1309195 P53950127TW 23234twf.doc/n 九、發明說明： 【發明所屬之技術領域】 β本發明是有關於-種人工皮膚(artifldal止⑹，且特別 疋有關於一種能夠同時感測溫度與壓力的人工皮膚。 【先前技術】1309195 P53950127TW 23234twf.doc/n IX. Description of the invention: [Technical field to which the invention pertains] β The present invention relates to artificial skin (artifldal (6), and particularly to an artificial skin capable of simultaneously sensing temperature and pressure [Prior technology]
「人工皮膚」被應用在機器人(r〇b〇t)的製作盥設叶 上一般的人工皮膚必須具備可撓的絲，並且擁有能積 測觸覺和溫度的感測元件_，以分別感測壓力和温度訊 而人工皮膚首先要克服的就是如何達到能正確感知環"Artificial skin" is applied to the production of robots (r〇b〇t). The artificial skin must have flexible wires and have sensing elements that can measure tactile and temperature _ to sense separately. Pressure and temperature, the first thing that artificial skin must overcome is how to achieve correct perception of the ring.
兄的又化以3現與人類之間的互動，並提供避免傷害人 類或機器人的感測系統。 Q 【發明内容】 本發明提供一種人工皮膚，有效溫 器整合於人工皮膚上，並可增加溫度感測的準^力制 哭敕提供—種人工皮膚，有效的將溫度與壓力感測 叩正。於人工皮膚上，並可避免電路間的干擾電流。 哭和倾出—種人卫皮膚，包括軟性基材、溫度感測 :妒=其中，軟性基材具有内表面與外表面， • I f材的外表面已形成包含數個第-焊墊(Pad)與數 個第的電路圖案、，其中每個第二焊墊的面積大於每 表面 的面積。而溫度感測器是設置於軟性基材的内 ，、令每—溫度感測器包括數個接腳，且部份接腳盥 处苐-焊墊相連。至於㈣感測器則是設置於軟性 5 1309195 P53950127TW 23234twf.doc/n 基材的外表面。 =發明之-實施例中，上述人工皮膚還包括位於軟 性基材的内表面之數個第三焊墊以及貫穿軟性基材 導線。其中每個導線分別連接一個第三焊塾和—個 墊。另外，第二焊墊的面積可大於第三焊墊的面積。干 施例中，上述第二焊墊的材料包括銅。 電路^本發明之-貫施例中，上述軟性基材包括軟性印刷 在本發日狀-實施财，上述軟性基材的 3遊亞胺(polyimide)。 匕括來 對=實施例中，上述每個壓力感測器包括一 而感麗材料則是在這對電極n 面： 入導電材料的軟性高分子聚合物。 f i π匕括摻 、胸本提出—種人工皮膚，包括軟性基材、溫产冷 且於内、外表面已形成有才具有内表面與外表面， 於軟性基材的内表面 溫度感測器則是設置 的外表面，且每-陶置於軟性基材 在電極上的感壓材料。 、"亟以及直接覆蓋 在本發明之另—實施例中，上命 (inter-digital electrodes) 〇 电極 ^ 括交趾型電極 在本發明之另—訾 在本發明之另—實施例’上述電極的材料包括銅。 ^例中’上述軟性基材包括軟性印 6 1309195 P53950127TW 23234twf.doc/n 刷電路板。 在本發明之另-實施例中，上述軟性基材的材料包括 聚酿亞胺(polyimide)。 在本發明之另-實施例中’上述感壓材料包括捧入導 電材料的軟性南分子聚合物。 、 在本發明之另-實施例中，上述人工皮膚還包括貫穿 軟性基材的導線，以連接内表面與外表面上的電路圖案， 而每個溫度感測器則包括數個ic接腳，其中部份lc^ 與上述導線電性相連。 本發明採用改良的感壓電極結構來避免電路間的干擾 電流，另外以準確度高的溫度IC為感溫元件，將感測溫度 與壓力的7L件整合於軟性基材上，以製作具有彈性同時能 感測溫度或壓力之人工皮膚。 ^為讓本發明之上述賴和優點能更明顯易懂，下文 舉較佳實施例，並配合所關式，作詳細說明。 【實施方式】 J文巾參看隨_絲更充麵描縣㈣，隨 ，中展示本剌之實關。“，本發日柯崎多不㈣ ^體現，且不麵其腳為限於本文所_之實施例。7 貫知為，提供此等實施例以使得本揭露案將詳盡且完敕， =會將树私範料讀達麵料 圖式中，為明確起見可能將各層以及區‘ 尺寸以及相對尺寸作誇張的描綠。 圖1與圖2分別是本發明之人工皮膚的立體圖和侧視The reconciliation of the brothers interacts with humans and provides a sensing system that avoids harm to humans or robots. Q [Summary] The invention provides an artificial skin, an effective warmer integrated on artificial skin, and can increase the temperature sensing, and the artificial skin can be effectively corrected for temperature and pressure. . On artificial skin, and can avoid interference current between circuits. Crying and pouring - the human skin, including the soft substrate, temperature sensing: 妒 = where the soft substrate has an inner surface and an outer surface, • the outer surface of the I f material has been formed to contain several first-pads ( Pad) and a plurality of first circuit patterns, wherein each of the second pads has an area larger than an area of each surface. The temperature sensor is disposed in the flexible substrate, so that each temperature sensor includes a plurality of pins, and some of the pins are connected to the pads. As for the (4) sensor, it is placed on the outer surface of the soft 5 1309195 P53950127TW 23234twf.doc/n substrate. Inventive-embodiment, the artificial skin further includes a plurality of third pads on the inner surface of the flexible substrate and wires extending through the flexible substrate. Each of the wires is connected to a third pad and a pad. In addition, the area of the second pad may be larger than the area of the third pad. In a dry embodiment, the material of the second pad includes copper. In the embodiment of the present invention, the soft substrate comprises a soft printed film of the above soft substrate. In the embodiment, each of the above pressure sensors includes a photosensitive material on the n-side of the pair of electrodes: a soft polymer which is incorporated into a conductive material. Fi π 匕 掺 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 、 It is the outer surface of the set, and each pottery is placed on the flexible substrate on the electrode. And "亟 and directly covering another embodiment of the present invention, the inter-digital electrodes of the electrodes are included in the present invention - in the other embodiment of the present invention The material of the electrode includes copper. In the example, the above soft substrate comprises a soft printed circuit board 6 1309195 P53950127TW 23234twf.doc/n. In still another embodiment of the present invention, the material of the above soft substrate comprises polyimide. In another embodiment of the invention, the pressure sensitive material comprises a soft south molecular polymer that is incorporated into a conductive material. In another embodiment of the present invention, the artificial skin further includes a wire extending through the flexible substrate to connect the circuit patterns on the inner surface and the outer surface, and each temperature sensor includes a plurality of ic pins. Some of the lc^ are electrically connected to the above wires. The invention adopts an improved pressure-sensitive electrode structure to avoid interference current between circuits, and a temperature IC with high accuracy is used as a temperature sensing element, and a 7L piece sensing temperature and pressure is integrated on a soft substrate to make elasticity. Artificial skin that can sense temperature or pressure at the same time. In order to make the above advantages and advantages of the present invention more comprehensible, the preferred embodiments will be described below, and the detailed description will be given. [Embodiment] J Wenbi refers to the _ silk more filling the county (four), with, in the show of the real customs. "This is the day when Kozaki does not (4) ^ embodies, and does not cover the foot of the example." It is known that these embodiments are provided so that the disclosure will be exhaustive and complete. The tree profile is read into the fabric pattern, and for the sake of clarity, the layers and the size and relative size of the layers may be exaggerated. Figure 1 and Figure 2 are perspective and side views of the artificial skin of the present invention, respectively.
1309195 P53950127TW 23234^^00/, 圖。請參照圖1和圖2，J：中描給^ 性美姑1D9 、w ^ 1的人工皮膚1⑻包括軟 性ϊ材购i測11G4㈣力感測器廳。其中，軟 是^二=疋一種軟性印刷電路板，而溫度感· 1Q4 基材1()2_&1()2a，壓力感測器 =置^生基材1G2的外表面咖。在本發明中使用 的稱ί 外界接觸的人工皮膚_表面，相反 片=内」表面。另外，雖然在圖2中所顯示的溫度 戶感測器雇似乎是呈現交錯排列，但是 ㈣f知識㈣可触電職計的常識做不 同=化，而不限於圖中所示。在圖1中，軟性基材1〇2 二一錄性印刷電路板，而其可用聚醯亞胺(⑽涵 材料。 以下針對本發明之人工皮膚中的溫度感測器和壓力 感測器的實施例作描述。 圖3A是依照本發明之第一實施例的一種人工皮膚的 外表面之电路圖案。請參照圖3八，此處的電路圖案· 包括第-焊墊(Pad)逝與第二焊墊綱，另外還有二些根 據設計上的差異而連至第一與第二焊墊搬、撕的配線 306其中，母個第一焊墊304的面積大於每個第一焊墊 302的面積，其中設計第二焊墊3〇4的目的在於，讓溫度 感測器（未繪示)之接腳與第二焊墊3〇4鍵結之後，感應另 外一面人工皮膚對溫度的反應。至於第二焊塾幾何形 狀設計的原則，是將溫度感測器其中兩接地端之接腳，如 圖3A所不，藉由增加溫度感應面積，提升溫度感測精度。 81309195 P53950127TW 23234^^00/, Fig. Referring to Fig. 1 and Fig. 2, J: The artificial skin 1 (8) of the genus 1D9 and w ^ 1 is included in the soft casket, and the 11G4 (four) force sensor hall is purchased. Among them, the soft is ^ two = 疋 a soft printed circuit board, and the temperature sense · 1Q4 substrate 1 () 2_ & 1 () 2a, pressure sensor = set the outer surface of the substrate 1G2. The artificial skin-surface, the opposite piece = the inner surface, which is used in the present invention. In addition, although the temperature sensor display shown in Fig. 2 seems to be staggered, the common knowledge of the (4) knowledge (4) electric shock meter is different, and is not limited to the one shown in the figure. In Fig. 1, a flexible substrate 1〇2 is a non-recording printed circuit board, and it can be used as a polyimine ((10) culvert material. The following is directed to the temperature sensor and pressure sensor in the artificial skin of the present invention. 3A is a circuit pattern of an outer surface of an artificial skin according to a first embodiment of the present invention. Referring to FIG. 3, the circuit pattern herein includes a pad-pad and a pad. Two solder pads, and two other wirings 306 connected to the first and second pads according to design differences, wherein the area of the first first pads 304 is larger than each of the first pads 302. The area of the second pad 3〇4 is designed to sense the temperature of the other artificial skin after the pin of the temperature sensor (not shown) is bonded to the second pad 3〇4. As for the principle of the second soldering geometry design, the pins of the two grounding ends of the temperature sensor are as shown in Fig. 3A, and the temperature sensing area is increased to improve the temperature sensing accuracy.
1309195 P53950127TW 23234twf.doc/n 在本發明之第-實施例中，上述第二焊墊綱的材料包括 銅而且在H3A中僅表不對應於—個溫度感測器 Γ的電路圖案；換言之，在—整個軟性基材的外表面會有 夕個如圖3 A —般的電路圖案。 圖3B則是依照本發明之第一實施例的一種人工皮户 的内表面之電路圖案。請參照圖3B，内表面的電路圖宰： 減個第三焊墊.以及貫穿軟性基材的導線3ig，其中 母個導線310分別連接—個第三焊塾删#外表面的第二 焊墊(如圖3A之304)。另外，第二谭墊的面積比第三焊塾 的面積大。應知，在本發明中使用「第一」、「第二」、 「弟二」來描述“焊墊”，而這樣的描述只是用來區別其面 積的不同，而不應限制各焊墊的材料或輪廓。此外，導線 310也可連接第三焊墊3〇8和外表面的第一焊墊(如圖 之 302)。 圖4是依照本發明之第一實施例的溫度感測器在人工 皮膚之内表面的位置圖，其中使用與圖3B 一樣的元件符 唬代表相同的元件。請參照圖4，每個溫度感測器4〇〇可 包括數個接腳402’其中部份接腳402會與上述圖3A之第 二焊墊304電性相連，譬如把接腳4〇2直接焊在第三焊墊 上’並藉著連接第三焊墊308和外表面的第二焊墊之 導線310(如圖3B)使兩者導通。其中溫度感測器400可以 選擇市售之類比溫度IC(如ΜΑχ66〇7)，而與外表面之接腳 402可選擇接地的接腳。由於本實施例之溫度感測器400 貫際上感測溫度的部位在其接腳402，所以可利用其由ic 9 1309195 P53950127TW 23234twf.doc/n 接腳偵測溫度的特性，選擇較大面積的焊墊(如圖3A之3〇4) 結構，來增加感測外界溫度之效率。 圖5A是依照本發明之第二實施例的一種人工皮膚的 外表面之壓力感測器的部分結構圖。請參照圖5A ,其中顯 示壓力感測裔中的一對電極500a及5〇〇b。在第二實施例 中的電極500a及500b屬於交趾型電極 electrodes)。上述電極500a及500b的材料例如銅。1309195 P53950127TW 23234twf.doc/n In the first embodiment of the present invention, the material of the second pad type includes copper and only represents a circuit pattern of the temperature sensor Γ in H3A; in other words, - The outer surface of the entire flexible substrate will have a circuit pattern as shown in Fig. 3A. Fig. 3B is a circuit pattern of the inner surface of an artificial leather household in accordance with the first embodiment of the present invention. Referring to FIG. 3B, the circuit diagram of the inner surface is: a third pad is removed, and a wire 3ig is penetrated through the flexible substrate, wherein the parent wires 310 are respectively connected to a second pad of the third surface of the third surface ( As shown in Figure 3A (304). In addition, the area of the second tan pad is larger than the area of the third pad. It should be understood that "first", "second", and "different" are used in the present invention to describe "pad", and such description is only used to distinguish the difference in area, and should not limit the pads. Material or outline. In addition, the wire 310 can also be connected to the third pad 3〇8 and the first pad of the outer surface (Fig. 302). Fig. 4 is a view showing the position of the temperature sensor on the inner surface of the artificial skin according to the first embodiment of the present invention, wherein the same elements as those of Fig. 3B are used to denote the same elements. Referring to FIG. 4, each of the temperature sensors 4A may include a plurality of pins 402', wherein a portion of the pins 402 are electrically connected to the second pad 304 of FIG. 3A, such as a pin 4〇2. Solder directly on the third pad' and conduct the two by connecting the third pad 308 and the second pad of the outer pad 310 (Fig. 3B). The temperature sensor 400 can select a commercially available analog temperature IC (e.g., ΜΑχ66〇7), and the pin 402 of the outer surface can be selected as a grounded pin. Since the temperature sensor 400 of the embodiment continuously senses the temperature at the pin 402, the temperature can be detected by the ic 9 1309195 P53950127TW 23234twf.doc/n pin to select a larger area. The pad (Fig. 3A, Fig. 3A) structure is used to increase the efficiency of sensing the outside temperature. Figure 5A is a partial structural view of a pressure sensor of an outer surface of an artificial skin in accordance with a second embodiment of the present invention. Referring to Figure 5A, a pair of electrodes 500a and 5〇〇b in the pressure sensing population are shown. The electrodes 500a and 500b in the second embodiment belong to the intersection electrode SAM). The materials of the above electrodes 500a and 500b are, for example, copper.
圖5B是依照本發明之第二實施例的壓力感測器的俯 視圖。請參照圖5B，壓力感測器中的感壓材料502是直接 覆蓋在電極500a及500b上。而感壓材料502包括摻入導 電材料的軟性高分子聚合物，如導電橡膠等。這種壓力感 測器是利用感壓材料502於不同承受壓力下，有不同電阻 值特性’進行壓力訊號的偵測。而且，在圖5B中只输出 —個壓力感測器；也就是說，在一整個軟性基材的外表面 會有多個圖5B的壓力感測器。 在第二實施例中，壓力感測器中的電極50〇a及500b /、要疋直接被感壓材料502覆蓋的即可，而不限於圖5八 中的交趾型電極。由於本實施例之壓力感測器中的電極 5〇〇a及500b結構只會受到本身感壓材料5()2的電阻變 化，所以可避免電路間的干擾電流。 圖6是組合第—實施例和第二實施例之—種人工皮膚 外表面的俯視圖，其中使用和第―、第二實施例一樣的^ =符號來衫㈣的元件。在圖6巾，以虛縣示的溫 咸蜊器400是設置在人工皮膚之表面。 又 10 1309195 P53950127TW 23234twf.doc/n 細上所述，本發明之特 、……A u甘奶將溫度感測器與壓力感 於人工皮膚上’以開發具有彈性且能感測觸 觸溫度、與接觸位置的人工皮膚。並且，採用改良 的感壓電極結構，來避免掃目苗電路之間的的干擾電流 外’本發_溫度制器是藉由連接至較大面積焊墊的接 腳’來增加其感測外界溫度之效率。 一雖然本發明已以較佳實施例揭露如上，然其並非用以 限定本發明，任何所屬技術領域中具有通常知識者， 之精神!:範圍内’當可作些許之更動與潤飾， 為準。s明之賴範_視後附之申請專利範圍所界定者 【圖式簡單說明】 圖1是本發明之人工皮膚的立體圖。 圖2是本發明之人工皮膚的侧視圖。 ❿ 外表本發明之第-實施例的-種人工皮膚的 的二：：本發明之第-實施例的-種人工皮膚 皮膚第一實施例的溫度感測器在人工 外茅=i疋依照本發明之第二實施例的—種人工皮膚的 外表面之壓^測器的部分結構圖。 皮^ 視圖圖5B是依照本發明之第二實施例的壓力感測器的俯 11 1309195 P53950127TW 23234twf.doc/n 圖6是組合第一實施例和第二實施例之一種人工皮膚 外表面的俯視圖。 【主要元件符號說明】 100 :人工皮膚 102 :軟性基材 102a :内表面 102b :外表面 104 :溫度感測器 106 :壓力感測器 300 :電路圖案 302 :第一焊墊 304 :第二焊墊 306 :配線 308 :第三焊墊 310 .導線 400 :溫度感測器 402 :接腳 500a、500b :電極 502 :感壓材料 12Figure 5B is a top plan view of a pressure sensor in accordance with a second embodiment of the present invention. Referring to Figure 5B, the pressure sensitive material 502 in the pressure sensor is directly overlying the electrodes 500a and 500b. The pressure-sensitive material 502 includes a flexible high molecular polymer such as a conductive rubber or the like doped with a conductive material. The pressure sensor uses the pressure sensitive material 502 to detect the pressure signal under different pressures with different resistance values. Moreover, only one pressure sensor is output in Fig. 5B; that is, there are a plurality of pressure sensors of Fig. 5B on the outer surface of an entire flexible substrate. In the second embodiment, the electrodes 50A and 500b/ in the pressure sensor are directly covered by the pressure-sensitive material 502, and are not limited to the cross-type electrodes in Fig. 5-8. Since the electrodes 5a and 500b in the pressure sensor of the present embodiment are only subjected to the resistance change of the pressure-sensitive material 5()2, the interference current between the circuits can be avoided. Fig. 6 is a plan view showing the outer surface of the artificial skin in combination of the first embodiment and the second embodiment, in which the elements of the shirt (four) are used in the same manner as the first and second embodiments. In the towel of Fig. 6, the warm salted pottery 400 shown in the virtual county is placed on the surface of the artificial skin. Further 10 1309195 P53950127TW 23234twf.doc/n As described above, the special invention of the present invention, ... A u-milk, uses a temperature sensor and pressure on the artificial skin to develop elasticity and can sense the temperature of the touch, Artificial skin with contact position. Moreover, the improved pressure-sensitive electrode structure is used to avoid the interference current between the flashing seedling circuits. The 'primary_temperature controller is connected to the pin of the larger area pad to increase its sensing outside. Temperature efficiency. Although the present invention has been disclosed in the above preferred embodiments, it is not intended to limit the invention, and the spirit of any one of ordinary skill in the art can be used in the scope of the invention. . BRIEF DESCRIPTION OF THE DRAWINGS [Brief Description of the Drawings] Fig. 1 is a perspective view of an artificial skin of the present invention. Figure 2 is a side view of the artificial skin of the present invention. ❿ Appearance of the second embodiment of the present invention - the artificial skin of the first embodiment of the present invention: the temperature sensor of the first embodiment of the present invention is artificially used in accordance with the present invention. A partial structural view of a pressure sensor of an outer surface of an artificial skin according to a second embodiment of the invention. FIG. 5B is a top view of a pressure sensor according to a second embodiment of the present invention. 1 1309195 P53950127TW 23234 twf.doc/n FIG. 6 is a plan view of an artificial skin outer surface combining the first embodiment and the second embodiment. . [Main component symbol description] 100: artificial skin 102: soft substrate 102a: inner surface 102b: outer surface 104: temperature sensor 106: pressure sensor 300: circuit pattern 302: first pad 304: second solder Pad 306: Wiring 308: Third pad 310. Wire 400: Temperature sensor 402: Pins 500a, 500b: Electrode 502: Pressure-sensitive material 12