural state calculation by using small-scale neurons, and can realize real-time single-chip pulse classification; the quasi-neural state sensing, calculating and executing integrated structure can support high-precision pulse diagnosis pressure control and pulse classification data processing by a single chip, and the details can be referred to patent data CN202110956246.6.

In the distribution manner of the first sensor units and the second sensor units, the first sensor units and the second sensor units in each row and each column in the array can be alternately arranged, or at least two first sensor units are arranged along the strip-shaped direction of the second sensor units to form a first sensor unit group, and the first sensor unit group and the second sensor unit group in each row and each column in the array are alternately arranged. Since the blood vessel is in the form of a strip, the alternating arrangement ensures that, in the event of a contact of a first sensor unit or a first group of sensor units with the blood vessel, at least one of its adjacent second sensor units also makes contact with the blood vessel, and vice versa.

For the upper electrode, it is preferable to provide integrally with the flexible multifunctional layer, while the lower electrode is a curved electrode or a planar electrode. The optimal choice of the upper electrode is to form the same shape with the flexible multifunctional layer, for example, when the flexible multifunctional layer is arranged in a sphere or an ellipsoid, the upper electrode is also arranged in the sphere or the ellipsoid to achieve the optimal resolution effect, or when the flexible multifunctional layer is in a strip shape, the upper electrode is arranged in a strip shape parallel to the flexible multifunctional layer.

Further, the upper electrode is used as a common electrode, the lower electrodes are provided with at least two mutually insulated electrodes, and the common electrode forms different capacitances for the lower electrodes to reflect components of force in different directions; alternatively, the lower electrode is used as a common electrode, and the upper electrodes are at least two and insulated from each other, and the common electrode forms different capacitances for the respective upper electrodes to reflect components of force in different directions.

Furthermore, the touch sensor can be further provided with a correlation organization which is made of flexible materials and is connected with the flexible multifunctional layers of the sensor units, and the correlation organization is used for correlating the stress of any area of the surface of the touch sensor to the flexible multifunctional layers of at least two sensor units closest to the stress point. Through the association organization arranged on the flexible multifunctional layer of each sensor unit, stress in any area on the surface of the association organization is associated to the peripheral unit package, and the position of a stress point can be calculated through the data of the peripheral unit package, so that the detection blind area is solved. More preferably, the associated tissue can be set to be a flexible tectorial membrane, in the scheme, the outer surface of the flexible multifunctional layer of each sensor unit is covered by the flexible tectorial membrane, when the surface of the associated tissue is stressed, the peripheral unit bags are pulled by the flexible tectorial membrane to realize stress association, so that the problems of motion interference and noise removal can be improved; alternatively, the association tissue can be provided as a flexible filling and filled between flexible multifunctional layers of any sensor unit, and at this time, the association tissue surface is stressed to push the peripheral unit package to realize stress association through the flexible filling. The two schemes can be combined, and meanwhile, the flexible coating and flexible filling are arranged, so that association and restraint are realized through push-pull combination.

An electronic skin is also provided, comprising the tactile sensor.

Also provided is a pulse condition detection device comprising the electronic skin.

Drawings

FIG. 1 is a schematic diagram of a tubular and spherical hybrid array flexible fill tactile sensor.

FIG. 2 is an expanded schematic view of a tubular and spherical hybrid array flexible fill tactile sensor structure.

FIG. 3 is a schematic diagram of a sensor cell electrode layout for a tubular and spherical hybrid array flexible fill tactile sensor.

FIG. 4 is a schematic diagram of a high-precision sensing unit force analysis of a tubular and spherical hybrid array flexible-filled tactile sensor.

FIG. 5 is a schematic illustration of a high spatial resolution force analysis of a tubular and spherical hybrid array flexible fill tactile sensor.

Fig. 6 is a schematic diagram of Z-direction (normal) bulge information induced by flowing blood in an arterial wall.

Detailed Description

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model.

As shown in fig. 1, the utility model provides a 6*6 tubular and 6 x 12 round pack hybrid array flexible fill tactile sensor with high sensitivity and high spatial resolution. As shown in fig. 2, the present sensor includes a flexible filled insulating soft silica gel 100 as an associated tissue; a multi-functional layer 200 containing a plurality of hybrid sensor units (first sensor unit, second sensor unit), which is molded from a conductive silicone mold; the FPC board 300, the copper-clad layer thereon forms a lower electrode array; CDC integrated chip 400; a flexible base 500. The various components cooperate to form an overall flexible tactile sensor.

Wherein each of the spherical sensing cells and the tubular sensing cells has the same respective structural composition, as shown in fig. 3 and 4, one sensing cell 301 of the upper common electrode layer is a spherical structure, and the other sensing cell 302 is a tubular structure. The spherical structural units and the strip electrode unit arrays 401-1, 401-2, 401-3 and 401-4 on the PCB board form capacitors C01-1, C01-2, C01-3 and C01-4 respectively. The spherical structural units and the strip electrode unit arrays 402-1 and 402-2 on the PCB board form capacitors C02-1 and C02-2 respectively. The outer convex surface receives external forces in different directions. The inner spherical hemisphere is tangent to the surface of the PCB, the hemisphere of the upper spherical electrode is in point contact with the insulating ink on the surface of the PCB, and the contact line is just at the center point of the electrode 401 group. When the outer surface is pressed by the force 700, the flexible upper electrode deforms, and the hemisphere of the upper electrode and the insulating ink on the surface of the PCB can be easily converted into small-area contact from the previous point contact. Thereby causing the C01 capacitor bank to change to sense the force. Likewise, the inner tubular hemisphere is tangential to the surface of the PCB, the hemisphere of the upper tubular electrode is theoretically in line contact with the insulating ink on the surface of the PCB, and the line of contact is just centered on the center line of the set of electrodes 402. When the outer surface is pressed by the force 700, the flexible upper electrode deforms, and the hemisphere of the upper electrode is easily transformed into a small-area contact with the insulating ink on the surface of the PCB by the previous point contact and/or line contact. Resulting in a change in C01 and/or C02 or capacitance set to sense the force. The sensor has high sensitivity.

In addition, when the force 702 acts on the spherical outer surface obliquely at a certain angle, component forces exist on the surface of the PCB in different directions, so that the inner contact surface can deviate in the corresponding direction on the PCB, and 4 capacitance values of the corresponding capacitor C01 group can show corresponding different change rules. The 4 capacitances can now be characterized as the force components in 4 different directions in the plane of the parallel PCB board. While the force 701 acts on the tubular outer surface, only 2 capacitances can be characterized as two components of the force in a direction perpendicular to the tubular shape in a plane parallel to the PCB. As shown in fig. 5, when the force 700 acts between the sensing units, the flexible filled silica gel will transmit the forces 702 and 703 to the peripheral sensing units 301 and 301 respectively under the extrusion of the force, and the position of the force bearing point of the force 700 can be calculated according to the relationship between the capacitance sets C01 and C02 of the peripheral sensing units. Achieving a high spatial resolution with a limited sensing unit.

The sensor can be covered on the wall of the arterial blood vessel of the human body, so that the trend of the arterial blood vessel of the human body is closely placed in the vertical direction of the tubular sensor. As shown in fig. 6, the detailed information of the blood flow pulsation passage in the blood vessel when the heart pumps blood can be continuously measured by a plurality of sensor units. The monitoring of blood pressure and pulse is realized.

Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the scope of the present utility model, and although the present utility model has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made to the technical solution of the present utility model without departing from the spirit and scope of the technical solution of the present utility model.

Claims (9)

1. A compromise type tactile sensor, characterized in that:

comprising a sensor array comprising at least one first sensor unit and at least one second sensor unit;

each first sensor unit is provided with a spherical or ellipsoidal first flexible multifunctional layer, each second sensor unit is provided with a strip-shaped second flexible multifunctional layer, an upper electrode electrically connected with the multifunctional layers is arranged in each flexible multifunctional layer, the upper electrode is a curved elastic electrode, a lower electrode is arranged below the upper electrode, an insulating layer is arranged between the upper electrode and the lower electrode, the downward projection of the upper electrode at least covers part of the area of each lower electrode, different capacitances are formed between the upper electrode and the lower electrode to reflect components of force in different directions, and the flexible multifunctional layers are deformed by external force to drive the upper electrode to change the contact area with the insulating layer;

in the first sensor unit, the number of at least one of the upper electrode and the lower electrode is at least three; in the second sensor unit, at least one of the upper electrode and the lower electrode is arranged at least two, each electrode of the upper electrode and the lower electrode is distributed on two sides of the strip of the second flexible multifunctional layer, and the second flexible multifunctional layer can drive the upper electrode to change the contact area with the insulating layer by stress deformation in the radial direction of the strip.

2. The compatible tactile sensor according to claim 1, wherein:

the first sensor units and the second sensor units of each row and each column in the array are alternately arranged; or alternatively

The at least two first sensor units are arranged along the strip-shaped direction of the second sensor units to form first sensor unit groups, and the first sensor unit groups and the second sensor units of each row and each column in the array are alternately arranged.

3. The compatible tactile sensor according to claim 1, wherein: the flexible multifunctional layer and the upper electrode are integrally arranged, and/or the lower electrode is a curved surface electrode or a plane electrode.

4. The compatible tactile sensor according to claim 1, wherein:

the upper electrode or the lower electrode serves as a common electrode that forms different capacitances to the respective electrodes of the other layer to reflect the force components in different directions.

5. The compatible tactile sensor according to claim 1, wherein: the touch sensor further comprises a correlation organization which is made of flexible materials and is connected with the flexible multifunctional layers of the sensor units, and the correlation organization is used for correlating the stress of any area of the surface of the touch sensor to the flexible multifunctional layers of at least two sensor units closest to the stress point.

6. The compatible tactile sensor according to claim 5, wherein:

the related tissue is a flexible coating, and the outer surface of each flexible multifunctional layer is covered by the flexible coating; and/or

The association organization is a flexible filling and is filled between any flexible multifunctional layers.

7. The compatible tactile sensor according to claim 1, wherein:

the device also comprises an R-spiNNaker chip, wherein the R-spiNNaker chip collects capacitance values of the electrodes.

8. An electronic skin, characterized by: comprising a compatible tactile sensor according to any one of claims 1-7.

9. A pulse condition detection apparatus, characterized in that: comprising the electronic skin of claim 8.

Images