WO2007116024A1 - Tactile area sensor - Google Patents

Tactile area sensor Download PDF

Info

Publication number
WO2007116024A1
WO2007116024A1 PCT/EP2007/053390 EP2007053390W WO2007116024A1 WO 2007116024 A1 WO2007116024 A1 WO 2007116024A1 EP 2007053390 W EP2007053390 W EP 2007053390W WO 2007116024 A1 WO2007116024 A1 WO 2007116024A1
Authority
WO
WIPO (PCT)
Prior art keywords
tissue
tactile
resistance
surface sensor
fiber
Prior art date
Application number
PCT/EP2007/053390
Other languages
German (de)
French (fr)
Inventor
Patrick Van Der Smagt
Original Assignee
Deutsches Zentrum für Luft- und Raumfahrt e. V.
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 Deutsches Zentrum für Luft- und Raumfahrt e. V. filed Critical Deutsches Zentrum für Luft- und Raumfahrt e. V.
Publication of WO2007116024A1 publication Critical patent/WO2007116024A1/en

Links

Classifications

    • 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
    • G06F3/047—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means using sets of wires, e.g. crossed wires

Definitions

  • the invention relates to a tactile surface sensor for detecting a Tastortes.
  • Tactile surface sensors are used in many technical fields. For example, they are placed in vehicle seats to detect if a person is sitting on the seat. They are also used in orthopedics and sports medicine, for example, to accurately detect the rolling of the foot or shoe. Tactile surface sensors are also used in so-called data gloves for teleoperation. Tactile surface sensors are also used in so-called data gloves for teleoperation. Such sensors are also used in robotics for the sense of touch z. B, used in robotic hands and arms,
  • the contact foils are formed from a thin flexible PE film and contain intersecting metal wires, which are spaced apart in the absence of tactile pressure and touch each other at this tactile pressure.
  • the contact establishes an electrical connection that can be located.
  • only one contact center of gravity can be determined.
  • the object of the invention is in contrast to provide a flexible tactile surface sensor with which the force can be determined.
  • the tactile area sensor comprises a tissue of intersecting and intersecting tissue fibers, each tissue fiber comprising a fiber core of an electrical lead and an elastic and electrically resistive conductive resistance sheath.
  • the surface sensor is thus formed by a single-ply fabric mat with fabric fibers, which are preferably interwoven at right angles in a classical manner, i. are alternately arranged at the top and bottom crossing each other. At the intersections, the tissue fibers touch, so that at the intersections there is always an electrical contact between the two intersecting tissue fibers.
  • the resistance envelope of the tissue fibers in particular in the region of the intersections, is compressed. This inevitably reduces the electrical resistance of the resistive sheath at this location, so that the total resistance at a crossing point between two intersecting fabric fibers is reduced.
  • the fabric is relatively flexible and can also be used with small ones Radien arched devices are fixed, for example, to a data glove,
  • more than two preferred directions of fabric fibers can be woven together, for example, in three directions of mutually parallel fabric fibers, which are each arranged at an angle of 60 ° to each other.
  • the leads are metal wires or carbon fiber wires.
  • Metal wires and carbon fiber wires have high tensile strength and high plastic and elastic flexibility. This ensures that the tissue can also be applied to devices with small radii.
  • the resistance envelope z As silicone or plastic, for example, polyethylene can be used as plastic. In the plastic homogeneously distributed electrically conductive particles may be incorporated, such as graphite or soot particles. As a result, the specific conductivity of the resistive envelope can be specifically adapted.
  • an evaluation module which is a horrsmessmodu! has and determines the electrical resistance at all intersections individually and evaluates.
  • the electrical lines of the fabric fibers are all individually connected to the evaluation module.
  • the evaluation module successively determines the resistance between all intersecting tissue fiber pairs. From this, finally, the tactile site, the force and the tactile surface can be determined.
  • a sensor-less fabric fiber for a tactile surface sensor for detecting a Tastor tes a fiber core of an electrical line and an elastic and electrically residual conductive conductive sheath on.
  • FIG. 1 shows a tactile surface sensor, consisting of a fabric and an evaluation module
  • FIG. 2 a tissue fiber of the tissue of the surface sensor of FIG. 1 in cross section
  • a tactile surface sensor 10 is shown for the fixed division of a Tastortes, which can be appltzierbar to many different applications and devices.
  • the surface sensor 10 consists inter alia of a fabric 12 of intersecting at right angles and at the intersections touching fabric fibers 21-25, 31-35.
  • a fabric fiber 21 is exemplified in cross section.
  • Each fabric fiber 21 has a fiber core of an electrical line 16 and a line 16 completely surrounding elastic and resistive conductive resistive shell 18.
  • the electrical line is formed by a metal wire, alternatively by a Kohiemaschinedraht or other electrically conductive material, the electrical line 16 has a negligible electrical resistance.
  • the resistive envelope 18 has a relatively high resistivity.
  • the resistive envelope 18 consists for example of an electrically conductive plastic, In the plastic homogeneously distributed electrically conductive particles can be stored, such as graphite to the Specific resistance of Widersta ⁇ dshüile 18 to determine targeted.
  • the surface sensor 10 is further associated with an evaluation module 40, which has a resistance measuring module 42.
  • the resistance measuring module! 42 successively measures the resistance of all crossed fabric fiber pairs. From the crossing-related resistance values determined in this way, the evaluation module 40 can infer a tactile location, a tactile surface and a sensing force.
  • the resistance envelope need not be circular or square in cross-section, but may also be flat, that is oval or rectangular in cross-section.
  • the width of the resistance sheath 18 defines the grid dimension of the tissue and ensures that the grid dimension is substantially maintained even with frequent diffraction of the tissue.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Abstract

A tactile area sensor (10) is used to find a contact location. The area sensor (10) has a tissue (12) made of tissue fibres (21-25, 31-35) which cross one another and touch one another at the crossing points. Each tissue fibre (21) has a fibre core comprising an electrical line (16) and has an elastic resistive cover (18) which conducts with electrical resistance.

Description

Taktiier Flächenseπsor Taktiier Flächenseπsor
Die Erfindung bezieht sich auf einen taktilen Flächensensor zur Feststellung eines Tastortes.The invention relates to a tactile surface sensor for detecting a Tastortes.
Taktile Flächensensoren finden auf vielen technischen Gebieten Einsatz. Beispielsweise werden sie in Fahrzeugsitzen angeordnet, um zu detektieren, ob eine Person auf dem Sitz sitzt. Sie werden auch in der Orthopädie und der Sportmedizin eingesetzt, um beispielsweise das Abrollen des Fußes bzw. Schuhs genau erfassen zu können. Taktile Flächensensoren werden auch In sog. Datenhandschuhen für die Teleoperation eingesetzt. Taktile Flächensensoren werden auch in sogenannten Datenhandschuhen für die Teleoperation eingesetzt. Derartige Sensoren werden ebenfalls in der Robotik für den Tastsinn z. B, bei Roboterhänden und Armen eingesetzt,Tactile surface sensors are used in many technical fields. For example, they are placed in vehicle seats to detect if a person is sitting on the seat. They are also used in orthopedics and sports medicine, for example, to accurately detect the rolling of the foot or shoe. Tactile surface sensors are also used in so-called data gloves for teleoperation. Tactile surface sensors are also used in so-called data gloves for teleoperation. Such sensors are also used in robotics for the sense of touch z. B, used in robotic hands and arms,
Herkömmliche Flächensensoren in der Form von Kontaktfolien erlauben in der Regel ausschließlich die Feststellung eines Tastortes. Die Kontaktfolien werden aus einer dünnen flexiblen PE-Folie gebildet und enthalten sich kreuzende Metalldrähte, die bei fehlendem Tastdruck beabstandet zueinander sind und bei vorliegendem Tastdruck einander berühren. Durch die Berührung wird eine elektrische Verbindung hergestellt, die lokalisiert werden kann. Je nach Typ des Flächensensors kann nur ein Kontaktschwerpunkt festgestellt werden.Conventional surface sensors in the form of contact films usually allow only the determination of a Tastortes. The contact foils are formed from a thin flexible PE film and contain intersecting metal wires, which are spaced apart in the absence of tactile pressure and touch each other at this tactile pressure. The contact establishes an electrical connection that can be located. Depending on the type of surface sensor, only one contact center of gravity can be determined.
Bei Datenhandschuhen werden häufig Lichtleiter eingesetzt, deren Beugung detektiert werden kann. Bekannte Kontaktfoiien können nicht ohne weiteres an jedem Gegenstand fixiert werden. Eine zu starke Biegung oder ein Knicken der Kontaktfolie führt schnell zur Zerstörung, Ferner kann mit den Kontaktfolien nur ein Tastort ermittelt werden, nicht jedoch eine Tastkraft.Data gloves often use optical fibers whose diffraction can be detected. Known contact foils can not be easily fixed to any object. Excessive bending or buckling of the contact foil quickly leads to the destruction. Furthermore, only one touch location can be determined with the contact foils, but not a touch force.
Aufgabe der Erfindung ist es demgegenüber, einen flexiblen taktilen Flächensensor zu schaffen, mit dem auch die Tastkraft ermittelt werden kann.The object of the invention is in contrast to provide a flexible tactile surface sensor with which the force can be determined.
Diese Aufgabe wird erfiπdungsgemäß gelöst durch einen taktilen Flächensensor mit den Merkmalen des Patentanspruchs 1.This object is achieved erfiπdungsgemäß by a tactile surface sensor with the features of claim 1.
Der erfindungsgemäße taktile Flächensensor weist ein Gewebe aus sich kreuzenden und an den Kreuzungen berührenden Gewebefasern auf, wobei jede Gewebefaser einen Faserkern aus einer elektrischen Leitung und eine elastische und elektrisch resistiv leitende Widerstandshülle aufweist.The tactile area sensor according to the invention comprises a tissue of intersecting and intersecting tissue fibers, each tissue fiber comprising a fiber core of an electrical lead and an elastic and electrically resistive conductive resistance sheath.
Der Flächensensor wird also von einer einlagigen Gewebematte gebildet mit Gewebefasern, die vorzugsweise rechtwinklig in klassischer Weise miteinander verwoben sind, d.h. sich abwechselnd oben und unten kreuzend zueinander angeordnet sind. An den Kreuzungen berühren sich die Gewebefasern, so dass an den Kreuzungen ständig ein elektrischer Kontakt zwischen den beiden sich kreuzenden Gewebefasern besteht.The surface sensor is thus formed by a single-ply fabric mat with fabric fibers, which are preferably interwoven at right angles in a classical manner, i. are alternately arranged at the top and bottom crossing each other. At the intersections, the tissue fibers touch, so that at the intersections there is always an electrical contact between the two intersecting tissue fibers.
Wenn ein Tastdruck auf das Gewebe ausgeübt wird, wird die Widerstandshülle der Gewebefasern, insbesondere im Bereich der Kreuzungen, komprimiert. Hierdurch verringert sich zwangsläufig der elektrische Widerstand der Widerstandshülle an diesem Ort, so dass sich auch der Gesamtwiderstand an einem Kreuzungspunkt zwischen zwei sich kreuzenden Gewebefasern verringert. Durch Messung der Widerstände zwischen allen sich kreuzenden Gewebefasern kann der Tastort, die Tastkraft und die Tastfläche ermittelt werden. Das Gewebe ist verhältnismäßig flexibel und kann auch an mit kleinen Radien gewölbte Vorrichtungen fixiert werden, beispielsweise an einen Datenhandschuh,When a tactile pressure is exerted on the tissue, the resistance envelope of the tissue fibers, in particular in the region of the intersections, is compressed. This inevitably reduces the electrical resistance of the resistive sheath at this location, so that the total resistance at a crossing point between two intersecting fabric fibers is reduced. By measuring the resistances between all intersecting fabric fibers, the tactile site, the tactile force and the tactile surface can be determined. The fabric is relatively flexible and can also be used with small ones Radien arched devices are fixed, for example, to a data glove,
Selbstverständlich können auch mehr als zwei Vorzugsrichtungen von Gewebefasern miteinander verwoben werden, beispielsweise in drei Richtungen von zueinander parallelen Gewebefasern, die jeweils in einem Winkel von 60° zueinander angeordnet sind.Of course, more than two preferred directions of fabric fibers can be woven together, for example, in three directions of mutually parallel fabric fibers, which are each arranged at an angle of 60 ° to each other.
Vorzugsweise sind die Leitungen Metalldrähte oder Kohlefaserdrähte. Metalldrähte und Kohlefaserdrähte weisen eine hohe Zugfestigkeit und eine hohe plastische und elastische Biegsamkeit auf. Hierdurch wird sichergestellt, dass das Gewebe auch auf Vorrichtungen mit kleinen Radien applizierbar ist.Preferably, the leads are metal wires or carbon fiber wires. Metal wires and carbon fiber wires have high tensile strength and high plastic and elastic flexibility. This ensures that the tissue can also be applied to devices with small radii.
Gemäß einer bevorzugten Ausgestaltung besteht die Widerstandshülle z. B. aus Silikon oder Kunststoff, Als Kunststoff kann beispielsweise Polyethylen verwendet werden. In den Kunststoff können homogen verteilt elektrisch leitende Partikel eingelagert sein, beispielsweise Graphit- oder Rußpartikel. Hierdurch kann die spezifische Leitfähigkeit der Widerstandshülle gezielt angepasst werden.According to a preferred embodiment, the resistance envelope z. As silicone or plastic, for example, polyethylene can be used as plastic. In the plastic homogeneously distributed electrically conductive particles may be incorporated, such as graphite or soot particles. As a result, the specific conductivity of the resistive envelope can be specifically adapted.
Vorzugsweise ist ein Auswertemodul vorgesehen, das ein Widerstandsmessmodu! aufweist und den elektrischen Widerstand an allen Kreuzungen einzeln ermittelt und auswertet. Hierzu sind die elektrischen Leitungen der Gewebefasern alle einzeln an das Auswertemodul angeschlossen. Das Auswertemodul ermittelt nacheinander den Widerstand zwischen allen sich kreuzenden Gewebefaser-Paaren, Hieraus lassen sich schließlich der Tastort, die Tastkraft und die Tastfläche ermitteln.Preferably, an evaluation module is provided which is a Widerstandsmessmodu! has and determines the electrical resistance at all intersections individually and evaluates. For this purpose, the electrical lines of the fabric fibers are all individually connected to the evaluation module. The evaluation module successively determines the resistance between all intersecting tissue fiber pairs. From this, finally, the tactile site, the force and the tactile surface can be determined.
Gemäß einem nebengeordneten Anspruch weist eine sensoräsche Gewebefaser für einen taktilen Flächensensor zur Feststellung eines Tastortes einen Faserkern aus einer elektrischen Leitung und eine elastische und elektrisch reststiv leitende Widerstandshülle auf. - A -According to a non-independent claim, a sensor-less fabric fiber for a tactile surface sensor for detecting a Tastortes a fiber core of an electrical line and an elastic and electrically residual conductive conductive sheath on. - A -
Die Erfindung wird im folgenden anhand der Zeichnungen näher erläutert.The invention will be explained in more detail below with reference to the drawings.
Es zeigen:Show it:
Fig. 1 einen taktilen Flächensensor, bestehend aus einem Gewebe und einem Auswertemodul, und1 shows a tactile surface sensor, consisting of a fabric and an evaluation module, and
Fig. 2 eine Gewebefaser des Gewebes des Flächensensors der Fig. 1 im Querschnitt,2 a tissue fiber of the tissue of the surface sensor of FIG. 1 in cross section, FIG.
In Fig. 1 ist ein taktiler Flächensensor 10 zur Feststeilung eines Tastortes dargestellt, der an viele verschiedene Anwendungen und Vorrichtungen appltzierbar ist.In Fig. 1, a tactile surface sensor 10 is shown for the fixed division of a Tastortes, which can be appltzierbar to many different applications and devices.
Der Flächensensor 10 besteht unter anderem aus einem Gewebe 12 aus sich im rechten Winkel kreuzenden und an den Kreuzungen sich berührenden Gewebefasern 21-25, 31-35.The surface sensor 10 consists inter alia of a fabric 12 of intersecting at right angles and at the intersections touching fabric fibers 21-25, 31-35.
In Fig. 2 ist eine Gewebefaser 21 exemplarisch im Querschnitt dargestellt. Jede Gewebefaser 21 weist einen Faserkern aus einer elektrischen Leitung 16 und eine die Leitung 16 vollständig umgebende elastische und resistiv leitende Widerstandshülle 18 auf. Die elektrische Leitung wird von einem Metalldraht, alternativ auch von einem Kohiefaserdraht oder einem anderen elektrisch leitendem Material, gebildet Die elektrische Leitung 16 weist einen vernachlässigbaren elektrischen Widerstand auf.In Fig. 2, a fabric fiber 21 is exemplified in cross section. Each fabric fiber 21 has a fiber core of an electrical line 16 and a line 16 completely surrounding elastic and resistive conductive resistive shell 18. The electrical line is formed by a metal wire, alternatively by a Kohiefaserdraht or other electrically conductive material, the electrical line 16 has a negligible electrical resistance.
Die Widerstandshülle 18 dagegen weist einen relativ hohen spezifischen Widerstand auf. Die Widerstandshülle 18 besteht beispielsweise aus einem elektrisch leitenden Kunststoff, In den Kunststoff können homogen verteilt elektrisch leitende Partikel eingelagert, beispielsweise Graphit, um den spezifischen Widerstand der Widerstaπdshüile 18 gezielt bestimmen zu können.The resistive envelope 18, however, has a relatively high resistivity. The resistive envelope 18 consists for example of an electrically conductive plastic, In the plastic homogeneously distributed electrically conductive particles can be stored, such as graphite to the Specific resistance of Widerstaπdshüile 18 to determine targeted.
Dem Flächensensor 10 ist ferner ein Auswertemodul 40 zugeordnet, das ein Widerstandsmessmodul 42 aufweist. Das Widerstandsmessmodu! 42 mißt nacheinander den Widerstand aller sich kreuzenden Gewebefaser-Paare. Aus den auf diese Weise ermittelten kreuzungsbezogenen Widerstandswerten kann das Auswertemodul 40 auf einen Tastort, eine Tastfiäche und eine Tastkraft zurückschließen.The surface sensor 10 is further associated with an evaluation module 40, which has a resistance measuring module 42. The resistance measuring module! 42 successively measures the resistance of all crossed fabric fiber pairs. From the crossing-related resistance values determined in this way, the evaluation module 40 can infer a tactile location, a tactile surface and a sensing force.
Die Widerstandshülle muss im Querschnitt nicht kreisförmig oder quadratisch ausgebildet sein, sondern kann auch flach, also im Querschnitt oval oder rechteckig ausgebildet. Durch die Breite der WiderstandshüNe 18 wird das Rastermaß des Gewebes definiert und sichergestellt, dass das Rastermaß auch bei häufiger Beugung des Gewebes im Wesentlichen erhalten bleibt. The resistance envelope need not be circular or square in cross-section, but may also be flat, that is oval or rectangular in cross-section. The width of the resistance sheath 18 defines the grid dimension of the tissue and ensures that the grid dimension is substantially maintained even with frequent diffraction of the tissue.

Claims

— D ™Patentansprüche - D ™ claims
1. Taktiler Flächeπseπsor (10) zur Feststellung eines Tastortes, mit einem Gewebe (12) aus sich kreuzenden und an den Kreuzungen sich berührenden Gewebefasern (21-25,31-35), wobei jede Gewebefaser (21- 25,31-35) einen Faserkern aus einer elektrischen Leitung (16) und eine elastische und resistiv leitende Widerstandshülle (18) aufweist.A tactile surface sensor (10) for detecting a tactile site, comprising a tissue (12) of intersecting and intersecting tissue fibers (21-25, 31-35), each tissue fiber (21-25, 31-35) a fiber core of an electrical line (16) and an elastic and resistively conductive resistance sheath (18).
2. Taktiler Flächensensor nach Anspruch 1, dadurch gekennzeichnet, dass die elektrische Leitung (16) ein Metalldraht oder ein Kohlefaserdraht ist,2. Tactile surface sensor according to claim 1, characterized in that the electrical line (16) is a metal wire or a carbon fiber wire,
3. Taktiler Flächenseπsor nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Widerstandshülle (18) aus Kunststoff besteht.3. Tactile Flächenseπsor according to claim 1 or 2, characterized in that the resistance envelope (18) consists of plastic.
4. Taktiler Flächensensor nach einem der Ansprüche 1-3, dadurch gekennzeichnet, dass die Widerstandshülie (18) flach ausgebildet ist,4. tactile surface sensor according to one of claims 1-3, characterized in that the Widerstandshülie (18) is formed flat,
5. Taktiler Flächensensor nach einem der Ansprüche 1-4, dadurch gekennzeichnet, dass ein Auswertemodul (40) vorgesehen ist, das ein Widerstandsmessmodul (42) aufweist, das den elektrischen Widerstand aller Kreuzungen einzeln ermittelt.5. A tactile surface sensor according to any one of claims 1-4, characterized in that an evaluation module (40) is provided which has a resistance measuring module (42) which determines the electrical resistance of each intersection individually.
6. Sensorische Gewebefaser (21) für einen taktilen Flächensensor gemäß Anspruch 1, mit einem Faserkern aus einer elektrischen Leitung (16) und einer elastischen und resistiv leitenden Widerstandshülle (18). 6. A sensorial tissue fiber (21) for a tactile surface sensor according to claim 1, comprising a fiber core of an electrical line (16) and an elastic and resistively conductive resistive sheath (18).
PCT/EP2007/053390 2006-04-08 2007-04-05 Tactile area sensor WO2007116024A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006016661.2 2006-04-08
DE200610016661 DE102006016661B4 (en) 2006-04-08 2006-04-08 Tactile surface sensor

Publications (1)

Publication Number Publication Date
WO2007116024A1 true WO2007116024A1 (en) 2007-10-18

Family

ID=38055667

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2007/053390 WO2007116024A1 (en) 2006-04-08 2007-04-05 Tactile area sensor

Country Status (2)

Country Link
DE (1) DE102006016661B4 (en)
WO (1) WO2007116024A1 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102002791A (en) * 2010-11-29 2011-04-06 武汉纺织大学 Touch electronic fabric
CN106705829A (en) * 2015-08-21 2017-05-24 中国科学院上海硅酸盐研究所 Flexible wearable conductive fiber sensor and preparation method and application thereof
CN113721711A (en) * 2017-06-14 2021-11-30 苹果公司 Fabric-based device with force sensing

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8436820B2 (en) * 2008-12-04 2013-05-07 Electronics And Telecommunications Research Institute Touchpad using resistive electro-conductive fiber and input device having the same
DE102010034717B4 (en) 2010-08-18 2016-01-14 Deutsches Zentrum für Luft- und Raumfahrt e.V. Sensor element for detecting tactile stimuli
CN103968980B (en) * 2014-05-20 2016-02-03 山东大学 Novel optical fiber tactile array sensor and method for making
DE202014102424U1 (en) * 2014-05-23 2015-08-28 Kuka Systems Gmbh manipulator tool
DE102014008091A1 (en) 2014-06-02 2015-12-03 automation & software Günther Tausch GmbH Device for detecting pressure loads and / or temperature differences for the diabetic foot
DE102015007106B4 (en) * 2015-06-01 2017-07-06 NWTN-Berlin GmbH Shoe sole and shoe insole for measuring body weight
DE102015015315A1 (en) 2015-11-27 2017-06-01 Audi Ag Covering part for an interior of a motor vehicle
DE102017218229A1 (en) * 2017-10-12 2019-04-18 Dr. Doll Engineering Gmbh Protective device for an industrial robot and protective element for such a protective device

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0161895A2 (en) * 1984-05-04 1985-11-21 Raychem Limited Sensor array
US5799533A (en) * 1995-05-12 1998-09-01 Director-General Of Agency Of Industrial Science And Technology Distributed pressure sensor and method for manufacturing the same
EP0964233A2 (en) * 1998-06-13 1999-12-15 Volkswagen Aktiengesellschaft Sensor for position and/or time resolved measurement of force or pressure
GB2339495A (en) * 1998-05-21 2000-01-26 Univ Brunel Pressure sensor
WO2001075778A1 (en) * 2000-04-03 2001-10-11 Brunel University Conductive pressure sensitive textile
US20020194934A1 (en) * 2001-06-26 2002-12-26 Taylor Geoffrey L. Pressure measurement sensor with piezoresistive thread lattice

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0161895A2 (en) * 1984-05-04 1985-11-21 Raychem Limited Sensor array
US5799533A (en) * 1995-05-12 1998-09-01 Director-General Of Agency Of Industrial Science And Technology Distributed pressure sensor and method for manufacturing the same
GB2339495A (en) * 1998-05-21 2000-01-26 Univ Brunel Pressure sensor
EP0964233A2 (en) * 1998-06-13 1999-12-15 Volkswagen Aktiengesellschaft Sensor for position and/or time resolved measurement of force or pressure
WO2001075778A1 (en) * 2000-04-03 2001-10-11 Brunel University Conductive pressure sensitive textile
US20020194934A1 (en) * 2001-06-26 2002-12-26 Taylor Geoffrey L. Pressure measurement sensor with piezoresistive thread lattice

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102002791A (en) * 2010-11-29 2011-04-06 武汉纺织大学 Touch electronic fabric
CN106705829A (en) * 2015-08-21 2017-05-24 中国科学院上海硅酸盐研究所 Flexible wearable conductive fiber sensor and preparation method and application thereof
CN106705829B (en) * 2015-08-21 2019-06-11 中国科学院上海硅酸盐研究所 A kind of flexible wearable conductive fabric sensor and its preparation method and application
CN113721711A (en) * 2017-06-14 2021-11-30 苹果公司 Fabric-based device with force sensing

Also Published As

Publication number Publication date
DE102006016661B4 (en) 2008-08-07
DE102006016661A1 (en) 2007-10-11

Similar Documents

Publication Publication Date Title
DE102006016661B4 (en) Tactile surface sensor
EP2147502B1 (en) Tactile sensor with independent sensor cells
DE102007020131B4 (en) Tactile surface sensor
DE102006006780B4 (en) Collision detection sensor for vehicles and apparatus for evaluating obstacles using the same
DE3406093A1 (en) PROBE FOR A ROBOT GRIPPER OR SIMILAR
DE102011051913B4 (en) Occupant detection sensor and method of manufacturing the same
WO2004061401A1 (en) Pressure sensor comprising an elastic sensor layer with a microstructured surface
DE102016212516B4 (en) touch screen
DE10160121C2 (en) sensor arrangement
DE112019006091T5 (en) PRESSURE SENSOR AND ELECTRONIC DEVICE
EP3447463B1 (en) Pressure sensor
DE3734023A1 (en) Measuring mat for determining pressure distributions
DE102018131925A1 (en) Tactile sensor and android
DE10212023A1 (en) Sensor cell, especially for use in the sensor mat of a motor vehicle seat, has a piezoelectric resistance element with at least one additional contact so that two resistance measurements are made
DE102010034704B4 (en) Tactile sensor with at least one elastic extensible electrical resistance element
KR20180117889A (en) Pressure sensor
DE102004002479A1 (en) Circuit arrangement for seat occupancy recognition and seat belt warning in a motor vehicle
DE102014105177B4 (en) Arrangement of cover and control element with elastically deformable actuation part and force sensor matrix
DE102011053194A1 (en) Manipulated position detection device
DE102004026307B4 (en) Tactile instrument
EP3447462A1 (en) Protection device for a component with capacitive-tactile collision detection
DE10218613A1 (en) Mechanical power detection apparatus has detection plate including measurement layers whose characteristics change, if power that is to be detected acts on measurement layers
DE102018128082A1 (en) Pressure sensor device for an assembly glove, assembly glove with a pressure sensor device and method for producing a pressure sensor device for an assembly glove
DE102019114185B4 (en) Tactile sensor element
DE102006016662A1 (en) Tactile surface sensor for robot hand, has electrical wires e.g. carbon fiber wire and metal wire, provided in resistor, and evaluation module comprising resistance measuring module, which determines electrical resistance of wires

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 07727858

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 07727858

Country of ref document: EP

Kind code of ref document: A1