DK181377B1 - Taktil sensor, matrice af taktile sensorer, samt metoder til fremstillig heraf - Google Patents

Taktil sensor, matrice af taktile sensorer, samt metoder til fremstillig heraf Download PDF

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Publication number
DK181377B1
DK181377B1 DKPA202270046A DKPA202270046A DK181377B1 DK 181377 B1 DK181377 B1 DK 181377B1 DK PA202270046 A DKPA202270046 A DK PA202270046A DK PA202270046 A DKPA202270046 A DK PA202270046A DK 181377 B1 DK181377 B1 DK 181377B1
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DK
Denmark
Prior art keywords
conductive
topology
tactile sensor
face
tactile
Prior art date
Application number
DKPA202270046A
Other languages
English (en)
Inventor
Bjerrum-Niese Christian
Naserbakht Sepideh
Eld Ibsen Per
Original Assignee
Graspian Aps
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Graspian Aps filed Critical Graspian Aps
Priority to DKPA202270046A priority Critical patent/DK181377B1/da
Priority to PCT/DK2023/050023 priority patent/WO2023147831A1/en
Application granted granted Critical
Publication of DK202270046A1 publication Critical patent/DK202270046A1/en
Publication of DK181377B1 publication Critical patent/DK181377B1/da

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/18—Measuring force or stress, in general using properties of piezo-resistive materials, i.e. materials of which the ohmic resistance varies according to changes in magnitude or direction of force applied to the material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/084—Tactile sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
    • G01L1/205—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using distributed sensing elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
    • G01L5/228—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping using tactile array force sensors
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
    • G06F3/0414—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means using force sensing means to determine a position
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
    • G06F2203/041—Indexing scheme relating to G06F3/041 - G06F3/045
    • G06F2203/04103—Manufacturing, i.e. details related to manufacturing processes specially suited for touch sensitive devices

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Theoretical Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Claims (15)

DK 181377 B1 32 PATENTKRAV
1. En taktil sensor (10) omfattende: - en første ledende flade (51) vendt mod - en anden ledende flade (52); - en støtte (20) understøttende første (51) og anden (52) ledende flader; fladerne (51,52) arrangeret til at bevæge sig relativt i forhold til hinanden via en påført trykkraft (5) og konfigureret til at blive bragt i kontakt med hinanden, hvor mindst en af fladerne (51,52) har en toplogi (60A) forskellig fra topologien (60B) af den modsatte flade (52,51), kendetegnet ved, at mindst én af første eller anden flade (51,52) har en formhukommelses-effekt med en første formhukommelsesform og en anden formhukommelsesform.
2. Den taktile sensor (10) ifølge krav 1, kendetegnet ved, at mindst én flade (51,52) har en topologi (60) omfattende: a) en ellipsoide formfaktor; b) en trekantet formfaktor; c) en firkantet formfaktor; d) trapez formfaktor; e) en sinusformet formfaktor; f) en fri formfaktor; eller g) kombinationer heraf.
DK 181377 B1 33
3. Den taktile sensor (10) ifølge hvilket som helst et eller flere af de foregående krav, kendetegnet ved, at mindst én flade (51,52) har en topologi (60) udgående i en normal retning og havende asymmetriske flader i den tværgående retning.
4. Den taktile sensor (10) ifølge hvilket som helst et eller flere af de foregående krav, kendetegnet ved, at mindst én taktil sensor (10) har en første ledende flade (51) formet af et første ledende lag (41) valgt blandt et hærdet formbart og/eller klæbrigt materiale fyldt med ledende fyldstof.
5. Den taktile sensor (10) ifølge hvilket som helst et eller flere af de foregående krav, kendetegnet ved, at mindst én taktil sensor (10) har den anden ledende flade (52) formet af et andet ledende lag (42) valgt blandt elektrisk ledende polymer-kompositter.
6. Den taktile sensor (10) ifølge hvilket som helst et eller flere af de foregående krav, kendetegnet ved, at mindst én flade (51,52) omfatter flere og forskellig topologier (60A,60B).
7. Den taktile sensor (10) ifølge krav 5, kendetegnet ved, at det andet lag (42) med den anden ledende flade (52) kan være et fleksibelt lag med en plan topologi som en første formhukommelsesform og hvor den anden formhukommelsesform og den første ledende flade (51) topologi er komplementære.
DK 181377 B1 34
8. En matrice af taktile sensorer (13), matricen omfattende flere taktile sensorer (10) ifølge hvilket som helst et eller flere af krav 1 til 7.
9. Et arrangement af taktile sensorer (14) ifølge hvilket som helst et eller flere af de foregående krav og arrangeret i en støtte(20) konfigureret med et hul (86) og hvor de taktile sensorer (15) er arrangeret i omegnen af hullet (86).
10. En metode til fremstilling (900) af en taktil sensor (10); metoden omfattende handlinger: - tilvejebringe (190) en støtte (20) og et andet lag (42) med en ledende anden flade (52) med en anden topologi (62); - anbringe (1200) en ledende formbar væske eller pasta på støtten (20); - danne (1300) en første ledende flade (51) ved rivning eller støbning af den ledende pasta med en riveskabelon eller støbeform med en komplementær topologi til den ønskede første topologi (61), som er forskellig fra den anden topologi (62) af den anden flade (52); - arrangere (1400) den anden ledende flade (52) af det andet ledende lag (42) modsat den første ledende flade (51), hvor fladerne (51,52) er arrangeret til at bevæge sig relativt til hinanden ved en tilført trykkraft (5) og konfigureret til at blive bragt i konktakt med hinanden, kendetegnet ved, at mindst én af første eller anden flade (51,52) som tilvejebragt eller dannet omfatter en formhukommelsesform-effekt med en første formhukommelsesform og en anden formhukommelsesform.
DK 181377 B1 35
11. Metoden (900) ifølge krav 10, yderlig omfattende en handling: - forbinde (1500) mindst en første tråd (31) til den første ledende flade (51) og forbinde mindst en anden tråd (32) til den anden flade (52).
12. Metoden ifølge krav 10 eller 11, kendetegnet ved, at handlingen danne (1300) en første ledende flade (51) involverer dannelse af i det mindste to forskellige topologier (60A, 60B), hver forskellig fra den anden topologi (62) af korresponderede anden flade (52).
13. Metoden ifølge hvert et eller flere af krav 10 til 12, kendetegnet ved, at handlingen danne (1300) er udført med mindst en flade (51,52) med en en topologi (60) udgående i en normal retning og med asymmetriske flader i den tværgående retning.
14. En taktil sensor (10) fremstillet ved en proces omfattende handlinger ifølge hvert et eller flere af krav 10 til 13.
15. En taktil sensor (10) ifølge krav 1 til 8 fremstillet ved brug af handlinger ifølge krav 12 eller 13.
DKPA202270046A 2022-02-04 2022-02-04 Taktil sensor, matrice af taktile sensorer, samt metoder til fremstillig heraf DK181377B1 (da)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DKPA202270046A DK181377B1 (da) 2022-02-04 2022-02-04 Taktil sensor, matrice af taktile sensorer, samt metoder til fremstillig heraf
PCT/DK2023/050023 WO2023147831A1 (en) 2022-02-04 2023-02-03 Tactile sensor, matrix of tactile sensors; and methods of producing such

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DKPA202270046A DK181377B1 (da) 2022-02-04 2022-02-04 Taktil sensor, matrice af taktile sensorer, samt metoder til fremstillig heraf

Publications (2)

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DK202270046A1 DK202270046A1 (en) 2023-09-15
DK181377B1 true DK181377B1 (da) 2023-09-15

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Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117288354A (zh) * 2023-09-21 2023-12-26 北京软体机器人科技股份有限公司 一种压力传感器
CN117030079B (zh) * 2023-10-09 2024-02-23 之江实验室 一种宽量程柔性压力传感器及其制备方法

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9524020B2 (en) 2010-10-12 2016-12-20 New York University Sensor having a mesh layer with protrusions, and method
KR102081892B1 (ko) * 2013-09-05 2020-02-26 삼성전자주식회사 압저항(piezo-resistive) 전극을 구비한 저항성 압력 센서
CN108139282B (zh) 2015-07-29 2020-10-16 小利兰·斯坦福大学托管委员会 关于敏感力传感器的方法和装置
US10718676B2 (en) 2015-11-25 2020-07-21 Nanyang Technological University Pressure sensing electronic device, methods of forming and operating the same
WO2018144772A1 (en) 2017-02-03 2018-08-09 The Regents Of The University Of California Enhanced pressure sensing performance for pressure sensors
CN110446912B (zh) 2017-03-23 2021-07-20 松下知识产权经营株式会社 触觉传感器以及构成该触觉传感器的触觉传感器单元
EP3638465A4 (en) 2017-06-15 2021-07-07 OnRobot A/S LOCATION AND FORCE DETECTION SYSTEMS, DEVICES AND METHODS
KR102520722B1 (ko) * 2018-04-05 2023-04-11 삼성디스플레이 주식회사 압력 센서
WO2020087027A1 (en) 2018-10-26 2020-04-30 The Board Of Trustees Of The Leland Stanford Junior University Sensor apparatus for normal and shear force differentiation
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WO2023147831A1 (en) 2023-08-10

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Effective date: 20230805

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