KR101948749B1 - Apparatus and method for sensing pain - Google Patents

Abstract

According to an embodiment of the present invention, provided is an apparatus for sensing pain, comprising: a composite sensor unit including a pressure measurement part and a thermal measurement part; a control unit for generating pain data from an electric signal obtained from the composite sensor unit; and an output unit for outputting the pain data, wherein the control unit includes: a comparison and determination part for determining whether to generate the pain data from each of a pressure signal obtained from the pressure measurement part and a thermal signal obtained from the thermal measurement part; and a pain data generation part for generating the pain data.

Description

[0001] APPARATUS AND METHOD FOR SENSING PAIN [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pain sensing apparatus and a pain sensing method for sensing pain caused by external stimuli.

As the efforts to apply the human sense of the five senses, such as vision, hearing, smell, taste and tactile sensation, have been progressing for a long time, sensor development technology related to it has been diversified and its technology is developing. In recent years, smartphone or wearable computer technology has developed, and as a result, a method of transmitting by touch has become an important means in interaction between human and machine.

In the case of robots, unlike in the past, which has only performed repetitive tasks in the manufacturing field, robotic manufacturing technology has become more sophisticated and delicate, and the utilization of robots in various fields such as medical care, defense and industry is increasing. Accordingly, the importance of the touch for applying to the robot finger is increasing, and in order to give the touch to the machine, an ideal tactile sensor which imitates the human skin instead of the simple touch concept has been studied.

KR 10-2017-0030731 A, 2017.03.20

However, the research on the conventional tactile sensor has been mainly carried out to improve the accuracy of the sensing and to improve the flexibility of the sensor. Also, After storing the data of the matching of the face strength and facial expressions and the emotion corresponding to the facial expressions, the robot senses human speech or facial expressions using an auditory sensor and a visual sensor, and outputs emotions matching therewith.

An object of the present invention is to provide a pain sensing apparatus and a pain sensing method capable of simultaneously measuring "pain caused by pressure" and "pain caused by heat" using the complex sensor unit.

However, these problems are illustrative, and thus the scope of the present invention is not limited thereto.

According to an aspect of the present invention, there is provided a composite sensor unit including a pressure measurement unit and a heat measurement unit; A control unit for generating pain data from the electric signal obtained from the complex sensor unit; And an output unit for outputting the pain data, wherein the control unit comprises: a comparison and determination unit for determining whether to generate the pain data from each of the pressure signal obtained from the pressure measurement unit and the column signal obtained from the thermal measurement unit; And a pain data generator for generating the pain data.

The pressure measuring unit may include a pressure sensor array composed of a plurality of pressure sensors each generating the pressure signal corresponding to an applied pressure.

The composite sensor unit includes: a first insulating substrate; A second insulating substrate disposed to face the first insulating substrate; A plurality of first electrodes disposed on the first insulating substrate and disposed on the first surface of the second insulating substrate facing the first insulating substrate, the first electrodes being disposed between the first insulating substrate and the second insulating substrate, The pressure measuring unit including a plurality of second electrodes arranged to face each of the plurality of first electrodes; And the thermal measuring portion disposed on a second surface opposite to the first surface of the second insulating substrate.

And an intermediate layer disposed between the plurality of first electrodes and the plurality of second electrodes and including a piezoelectric material.

The thermal measurement unit may include a resistance pattern whose resistance is changed by heat.

The thermal measurement unit may include: a third electrode disposed on the second surface of the second insulating substrate; A fourth electrode arranged to face the third electrode; And a semiconductor film or a semiconductor nanowire disposed between the third electrode and the fourth electrode.

The composite sensor unit includes: a first insulating substrate; A second insulating substrate disposed to face the first insulating substrate; A plurality of first electrodes disposed on the first insulating substrate and disposed on the first surface of the second insulating substrate facing the first insulating substrate, the first electrodes being disposed between the first insulating substrate and the second insulating substrate, The pressure measuring unit including a plurality of second electrodes arranged to face each of the plurality of first electrodes; And a plurality of third electrodes arranged on the first insulating substrate, a plurality of fourth electrodes arranged on the first surface of the second insulating substrate so as to face each of the plurality of third electrodes, And the thermal measurement unit including a semiconductor film or a semiconductor nanowire disposed between the electrode and the fourth electrode.

At least one of the plurality of third electrodes may be disposed between the plurality of first electrodes.

And an intermediate layer disposed between the plurality of first electrodes and the plurality of second electrodes and including a piezoelectric material, and the intermediate layer may be disposed on a front surface of the first insulating substrate.

And an intermediate layer disposed between the plurality of first electrodes and the second electrode and including a piezoelectric material, wherein the intermediate layer is provided between each of the plurality of first electrodes and each of the plurality of second electrodes facing the plurality of first electrodes, .

The comparison and determination unit may determine whether to generate the pain data based on the pressure based on the number of the pressure sensors for generating the signal among the plurality of pressure sensors and the intensity of the pressure signal, It is possible to determine whether or not the pain data generated by the heat is generated.

Wherein the comparing and judging unit judges that the signal is the first pain data signal when the number of the pressure sensors is equal to or less than the threshold number and the intensity of the pressure signal is equal to or greater than the first threshold intensity, It is determined as the second pain data when the intensity of the signal is equal to or greater than the second threshold intensity and the third pain data if the intensity of the thermal signal generated in at least one of the plurality of sensors is equal to or greater than the third threshold intensity .

The second threshold strength may be greater than the first threshold strength.

The output unit may include at least one of a sound output unit, a display unit, and a driving motor, and may output at least one of the first pain data, the second pain data, and the third pain data.

According to another aspect of the present invention, there is provided a method of measuring pressure, comprising: obtaining a pressure signal by a pressure and a heat signal by heat using a composite sensor unit including a pressure measuring unit and a heat measuring unit; Comparing each of the pressure signal and the column signal with a threshold value to determine whether to generate pain data; Generating pain data; And outputting the generated pain data.

Wherein the pressure measuring unit includes a pressure sensor array composed of a plurality of pressure sensors each generating the pressure signal corresponding to an applied pressure, wherein the step of determining whether to generate the pain data comprises: Determining whether or not to generate the pain data based on the pressure based on the number of the pressure sensors generating the signal and the intensity of the pressure signal; And determining whether to generate the pain data due to heat based on the strength of the thermal signal.

Wherein the step of determining whether to generate the pain data by the pressure judges that the pain data is generated when the number of the pressure sensors is equal to or less than the threshold number and the intensity of the pressure signal is equal to or greater than the first threshold value, Wherein the step of determining whether to generate the pain data by the column includes determining whether the intensity of the column signal is greater than or equal to the third threshold level It can be judged as the third pain data.

The second threshold strength may be greater than the first threshold strength.

The step of outputting the pain data may include outputting at least one of the first pain data, the second pain data, and the third pain data using at least one of an audio output unit, a display unit, and a drive motor have.

The composite sensor unit includes: a first insulating substrate; A second insulating substrate disposed to face the first insulating substrate; A plurality of first electrodes disposed on the first insulating substrate and disposed on the first surface of the second insulating substrate facing the first insulating substrate, the first electrodes being disposed between the first insulating substrate and the second insulating substrate, The pressure measuring unit including a plurality of second electrodes arranged to face each of the plurality of first electrodes; And the thermal measuring portion disposed on a second surface opposite to the first surface of the second insulating substrate.

The composite sensor unit includes: a first insulating substrate; A second insulating substrate disposed to face the first insulating substrate; A plurality of first electrodes disposed on the first insulating substrate and disposed on the first surface of the second insulating substrate facing the first insulating substrate, the first electrodes being disposed between the first insulating substrate and the second insulating substrate, The pressure measuring unit including a plurality of second electrodes arranged to face each of the plurality of first electrodes; And a plurality of third electrodes arranged on the first insulating substrate, a plurality of fourth electrodes arranged on the first surface of the second insulating substrate so as to face each of the plurality of third electrodes, And the thermal measurement unit including a semiconductor film or a semiconductor nanowire disposed between the electrode and the fourth electrode.

Other aspects, features and advantages of the present invention will become apparent from the following detailed description, claims, and drawings.

According to one embodiment of the present invention as described above, it is possible to provide a pain sensing apparatus and a pain measuring method capable of simultaneously measuring "pain caused by pressure" and "pain caused by heat" using the composite sensor unit. In addition, an electronic device including a pain sensing device capable of interacting with a person by sensing pain and protecting himself or herself in response to pain can be implemented.

Of course, the scope of the present invention is not limited by these effects.

1 is a block diagram showing a configuration of a pain sensing apparatus according to an embodiment.
2A is a flowchart illustrating a method for detecting a pain according to an embodiment.
2B is a detailed view of the step S100 according to an embodiment.
3A is a perspective view schematically showing a composite sensor unit according to one embodiment.
3B is a cross-sectional view taken along line III-III 'of FIG. 3A.
4 to 6 are cross-sectional views schematically showing a composite sensor unit according to another embodiment.
7A is a perspective view schematically showing a composite sensor unit according to yet another embodiment.
7B is a cross-sectional view taken along line VII-VII 'of FIG. 7A.
8 to 10 are cross-sectional views schematically showing a composite sensor unit according to yet another embodiment.
FIG. 11 is a flowchart illustrating steps of determining whether to generate pain data according to an embodiment and generating pain data.
12 and 13 are conceptual diagrams for explaining an electronic apparatus including a pain sensing apparatus according to an embodiment, respectively.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention and methods of achieving them will be apparent with reference to the embodiments described in detail below with reference to the drawings. However, the present invention is not limited to the embodiments described below, but may be implemented in various forms.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals refer to like or corresponding components throughout the drawings, and a duplicate description thereof will be omitted .

As used herein, the terminology used herein is intended to encompass all commonly used generic terms that may be considered while considering the functionality of the present invention, but this may vary depending upon the intent or circumstance of the skilled artisan, the emergence of new technology, and the like. Also, in certain cases, there may be a term selected arbitrarily by the applicant, in which case the meaning thereof will be described in detail in the description of the corresponding invention. Therefore, the term used in the present invention should be defined based on the meaning of the term, not on the name of a simple term, but on the entire contents of the present invention.

In the following embodiments, when an element is referred to as "comprising ", it means that it can include other elements, not excluding other elements unless specifically stated otherwise. Furthermore, the term "part" or the like described in the specification means a unit for processing at least one function or operation, which may be implemented by hardware or software, or a combination of hardware and software.

In the following embodiments, when various components such as layers, films, regions, plates, and the like are referred to as being "on" another component, it will be understood that not only are there other components "directly on" But also the case where it is intervened. Also, for convenience of explanation, the components may be exaggerated or reduced in size. For example, the size and thickness of each component shown in the drawings are arbitrarily shown for convenience of explanation, and thus the present invention is not necessarily limited to those shown in the drawings.

1 is a block diagram showing a configuration of a pain sensing apparatus according to an embodiment.

Referring to FIG. 1, the pain sensing apparatus 1 according to an embodiment may include a composite sensor unit 100, a control unit 200, a storage unit 300, and an output unit 400.

The composite sensor unit 100 acquires an electrical signal corresponding to the pressure and the heat when the composite sensor unit 100 is applied. The composite sensor unit 100 includes a pressure measurement unit 110 for measuring the applied pressure and a heat measurement unit 120 for measuring the applied heat, which are electrically isolated from each other. The pressure measuring unit 110 and the heat measuring unit 120 are electrically separated from each other to obtain a pressure signal and a heat signal, respectively, but they may be disposed on one substrate and physically connected.

The pressure measuring unit 110 includes a capacitance type sensor using a principle that a capacitance is changed according to an applied pressure, a resistance type sensor using a principle in which a resistance changes, and a piezoelectric type sensor for converting an applied pressure into an electric signal And at least one sensor among the sensors using the phenomenon. In addition, the thermal measuring unit 120 may include at least one of a resistance-type sensor using the principle that the resistance is changed by the applied heat and a sensor using the Seebeck effect.

However, the present invention is not limited thereto, and the pressure measuring unit 110 and the heat measuring unit 120 may be configured as pressure sensors and thermal sensors of any kind capable of measuring pressure and heat, respectively.

Here, the generation of the electric signal when pressure and heat are applied means that the electric signal due to the pressure is acquired when only the pressure is applied to the composite sensor unit 100 and the electric signal due to the heat is acquired when only the heat is applied , And obtains electrical signals by pressure and heat when pressure and heat are applied. That is, the pressure and heat described below may mean pressure and / or heat. A specific embodiment of the composite sensor unit 100 will be described later.

The control unit 200 may provide means for circuit current, data acquisition and processing within the pain sensing device 1, and may be implemented in hardware or software, or in a combination of hardware and software.

The control unit 200 includes a signal receiving unit 210, a threshold value extracting unit 230, a comparing and determining unit 250, and a pain data generating unit 270. The signal receiving unit 210 receives the pressure and the electric signal generated by the composite sensor unit 100 from the composite sensor unit 100.

The control unit 200 includes a threshold value extracting unit 230. The threshold value extracting unit 230 extracts a threshold value, a first threshold value, a second threshold value, and a third threshold value, which are stored in the storage unit 300, And the like can be extracted. The threshold values stored in the storage unit 300 are predetermined values and may be values input by the user in consideration of the type of the complex sensor unit 100, the use of the pain sensor 1, and the like. The storage unit 300 may store programs for processing and controlling the control unit 200 and may store input / output data (e.g., voice data, image data, drive data, etc.) in addition to the thresholds.

The storage unit 300 may be a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (for example, SD or XD memory) (Random Access Memory) SRAM (Static Random Access Memory), ROM (Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), PROM (Programmable Read-Only Memory) A disk, and / or an optical disk. In addition, the pain sensing apparatus 1 may operate a web storage or a cloud server that performs a storage function of the storage unit 300 on the Internet.

The control unit 200 includes a comparison and determination unit 250. The comparison and determination unit 250 compares each of the pressure signal and the column signal obtained from the pressure measurement unit 110 and the column measurement unit 120 with a threshold value It is possible to determine whether the pressure and the heat applied to the complex sensor unit 100 correspond to "pain" by comparing with at least one of the thresholds extracted by the extraction unit 230. A specific embodiment of the comparison and determination unit 250 will be described later.

The control unit 200 includes a pain data generator 270. The pain data generator 270 can generate pain data when it is judged by the comparing and judging unit 250 that the pain is "pain".

The pain sensing apparatus 1 according to an embodiment includes an output unit 400. The control unit 200 transforms the generated pain data into various types of output data or uses output data stored in the storage unit 300 To the output unit 400, and the output unit 400 can output the output data corresponding to the pain data. Hereinafter, the output unit 400 outputs the pain data, it can be understood that the output unit 400 outputs the output data corresponding to the pain data. The output unit 400 may include an audio output unit, a display unit, and / or a driving motor. The output unit 400 may express or warn the pain through voice or screen when the pain data is generated, and may move away from pressure and heat by moving at least a part of the pain sensor 1 by the drive motor.

Although not shown, the control unit 200 may further include a communication unit capable of wirelessly or wired connection of the pain sensing apparatus 1 with an external device. For example, the communication unit may include a local communication unit, a mobile communication unit, and / have.

FIG. 2A is a flowchart illustrating a method of detecting pain according to an exemplary embodiment of the present invention, and FIG. 2B is a detailed view of step S100 according to an exemplary embodiment.

Referring to FIG. 2A, the pain sensing method according to an exemplary embodiment includes obtaining a pressure signal by pressure and a heat signal by heat (S100) using the composite sensor unit 100, (S200) of determining whether to generate pain data by comparing the threshold value with a threshold value, generating a pain data (S300), and outputting the generated pain data (S400).

2b, the complex sensor unit 100 includes a pressure measurement unit 110 and a thermal measurement unit 120. In step S100, a pressure signal is acquired using the pressure measurement unit 110 S110) and obtaining a thermal signal using the thermal measurement unit 120 (S120).

In step S200, it is possible to determine whether or not the pain data is generated by comparing each of the pressure signal and the column signal with a threshold value. For example, the threshold value corresponding to each of the pressure signal and the column signal may be a predetermined value stored in the storage unit 300.

In step S300, when it is determined in step S200 that the pain data is generated for at least one of the pressure signal and the thermal signal, the pain data can be generated.

In step S400, the generated pain data may be output by the output unit 400 in various forms.

FIG. 3A is a perspective view schematically showing a composite sensor unit according to an embodiment, and FIG. 3B is a cross-sectional view taken along line III-III 'in FIG. 3A.

Referring to FIGS. 3A and 3B, a composite sensor unit 1100 according to an embodiment includes a pressure measurement unit 1110 and a heat measurement unit 1120. The pressure measuring unit 1110 and the heat measuring unit 1120 may be disposed along a direction perpendicular to the main surface 1130MS of the first insulating substrate 1130. [

The pressure measuring unit 1110 may include a pressure sensor array composed of a plurality of pressure sensors 1110 _units that generate a pressure signal corresponding to the applied pressure. The plurality of pressure sensors 1110 _units may be a two-dimensional pressure sensor array arranged in a matrix shape at substantially constant intervals P, for example, the interval P may be several tens of micrometers to several millimeters.

Each of the plurality of pressure sensors 1110 _units may include a first electrode 1140 and a second electrode 1160 facing each other. The first electrode 1140 and the second electrode 1160 constitute a capacitor and the distance between the first electrode 1140 and the second electrode 1160 is changed by a pressure applied from the outside, The applied pressure can be measured using the principle that the capacitance changes. Here, air is distributed between the first electrode 1140 and the second electrode 1160, and an air gap can be formed.

 The heat measuring unit 1120 is disposed on the pressure measuring unit 1110 and the resistance measuring unit 1120 may be a resistance type sensor whose resistance is changed by applied heat. The heat measuring unit 1120 is disposed on the pressure measuring unit 1110 and can be electrically separated from the pressure measuring unit 1110 by the second insulating substrate 1180.

The composite sensor unit 1100 includes a first insulating substrate 1130 and a second insulating substrate 1180 disposed to face the first insulating substrate 1130. The first insulating substrate 1130 includes a first insulating substrate 1130, A pressure measuring unit 1110 is disposed between the first insulating substrate 1130 and the second insulating substrate 1180 and a thermal measuring unit 1120 is disposed on the second insulating substrate 1180.

The pressure measuring unit 1110 includes a plurality of first electrodes 1140 disposed on the main surface 1130MS of the first insulating substrate 1130 and a plurality of second electrodes 1140 disposed on the first surface 1180S1 of the second insulating substrate 1180 And a plurality of second electrodes 1160 arranged to face each of the first electrodes 1140 of the first electrode 1140. One first electrode 1140 and one second electrode 1160 opposed thereto constitute one pressure sensor 1110 _unit . The first surface 1180S1 refers to a surface of the second insulating substrate 1180 facing the first insulating substrate 1130 and the opposite surface to the first surface 1180S1 is defined as a second surface 1180S2 . On the second surface 1180S2 of the second insulating substrate 1180, a thermal measurement unit 1120 is disposed.

The first insulating substrate 1130 and the second insulating substrate 1180 may be various kinds of substrates having an insulating property, and may be, for example, a flexible substrate having flexibility.

The first electrode 1140 and the second electrode 1160 may be transparent conductive films such as indium tin oxide (ITO), but the present invention is not limited thereto. That is, the first electrode 1140 and the second electrode 1160 may be formed of various kinds of conductive materials or may be made of different materials.

In Figures 3a and 3b are illustrated as being separated both the first electrode 1140 and second electrode 1160 that are included in each of the pressure sensor (1110 _unit), the present invention is not limited to the first electrode One of the first electrode 1140 and the second electrode 1160 may not be separated and may be integrally formed over a plurality of pressure sensors 1110 _units . In FIGS. 3A and 3B, only six pressure sensors 1110 _{units are} shown, but the pressure sensor 1110 _unit may include more than nine pressure sensors 1110 _units .

On the second insulating substrate 1180, a thermal measuring portion 1120 including a resistance pattern 1121 whose resistance changes by heat is disposed. The resistance pattern 1121 may have a bent shape of metal to realize a large resistance. Resist pattern 1121 is to be multiple-piece disposed on the second insulating substrate 1180, regardless of the arrangement of the plurality of pressure sensors (1110 _unit) may be formed so as to correspond to each of a plurality of pressure sensors (1110 _unit) It is possible. The resistance pattern 1121 may include tungsten (W), chromium (Cr), niobium (Nb) or the like having a large resistance and the thermal measurement unit 1120 may include a resistance pattern 1121, (Not shown) for connecting the contact electrodes (not shown).

The composite sensor unit 1100 can simultaneously measure pressure and heat, and the pressure signal and the heat signal can be processed in a predetermined step to generate a pain signal. This will be described later.

4 to 6 are cross-sectional views schematically showing a composite sensor unit according to another embodiment.

Referring to FIG. 4, the composite sensor unit 2100 includes a first insulating substrate 2130, a second insulating substrate 2180 disposed to face the first insulating substrate 2130, A plurality of first electrodes 2140 disposed between the second insulating substrate 2130 and the second insulating substrate 2180, a plurality of first electrodes 2140, a second electrode 2160 opposed to each of the plurality of first electrodes 2140, And an intermediate layer 2150 disposed between the plurality of second electrodes 2160 and the plurality of second electrodes 2160. The thermal measurement unit 2120 is disposed on the second insulating substrate 2180. The pressure measuring unit 2110 may be a pressure sensor array composed of a plurality of pressure sensors 2110 _units .

The composite sensor unit 2100 of FIG. 4 has the same configuration as the composite sensor unit 1100 of FIGS. 3A and 3B, except that the pressure measurement unit 2110 further includes an intermediate layer 2150.

According to one embodiment, the intermediate layer 2150 may be an insulating layer functioning as a dielectric of a capacitor composed of the first electrode 2140 and the second electrode 2160. In this case, the dielectric constant of the capacitor depending on the type of the insulating layer can be changed. In this case, the pressure measuring unit 2110 may be a capacitance type using the principle that the capacitance is changed according to the applied pressure like the pressure measuring unit 1110 of FIGS. 3A and 3B.

According to another embodiment, the intermediate layer 2150 may be composed of a piezoelectric material that generates an electric signal by generating an electric polarization when a mechanical external force is applied. Piezoelectric materials are, for example, barium titanate (BaTiO _3; Barium titanate), lead titanate zirconate (PZT; Lead zirconate titanate), lead titanate (PbTiO _3; Lead titanate) or strontium titanate; such as (SrTiO ₃ Strontium titanate) inorganic or And polycrystalline organic materials such as polyvinylidene fluoride (PVDF) and the like. The piezoelectric material may be an insulating piezoelectric material.

In this case, the first electrode 2140 and the second electrode 2160 function as a contact electrode, and when electric field is generated by applying pressure to the intermediate layer 2150, the first electrode 2140 and the second electrode 2160 disposed at both ends of the intermediate layer 2150 2140 and the second electrode 2160, and a current can be flowed by connecting them, and the current or voltage can be measured using a current measuring device or a voltage measuring device. The measured pressure signal, that is, the electric signal is transmitted to the controller 200 (FIG. 1) and the signal receiver 210 (FIG. 1) of the controller 200 can receive the electric signal. The intensity of the electric signal may increase as the intensity of the pressure increases, and may occur only when the pressure is applied or the pressure is relieved.

The intermediate layer 2150 may be integrally formed over a plurality of pressure sensors 2110 _units . A plurality of pressure sensors 2110 _units acquire independent pressure signals. Of course, the pressure applied to one region by the piezoelectric material may affect the pressure sensor 2110 _unit corresponding to the other region. However, due to the characteristics of the piezoelectric material, a potential difference occurs only in the portion where the pressure is applied, The pressure signal can be generated only in the pressure sensor 2110 _unit corresponding to the region where the pressure is substantially applied.

However, the present invention is not limited thereto, and the intermediate layer 2150 may be disposed only between the first electrode 2140 and the corresponding second electrode 2160, and may be provided on each of the plurality of pressure sensors 2110 _units . ). ≪ / RTI >

According to another embodiment, the intermediate layer 2150 may be composed of various materials such as a semiconductor material, a piezoresistance material whose resistance changes by pressure, and the like.

5, the composite sensor unit 3100 according to an embodiment includes a first insulating substrate 3130, a second insulating substrate 3180 disposed to face the first insulating substrate 3130, (3110) including a plurality of first electrodes (3140) and a second electrode (3160) disposed between the first insulating substrate (3130) and the second insulating substrate (3180) And a heat measuring unit 3120 disposed on the second insulating substrate 3180. The pressure measuring unit 3110 may be a pressure sensor array composed of a plurality of pressure sensors 3110 _units .

The configuration of the composite sensor unit 3100 of FIG. 5 is the same as that of the composite sensor unit 1100 of FIGS. 3A and 3B, except that there is a difference only in the configuration of the thermal sensor unit 3120.

The thermal measurement unit 3120 includes a third electrode 3121, a semiconductor film 3123 disposed on the third electrode 3121, and a fourth electrode 3122 disposed on the semiconductor film 3123, A third insulating substrate 3190 may be disposed on the fourth electrode 3122. The semiconductor film 3123 may be a material exhibiting a Seebeck effect in which an electric signal is generated by the movement of a conductive carrier existing in the material when heat is applied. Zinc oxide film.

In order to obtain an electric signal by the applied heat, the concentration of the conductive carrier must be equal to or higher than a predetermined value. In order to increase the concentration of the conductive carrier, for example, zinc peroxide which is a semiconductor material, doping of impurities and formation of defects Or a method of forming a conductive carrier by diffusion of a material constituting the third electrode 3121 or the fourth electrode 3122 can be used.

Using the anti-bake phenomenon of the semiconductor film 3123, the thermal measurement unit 3120 can acquire a thermal signal corresponding to the intensity of heat applied from the outside, that is, the temperature.

5, the third electrode 3121 and the fourth electrode 3122 are formed to cover the entire surface of the second insulating substrate 3180. However, the present invention is not limited to this, At least one of the fourth electrodes 3122 may be formed separately. In this case, the thermal measuring unit 3120 may include a plurality of thermal sensors and may obtain a thermal signal from a thermal sensor corresponding to a region to which the thermal is applied.

Referring to FIG. 6, the composite sensor unit 4100 includes a first insulating substrate 4130, a second insulating substrate 4180 disposed to face the first insulating substrate 4130, A plurality of first electrodes 4140 and a plurality of first electrodes 4140 which are disposed between the second insulating substrate 4180 and the second insulating substrate 4180 and are opposed to the first electrodes 4140, A third electrode 4121 sequentially disposed on the second insulating substrate 4180, a second electrode 4160 disposed on the second insulating substrate 4180, A second electrode 4123, and a fourth electrode 4122. The pressure measuring unit 4110 may be a pressure sensor array composed of a plurality of pressure sensors 4110 _units and a third insulating substrate 4190 may be further disposed on the heat measuring unit 4120.

The composite sensor unit 4100 of FIG. 6 is a combination of the pressure measurement unit 2110 of FIG. 4 and the thermal measurement unit 3120 of FIG. 5, Section 4100 of FIG.

FIG. 7A is a perspective view schematically showing a composite sensor unit according to another embodiment, and FIG. 7B is a sectional view taken along line VII-VII 'of FIG. 7A.

7A and 7B, the composite sensor unit 5100 according to one embodiment includes a first insulating substrate 5130, a second insulating substrate 5180 disposed to face the first insulating substrate 5130, 1 pressure measurement including a first electrode 5140 and a second electrode 5160 disposed between the insulating substrate 5130 and the second insulating substrate 5180 and opposing each of the plurality of first electrodes 5140 and the plurality of first electrodes 5140, And a heat measuring portion 5120 disposed on the second insulating substrate 5180. The pressure measuring unit 5110 may be a pressure sensor array composed of a plurality of pressure sensors (5110 _units ).

The composite sensor portion 5100 of FIGS. 7A and 7B has the same configuration as that of the composite sensor portion 1100 of FIGS. 3A and 3B except that only the configuration of the thermal sensor 5120 is different.

The thermal measurement unit 5120 includes a third electrode 5121, a semiconductor nanowire 5123 disposed on the third electrode 5121, and a fourth electrode 5122 disposed on the semiconductor nanowire 5123 And a third insulating substrate 5190 may be disposed on the fourth electrode 5122. The semiconductor nanowire 5123 may be formed of a semiconductor material exhibiting a Seebeck effect in which a movement of a conductive carrier existing in a material is generated when heat is applied to generate an electric signal, And may include zinc (ZnO) nanowires.

In order to obtain an electric signal by the applied heat, the concentration of the conductive carrier must be equal to or higher than a predetermined value. In order to increase the concentration of the conductive carrier, for example, zinc peroxide which is a semiconductor material, doping of impurities and formation of defects Or a method of forming a conductive carrier by diffusion of a material constituting the third electrode 5121 or the fourth electrode 5122 can be used. Although not shown, a seed layer (not shown) for growing nanowires on the third electrode 5121 and a capping layer (not shown) for supporting the nanowires and filling the space between the nanowires may be further arranged .

Using the anti-bake phenomenon of the semiconductor nanowire 5123, the thermal measurement unit 5120 can acquire a thermal signal corresponding to the intensity of heat applied from the outside, that is, the temperature.

8 to 10 are cross-sectional views schematically showing a composite sensor unit according to yet another embodiment.

8, the composite sensor unit 6100 according to one embodiment includes a first insulating substrate 6130, a second insulating substrate 6180 disposed to face the first insulating substrate 6130, A plurality of first electrodes 6140, a plurality of first electrodes 6140 and a plurality of first electrodes 6140 disposed between the first insulating substrate 6130 and the second insulating substrate 6180 and facing the first electrodes 6140, A third electrode 6121 sequentially disposed on the second insulating substrate 6180, a second electrode 6123 disposed on the second insulating substrate 6180, A wire 6123, and a fourth electrode 6122, as shown in FIG. The pressure measuring unit 6110 may be a pressure sensor array composed of a plurality of pressure sensors 6110 _units and a third insulating substrate 6190 may be further disposed on the heat measuring unit 6120.

The composite sensor unit 6100 of FIG. 8 is a combination of the pressure measuring unit 2110 of FIG. 4 and the heat measuring unit 5120 of FIGS. 7A and 7B, and therefore the description of FIGS. 4, 7A and 7B May be directly applied to the composite sensor unit 6100 of Fig.

9, a composite sensor unit 7100 according to an embodiment includes a first insulating substrate 7130, a second insulating substrate 7180 disposed to face the first insulating substrate 7130, A plurality of first electrodes 7140, a plurality of first electrodes 7140 and a plurality of first electrodes 7140 disposed between the first insulating substrate 7130 and the second insulating substrate 7180 and facing the first electrodes 7140, A pressure measurement part 7110 including an intermediate layer 7150 disposed between the second electrode 7160 and the plurality of second electrodes 7160; a pressure sensor 7110 disposed between the first and second electrodes 7130 and 7180; A semiconductor nanowire 7123, and a fourth electrode 7122. The semiconductor nanowire 7123 and the fourth electrode 7122 are connected to each other through a contact hole 7121.

The composite sensor portion 7100 according to one embodiment is disposed between the first insulating substrate 7130 and the second insulating substrate 7180 both in the pressure measuring portion 7110 and the heat measuring portion 7120. That is, the pressure measuring unit 7110 and the heat measuring unit 7120 may be disposed in a horizontal direction with respect to the main surface of the first insulating substrate 7130.

The pressure measuring unit 7110 may be a pressure sensor array composed of a plurality of pressure sensors (7110 _units ). Between the heat measuring unit 7120 comprises a plurality of thermal sensors (7120 _unit), at least one of the plurality of thermal sensors (7120 _unit) is one pressure sensor (7110 _unit) and the other pressure sensor (7110 _unit) .

According to one embodiment, a plurality of pressure sensors 7110 _units and a plurality of heat sensors 7120 _units may be alternately arranged. However, the present invention is not limited thereto, and a plurality of pressure sensors 7110 _units and a plurality of heat sensors 7120 _units may be arranged in various configurations.

The intermediate layer 7150 may include, for example, a piezoelectric material, and may be integrally formed over a plurality of pressure sensors 7110 _units and a plurality of heat sensors 7120 _units . That is, the intermediate layer 7150 may be disposed on the front surface of the first insulating substrate 7130.

According to one embodiment, the interval between the pressure sensor 7110 _unit and the heat sensor 7120 _unit may be several tens of micrometers to several millimeters, and a pressure signal may be obtained from each of the plurality of pressure sensors 7110 _units , A thermal signal can be obtained from each of the thermal sensors (7120 _units ).

10, the composite sensor unit 8100 includes a first insulating substrate 8130, a second insulating substrate 8180 disposed to face the first insulating substrate 8130, A plurality of first electrodes 8140, a plurality of first electrodes 8140 and a plurality of second electrodes 8160 disposed between the first insulating substrate 8130 and the second insulating substrate 8180 and facing the plurality of first electrodes 8140, A pressure measuring portion 8110 including an intermediate layer 8150 disposed between the second electrode 8160 and the plurality of second electrodes 8160; a pressure measuring portion 8110 disposed between the first insulating substrate 8130 and the second insulating substrate 8180, A semiconductor nanowire 8123, and a fourth electrode 8122, as shown in FIG.

The composite sensor unit 8100 according to an embodiment is different from the composite sensor unit 7100 of FIG. 9 in that both the pressure measuring unit 8110 and the heat measuring unit 8120 are provided with a first insulating substrate 7130, (7180).

The pressure measuring unit 8110 may be a pressure sensor array composed of a plurality of pressure sensors (8110 _units ). The thermal measurement unit 8120 includes a plurality of thermal sensors 8120 _units and at least one of the plurality of thermal sensors 8120 _{units is} disposed between one pressure sensor 8110 _unit and another pressure sensor 8110 _unit .

The intermediate layer 8150 may include, for example, a piezoelectric material, and may be disposed only between the first electrode 8140 and the second electrode 8160 opposed thereto. That is, by arranging the piezoelectric material only between the first electrode 8140 and the second electrode 8160, it is possible to prevent the piezoelectric material from affecting the thermometry portion 8120.

As shown in FIGS. 3A to 10, the composite sensor units 1100, 2100, 3100, 4100, 5100, 6100, 7100, 8100 may be implemented in various forms, But may be implemented in other forms. For example, the electrodes may be formed in various shapes such as a diamond shape, a circular shape, and a polygonal shape, but are not limited thereto, and may include pressure measurement portions 1110, 2110, 3110, 4110, 5110, 6110, 7110, The thermal measuring units 1120, 2120, 3120, 4120, 5120, 6120, 7120, 8120 may also have various configurations.

After obtaining the pressure signal corresponding to the pressure applied from the composite sensor units 2100, 3100, 4100, 5100, 6100, 7100, 8100 of FIGS. 3A to 10 and the column signal corresponding to the applied column, Data can be generated. Hereinafter, the generation of pain data will be described in detail.

FIG. 11 is a flowchart illustrating steps of determining whether to generate pain data according to an embodiment and generating pain data.

Hereinafter, the steps will be described with reference to the composite sensor unit 1100 of FIGS. 3A and 3B. In the following description, the composite sensor unit of FIGS. 4 to 10 and the composite sensor unit of another structure are used. Can be applied.

Referring to FIG. 11, step S200 of determining whether to generate pain data according to an embodiment may include determining whether to generate pain data by pressure, and determining whether to generate pain data by heat .

Determining pain data generating whether due to the pressure is less than or equal to the number of the first threshold number of steps (S210), a pressure sensor (1110 _unit) for determining whether more than the number of the first threshold number of pressure sensors (1110 _unit) for generating a signal (YES), it is determined whether the magnitude of the pressure signal is equal to or greater than the first threshold value (S220). If the number of pressure sensors (1110 _units ) is not equal to or less than the first threshold number (NO) (S230) whether the threshold value is equal to or greater than the threshold value. The first threshold intensity and a second threshold intensity is stored in the pressure sensor (1110 _unit), the material and considering the use of applications such as the electronic equipment to detect pain already determined storage unit (300, FIG. 1) by the user it included in the Lt; / RTI >

The generation of the signal means that a meaningful electrical signal is generated rather than a noise signal. In fact, the signals of the intensity corresponding to the noise can be removed by hardware and / or software.

Here, the second threshold intensity may be a value larger than the first threshold intensity. That is, a small number is less of a pressure sensor (1110 _unit) for generating a signal for pain data in the number of large, relatively large strength pressure in the to produce a pain data in a small intensity pressure, a pressure sensor (1110 _unit) for generating a signal Can be generated.

In step S210, the number of pressure sensors 1110 _units generating the signal is compared with the first threshold number, and this step may correspond to the step of predicting the shape of the object to which the pressure is applied. When pressure is applied by a pointed object, even if the intensity of the pressure is small, the area to which the pressure is applied is so small that the person feels pain due to the piercing. That is, the smaller the number of the pressure sensor 1110 _units generating the signal, the smaller the area where the pressure is applied to the composite sensor unit 1100. In this case, the pain data can be generated even if the pressure is low.

When the number of the pressure sensors 1110 _units generating the signal is larger than the first threshold number, it can be recognized that a relatively large area is applied by pressure, and the pressure is applied by a blunt object rather than a pointed object. The pain data can be generated only when the intensity of the pressure is relatively large. For example, even if a stimulus is given by a blunt object such as a fist, if a stimulus intensity is very high, a person feels pain, and according to an embodiment, pain data can be generated even in this case. Thus, the second threshold intensity is greater than the first threshold intensity, and such second threshold intensity may have a larger value as the second threshold number is greater.

The first threshold number may be determined by the interval P of the pressure sensors 1110 _units included in the pressure measurement unit 1110 of the composite sensor unit 1100. For example, The first threshold number may be set to "1 ". If the interval P is smaller than 1 mm, the first threshold number may have a value larger than 1, and the interval P may take into consideration the ease of fabrication of the composite sensor unit 1100 and the precision of the composite sensor unit 1100 .

The step of determining whether to generate pain data by heat may further include determining whether the thermal signal size is equal to or greater than a third threshold level (S340). Here, the third threshold intensity may be a value previously stored in the storage unit 300 by the user in consideration of the material contained in the thermal measurement unit 1120 and the utilization purpose of the electronic device for sensing the pain and the like.

The step of generating the pain data S300 according to the embodiment may be performed when it is determined that the pain data is generated by the step S200. If it is determined that the pain data is not generated by the step S200, Can be terminated. Specifically, when it is determined in step S210 and step S220 to generate the pain data, the step of generating the first pain data (S310) is performed, and when it is determined in steps S210 and S230 that the pain data is generated Step 2 S320 of generating the pain data is performed. If it is determined in step S240 that the pain data is to be generated, step 330 of generating the third pain data may be performed. That is, the step of generating the pain data (S300) may include generating at least one of the first to third pain data.

As described above, the first pain data and the second pain data are pain caused by pressure, and the third pain data may be pain caused by heat, that is, pain data corresponding to hot. The first pain data may be a pain that occurs when the pressure applied area is small and the pressure is applied to the intensity of the first threshold intensity or more, that is, the pain corresponding to the sticking, and the second pain data is the area May be a pain that occurs when pressure is applied to an intensity that is relatively large and greater than a second threshold intensity that is greater than the first threshold intensity, i.e., a pain corresponding to the contusion.

Referring again to FIG. 2, step (S400) of outputting the pain data generated after the step of generating the pain data (S300) may be performed, wherein the first pain data, the second pain data and the third pain data The corresponding output data may be different.

12 and 13 are conceptual diagrams for explaining an electronic apparatus including a pain sensing apparatus according to an embodiment, respectively.

FIG. 12 shows a case where the electronic device including the pain sensing device is a mobile phone, and the composite sensor unit 100 may be incorporated in at least a part of the mobile phone. When pressure and heat are applied to the composite sensor unit 100, the controller 200 (FIG. 2) may perform predetermined steps to generate pain data, which may be output to the audio output unit 410 and / Or through the display unit 420. Although not shown, a mobile phone may include a drive motor to vibrate the mobile phone, and a drive motor may operate to vibrate the mobile phone when the pain data is generated.

FIG. 13 shows a case where the electronic apparatus including the pain sensing apparatus is a robot, and the robot may include at least a part, for example, a composite sensor unit 100 built in a finger region. When pressure and / or heat are applied to the composite sensor unit 100, the controller 200 (FIG. 2) can perform predetermined steps to generate pain data, which is transmitted through a drive motor 430 included in the robot Can be output. That is, the driving motor 430 is operated to move the arm, thereby performing an operation for escaping the pain. Although not shown, the robot further includes an audio output unit and / or a display unit, through which the pain data can be output.

As described above, the first type of pain data, the second type of pain data, and the third type of pain data of different types are converted into different output data, or different output data is received from the storage unit 300 (FIG. 1) 400). ≪ / RTI >

According to one embodiment of the present invention as described above, it is possible to provide a pain sensing apparatus and a pain sensing method capable of simultaneously measuring "pain caused by pressure" and "pain caused by heat" using the composite sensor unit. In addition, an electronic device including a pain sensing device capable of interacting with a person by sensing pain and protecting himself or herself in response to pain can be implemented.

The method according to an embodiment of the present invention can be implemented in the form of a program command which can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions recorded on the medium may be those specially designed and constructed for the present invention or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It belongs to the scope of right.

100, 1100, 2100, 3100, 4100, 5100, 6100, 7100, 8100:
110, 1110, 2110, 3110, 4110, 5110, 6110, 7110, 8110:
120, 1120, 2120, 3120, 4120, 5120, 6120, 7120, 8120:
1140, 2140, 3140, 4140, 5140, 6140, 7140, 8140:
1160, 2160, 3160, 4160, 5160, 6160, 7160, 8160:
3121, 4121, 5121, 6121, 7121, 8121:
3122, 4122, 5122, 6122, 7122, 8122:
1121, 2121: resistance pattern
2150, 4150, 6150, 7150, 8150: middle layer
3123, 4123: Semiconductor film
5123, 6123, 7123, 8123: semiconductor nanowires

Claims (21)

A composite sensor unit including a pressure measurement unit and a heat measurement unit;
A control unit for generating pain data from the electric signal obtained from the complex sensor unit; And
And an output unit for outputting the pain data,
Wherein,
A comparison and determination unit for determining whether to generate the pain data from each of the pressure signal obtained from the pressure measurement unit and the thermal signal obtained from the thermal measurement unit; And
And a pain data generating unit for generating the pain data. The method according to claim 1,
Wherein the pressure measuring unit includes a pressure sensor array composed of a plurality of pressure sensors each generating the pressure signal corresponding to an applied pressure. The method according to claim 1,
The composite sensor unit includes:
A first insulating substrate;
A second insulating substrate disposed to face the first insulating substrate;
A plurality of first electrodes disposed on the first insulating substrate and disposed on the first surface of the second insulating substrate facing the first insulating substrate, the first electrodes being disposed between the first insulating substrate and the second insulating substrate, The pressure measuring unit including a plurality of second electrodes arranged to face each of the plurality of first electrodes; And
And the thermal measuring portion disposed on a second surface opposite to the first surface of the second insulating substrate. The method of claim 3,
Further comprising an intermediate layer disposed between the plurality of first electrodes and the plurality of second electrodes and comprising a piezoelectric material. The method of claim 3,
Wherein the thermal measurement unit includes a resistance pattern whose resistance is changed by heat. The method of claim 3,
The heat measuring unit includes:
A third electrode disposed on the second surface of the second insulating substrate;
A fourth electrode arranged to face the third electrode; And
And a semiconductor film or a semiconductor nanowire disposed between the third electrode and the fourth electrode. The method according to claim 1,
The composite sensor unit includes:
A first insulating substrate;
A second insulating substrate disposed to face the first insulating substrate;
A plurality of first electrodes disposed on the first insulating substrate and disposed on the first surface of the second insulating substrate facing the first insulating substrate, the first electrodes being disposed between the first insulating substrate and the second insulating substrate, The pressure measuring unit including a plurality of second electrodes arranged to face each of the plurality of first electrodes; And
A plurality of third electrodes disposed on the first insulating substrate, a plurality of fourth electrodes disposed on the first surface of the second insulating substrate so as to face the plurality of third electrodes, And the thermo-measuring unit including the semiconductor film or the semiconductor nanowire disposed between the fourth electrode and the fourth electrode. 8. The method of claim 7,
And at least one of the plurality of third electrodes is disposed between the plurality of first electrodes. 8. The method of claim 7,
Further comprising an intermediate layer disposed between the plurality of first electrodes and the plurality of second electrodes and including a piezoelectric material, wherein the intermediate layer is disposed on a front surface of the first insulating substrate. 8. The method of claim 7,
And an intermediate layer disposed between the plurality of first electrodes and the second electrode and including a piezoelectric material, wherein the intermediate layer is provided between each of the plurality of first electrodes and each of the plurality of second electrodes facing the plurality of first electrodes, , The pain sensing device. 3. The method of claim 2,
The comparison and determination unit may determine whether to generate the pain data based on the pressure based on the number of the pressure sensors for generating the signal among the plurality of pressure sensors and the intensity of the pressure signal, To determine whether or not to generate the pain data due to the heat. 12. The method of claim 11,
The comparison and determination unit may include:
Determining that the first signal is a first pain data signal when the number of the pressure sensors is less than or equal to a threshold number and the intensity of the pressure signal is greater than or equal to a first threshold intensity, And determines the third pain data as the second pain data if the intensity of the thermal signal generated in at least one of the plurality of sensors is equal to or greater than the third threshold intensity. 13. The method of claim 12,
Wherein the second threshold strength is greater than the first threshold strength. 13. The method of claim 12,
Wherein the output section includes at least one of a sound output section, a display section, and a drive motor, and outputs at least one of the first pain data, the second pain data, and the third pain data. Acquiring a pressure signal by a pressure and a heat signal by heat using a composite sensor unit including a pressure measuring unit and a heat measuring unit;
Comparing each of the pressure signal and the column signal with a threshold value to determine whether to generate pain data;
Generating pain data; And
And outputting the generated pain data. 16. The method of claim 15,
The pressure measuring unit includes:
And a pressure sensor array composed of a plurality of pressure sensors each generating the pressure signal corresponding to an applied pressure,
Wherein the step of determining whether to generate the pain data comprises:
Determining whether the pressure data generated by the pressure is generated based on the number of pressure sensors generating the signal among the plurality of pressure sensors and the intensity of the pressure signal; And
And determining whether to generate the pain data by the column based on the intensity of the thermal signal. 17. The method of claim 16,
The step of determining whether to generate the pain data by the pressure comprises:
Determining that the first signal is a first pain data signal when the number of the pressure sensors is less than or equal to a threshold number and the intensity of the pressure signal is greater than or equal to a first threshold intensity, If it is equal to or greater than the second threshold,
Wherein the step of determining whether to generate the pain data by the heat comprises:
And determines the third pain data if the intensity of the thermal signal is equal to or greater than a third threshold intensity. 18. The method of claim 17,
Wherein the second threshold strength is greater than the first threshold strength. 18. The method of claim 17,
Wherein the step of outputting the pain data comprises:
Wherein at least one of the first pain data, the second pain data, and the third pain data is output using at least one of a sound output unit, a display unit, and a drive motor. 16. The method of claim 15,
The composite sensor unit includes:
A first insulating substrate;
A second insulating substrate disposed to face the first insulating substrate;
A plurality of first electrodes disposed on the first insulating substrate and disposed on the first surface of the second insulating substrate facing the first insulating substrate, the first electrodes being disposed between the first insulating substrate and the second insulating substrate, The pressure measuring unit including a plurality of second electrodes arranged to face each of the plurality of first electrodes; And
And the thermal measuring portion disposed on a second surface opposite to the first surface of the second insulating substrate. 16. The method of claim 15,
The composite sensor unit includes:
A first insulating substrate;
A second insulating substrate disposed to face the first insulating substrate;
A plurality of first electrodes disposed on the first insulating substrate and disposed on the first surface of the second insulating substrate facing the first insulating substrate, the first electrodes being disposed between the first insulating substrate and the second insulating substrate, The pressure measuring unit including a plurality of second electrodes arranged to face each of the plurality of first electrodes; And
A plurality of third electrodes disposed on the first insulating substrate, a plurality of fourth electrodes arranged on the first surface of the second insulating substrate so as to face the plurality of third electrodes, And a semiconductor film or semiconductor nanowire disposed between the fourth electrode and the fourth electrode.

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