CN101738275B - Three-dimensional flexible touch sensor and decoupling method thereof - Google Patents

Abstract

The invention discloses a three-dimensional flexible touch sensor and a decoupling method thereof. The sensor includes three layers of insulated wires parallel to each other, the second layer of wires (3) and the third layer of wires (5) are arranged vertically and parallel to the first layer of wires (1) respectively, and the distances between each layer of wires are equal Electrically connect multiple electrodes of the corresponding layer, and the projection of each first-layer electrode (2) is located in the center of the square formed by four second-layer electrodes (4), and at the same time located in the four third-layer electrodes (6) In the center of the square formed, conductive rubber (7) is placed between the above-mentioned layers of wires and electrodes; the method is to obtain the resistance between each row of the first layer and each column of the second layer and each row of the first layer and each row of the third layer by row and column scanning. The value changes to obtain the position of the stress point, and the magnitude of the force Fz perpendicular to the first layer of wire (1) layer, and the magnitude of the forces Fx and Fy parallel to and perpendicular to the axial direction of the first layer of wire (1). It can be widely used to detect the size of three-dimensional force.

Description

Three-dimensional flexible tactile sensor and its decoupling method

technical field

The invention relates to a tactile sensor and a decoupling method, in particular to a three-dimensional flexible tactile sensor and a decoupling method thereof.

Background technique

Tactile sensors are very important to the development and application of robots, especially service robots and bionic robots. It enables robots to sense the external environment sensitively and accurately, and move flexibly and freely to achieve safe and natural contact and interaction with humans. Not only that, tactile sensors have a wide range of applications in many aspects such as sports training and rehabilitation medicine. For this reason, people have made unremitting efforts in order to obtain a tactile sensor with excellent performance, such as a "distribution based on pressure-sensitive conductive rubber" disclosed in the Japanese invention patent application publication specification JP 62080528A published on April 14, 1987. type tactile sensor". It is intended to provide a tactile sensor capable of measuring continuous force. The structure of the sensor is that two organic films of the same material are pasted with multiple electrodes at equal intervals in the same arrangement, and conductive rubber is placed between the two organic films, and the multiple electrodes on the upper and lower organic films are respectively It is in contact with the upper and lower surfaces of the conductive rubber, and the multiple electrodes on the upper and lower surfaces are vertically facing each other. Among them, the electrodes on the upper surface are arranged in rows after being connected by upper-layer wires, and the electrodes on the lower surface are arranged in columns after being connected by lower-layer wires. That is, the wires on the upper and lower layers are perpendicular to each other. When the surface of the sensor is under pressure, the resistance value of the conductive rubber between the two facing electrodes will change accordingly, and the force information of each force point can be obtained by row and column scanning. However, this kind of tactile sensor has shortcomings. First, it can only measure the magnitude of the force perpendicular to the surface of the sensor, that is, it can only measure the single-dimensional force, but cannot detect the information of the three-dimensional force at the same time, which limits its application. The scope of application; secondly, the structure is loose, the manufacturing process is high, and it is difficult to industrialize production.

Contents of the invention

The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art, and provide a three-dimensional flexible tactile sensor that can simultaneously detect the magnitude of three-dimensional force, and has a compact structure and is easy to use.

Another technical problem to be solved by the present invention is to provide a decoupling method for a three-dimensional flexible tactile sensor.

In order to solve the technical problem of the present invention, the technical solution adopted is: the three-dimensional flexible tactile sensor includes a first layer of wires and a second layer of wires arranged parallel to each other at equal intervals between the layers, and the first layer of wires and the second layer of wires A plurality of first-layer electrodes and second-layer electrodes electrically connected at equal intervals, the first-layer wires and the second-layer wires are vertically arranged, the first-layer wires, the second-layer wires, the first-layer electrodes and the second-layer wires Conductive rubber is placed between the electrodes on the second layer, especially:

A third layer of wires arranged at equal intervals is placed under the second layer of wires, the layer of the third layer of wires is parallel to the layer of the second layer of wires, and is arranged in parallel with the first layer of wires, and the upper layer is equal to A plurality of third-layer electrodes are electrically connected at intervals, and conductive rubber is interposed between the third-layer wires and third-layer electrodes and the second-layer wires and second-layer electrodes;

The projection of each first-layer electrode is located in the center of the square formed by the four second-layer electrodes, and is also located in the center of the square formed by the four third-layer electrodes;

The first layer of wires, the second layer of wires and the third layer of wires are all insulated wires whose outer surface is covered with an insulating layer.

As a further improvement of the three-dimensional flexible tactile sensor, the distance between the first-layer electrodes is the same as the distance between the first-layer wires; the distance between the second-layer electrodes is the same as the distance between the second-layer wires. The spacing is the same; the spacing between the third layer electrodes is the same as the spacing between the third layer wiring; the interlayer spacing between the second layer wiring and the third layer wiring is the same as the first layer wiring and the second layer spacing. The layer-to-layer spacing is the same between layer wires.

In order to solve another technical problem of the present invention, another technical solution adopted is: the decoupling method of the three-dimensional flexible tactile sensor includes collecting the signal from the wire and combining the state equation F _i = f(△ _i ) of the conductive rubber to obtain the force The size of F _i , the function f in the formula is determined by the properties of the conductive rubber, △ _i is the displacement in the i direction, and i is x or y or z, especially the decoupling method includes the following steps:

Step 1, select the first layer of wires, take it as the base point,

First detect the resistance value between all the second-layer wires and the resistance value, and obtain the axial position of the stress point on the first-layer wire from the change of the resistance value, as well as the magnitude and parallelism of the force Fz perpendicular to the first-layer wire layer. The magnitude of the force Fx in the axial direction of the first layer of wires,

Then detect the resistance value between the two third-layer wires parallel to the first-layer wire and with the smallest spacing, and obtain the magnitude of the force Fy perpendicular to the axial direction of the first-layer wire by the variation of the resistance value;

Step 2, select the next first layer of wires in sequence, and repeat step 1 until the selection is complete.

As a further improvement of the decoupling method of the three-dimensional flexible tactile sensor, the determination of the force Fz is that the change of the resistance value between two adjacent second-layer wires and the first-layer wire is the same; the determination of the described force Fx is The change of the resistance value between two adjacent second layer wires and the first layer wire is opposite; the determination of the force Fy is that the resistance value change between two adjacent third layer wires and the first layer wire is opposite.

Compared with the beneficial effects of the prior art, the first is to adopt three-layer insulated wires parallel to each other between layers, the second layer of wires in the three-layer insulated wires is vertically arranged with the first layer of wires, and the third layer of wires is vertically arranged with the first layer of wires. The wires are arranged in parallel, and each layer of wires is electrically connected to multiple electrodes of the corresponding layer at equal intervals, and the projection of each first-layer electrode is located in the center of the square formed by the four second-layer electrodes, and at the same time in the four electrodes. In the center of the square formed by the third layer of electrodes, there is a structure of conductive rubber between the above-mentioned layers of wires and electrodes, so that the sensor can detect the size of the three-dimensional force at the same time, and has the characteristics of excellent flexibility, so that it has a similar The characteristics of human skin can also continuously measure the three-dimensional force in space, which greatly improves the performance of the sensor and expands its application range; The injection molding process is used to position and shape the sensor, so the sensor has a compact structure and strong integrity, so that it works stably, is easy to use, has good adaptability, and has a wide range of applications. The sensor is not only simple in manufacturing process, easy to industrialized production, but also conducive to its commercial application; third, the decoupling adopts row and column scanning to obtain the distance between each row of the first layer and each column of the second layer, and between each row of the first layer and each row of the third layer. The method of changing the resistance value to obtain the position of the force point, the magnitude of the force Fz perpendicular to the first layer of wire layer, and the magnitude of the forces Fx and Fy parallel to and perpendicular to the axial direction of the first layer of wire is scientific, Simple, fast and efficient.

As a further embodiment of the beneficial effects, one is that the distance between the electrodes of each layer is preferably the same as the distance between the wires of each layer, and the structure of the same interlayer distance of the wires in each layer, in addition to making the manufacturing process easier, also facilitates The processing of row and column scan information; the second is that the determination of force Fz is preferably that the change of the resistance value between two adjacent second-layer wires and the first-layer wire is the same, and the determination of force Fx is preferably that two adjacent second-layer wires and The change of the resistance value between the first layer wires is opposite, and the determination of the force Fy is preferably the opposite change of the resistance value between two adjacent third layer wires and the first layer wire, which is targeted, simple and convenient.

Description of drawings

The preferred modes of the present invention will be further described in detail below in conjunction with the accompanying drawings.

Fig. 1 is a kind of basic structural representation of sensor of the present invention;

Fig. 2 is a schematic diagram of force analysis when the sensor of the present invention feels force from the z direction;

Fig. 3 is a schematic diagram of force analysis when the sensor of the present invention feels force from the X direction;

Fig. 4 is a schematic diagram of force analysis when the sensor of the present invention senses force from the Y direction.

Detailed ways

Referring to Fig. 1, the three-dimensional flexible tactile sensor consists of a first layer of wires 1, a second layer of wires 3 and a third layer of wires 5 that are parallel to each other between the layers and arranged at equal intervals between the wires, and the first layer of wires 1, the second layer of wires The conductive wire 3 and the third layer conductive wire 5 are composed of a plurality of first layer electrodes 2 , second layer electrodes 4 and third layer electrodes 6 electrically connected at equal intervals respectively. Wherein, the second layer of wires 3 is vertically arranged with the first layer of wires 1 , and the third layer of wires 5 is arranged in parallel with the first layer of wires 1 . The projection of each first-layer electrode 2 is located in the center of the square formed by the four second-layer electrodes 4 , and is also located in the center of the square formed by the four third-layer electrodes 6 . The distance between the first layer electrodes 2 is the same as the distance between the first layer wires 1, the distance between the second layer electrodes 4 is the same as the distance between the second layer wires 3, and the distance between the third layer electrodes 6 is the same. The spacing is the same as the spacing between the third-layer wires 5 , and the interlayer spacing between the second-layer wires 3 and the third-layer wires 5 is the same as the interlayer spacing between the first-layer wires 1 and the second-layer wires 3 . Above-mentioned first layer wire 1, first layer electrode 2, second layer wire 3, second layer electrode 4, third layer wire 5 and third layer electrode 6 are all provided with conductive rubber 7, first layer wire 1, Both the second-layer wire 3 and the third-layer wire 5 are insulated wires whose outer surface is covered with an insulating layer.

During the use of the three-dimensional flexible tactile sensor, when it is subjected to an external force, the force it receives is composed of forces in three different directions, namely, the z direction, the x direction and the y direction. The conductive rubber 7 at the force point is deformed due to being squeezed, so that the resistance value between the first layer electrode 2 , the second layer electrode 4 and the third layer electrode 6 at the force point changes. After the changing resistance value is obtained by row and column scanning, combined with the state equation F _i = f(Δ _i ) of the conductive rubber to obtain the magnitude of the force F _i , the function f in the formula is determined by the properties of the conductive rubber, and Δ _i is the i direction The displacement on , i is x or y or z. Referring to Fig. 2, Fig. 3 and Fig. 4, Fz in Fig. 2 is the force perpendicular to the layer direction of the first layer wire 1, that is, the force in the z direction, and Δz is the force of the first layer electrode 2 perpendicular to the first layer The displacement in the layer direction of the wire 1; Fx in Figure 3 is the force parallel to the axial direction of the first layer of wire 1, that is, the force in the x direction, and Δx is the displacement of the first layer of electrodes 2 parallel to the first layer of wire 1 Axial displacement; Fy in Figure 4 is the force perpendicular to the axial direction of the first layer of wire 1, that is, the force in the y direction, and Δy is the axial force of the first layer of electrodes 2 perpendicular to the first layer of wire 1. on the displacement.

The specific working steps of the decoupling method of the three-dimensional flexible tactile sensor are:

Step 1, first select a certain wire in the first layer of wire 1, and then use the selected wire as the base point. Then, first detect the resistance value between all the second layer wires 3 and the wire, and obtain the axial position of the stress point on the wire and the force Fz perpendicular to the wire layer from the change of the resistance value. size (referring to Fig. 2) and the magnitude (referring to Fig. 3) of the force Fx parallel to the axial direction of this wire; Wherein, the determination of force Fz is the resistance value between two adjacent second layer wires 3 and this wire The changes are the same, and the determination of the force Fx is that the change of the resistance value between two adjacent second-layer wires 3 and the wire is opposite. Afterwards, detect the resistance value between the two third-layer wires 5 parallel to the wire and with the minimum spacing, and obtain the magnitude of the force Fy perpendicular to the axial direction of the wire by the variation of the resistance value (see Fig. 4 ); wherein, the determination of the force Fy is opposite to the change of the resistance value between two adjacent third-layer wires 5 and the wire.

Step 2: Select the next first layer of wires 1 in turn, that is, sequentially select the wires in the first layer of wires 1 next to this wire, and repeat step 1 until the selection is complete, and the information of the three-dimensional force can be continuously measured.

Apparently, those skilled in the art can make various changes and modifications to the three-dimensional flexible tactile sensor and its decoupling method of the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and equivalent technologies, the present invention also intends to include these modifications and variations.

Claims (9)

1. A three-dimensional flexible tactile sensor, comprising a first layer of wires (1) and a second layer of wires (3) arranged at equal intervals parallel to each other between layers, and a first layer of wires (1) and a second layer of wires (3) ) on a plurality of first-layer electrodes (2) and second-layer electrodes (4) that are electrically connected at equal intervals, the first-layer wires (1) and the second-layer wires (3) are vertically arranged, and the first A conductive rubber (7) is interposed between the first layer of wires (1), the second layer of wires (3), the first layer of electrodes (2) and the second layer of electrodes (4), and is characterized in that: A third layer of wires (5) arranged at equal intervals is placed under the second layer of wires (3), and the layer of the third layer of wires (5) is parallel to the layer of the second layer of wires (3), and is The first-layer wires (1) are arranged in parallel, and a plurality of third-layer electrodes (6) are electrically connected to them at equal intervals, and the third-layer wires (5), the third-layer electrodes (6) and the second layer Conductive rubber (7) is interposed between the first layer of wires (3) and the second layer of electrodes (4); The projection of each first-layer electrode (2) is located at the center of the square formed by four of the plurality of second-layer electrodes (4), and is simultaneously located at the plurality of third-layer electrodes (6) The center of the square formed by four of them; The first layer of wires (1), the second layer of wires (3) and the third layer of wires (5) are all insulated wires whose outer surfaces are covered with insulating layers. 2. The three-dimensional flexible tactile sensor according to claim 1, characterized in that the distance between the electrodes (2) of the first layer is the same as the distance between the wires (1) of the first layer. 3.3 The three-dimensional flexible tactile sensor according to claim 2, characterized in that the distance between the electrodes (4) of the second layer is the same as the distance between the wires (3) of the second layer. 4. The three-dimensional flexible tactile sensor according to claim 3, characterized in that the distance between the electrodes (6) of the third layer is the same as the distance between the wires (5) of the third layer. 5. The three-dimensional flexible tactile sensor according to claim 4, characterized in that the interlayer spacing between the second layer of wires (3) and the third layer of wires (5) is the same as that of the first layer of wires (1) and the second layer of wires (3) have the same interlayer spacing. 6. a decoupling method of the three-dimensional flexible tactile sensor as claimed in claim 1, comprising collecting signals from the wire and in conjunction with the state equation F _i of conductive rubber = f (Δ _i ) to obtain the size of force F _i , the function in the formula f is determined by the properties of the conductive rubber, _Δi is the displacement in the i direction, i is x or y or z, and it is characterized in that the decoupling method comprises the following steps: Step 1, select the first layer of wires, take it as the base point, First detect the resistance value between all the second-layer wires and the resistance value, and obtain the axial position of the stress point on the first-layer wire from the change of the resistance value, as well as the magnitude and parallelism of the force Fz perpendicular to the first-layer wire layer. The magnitude of the force Fx in the axial direction of the first layer of wires, Then detect the resistance value between the two third-layer wires parallel to the first-layer wire and with the smallest spacing, and obtain the magnitude of the force Fy perpendicular to the axial direction of the first-layer wire by the variation of the resistance value; Step 2, select the next first layer of wires in sequence, and repeat step 1 until the selection is complete. 7. The decoupling method of the three-dimensional flexible tactile sensor according to claim 6, wherein the determination of the force Fz is that the change of the resistance value between two adjacent second-layer wires and the first-layer wire is the same. 8 . The decoupling method of the three-dimensional flexible tactile sensor according to claim 6 , wherein the determination of the force Fx is opposite to the change of the resistance value between two adjacent second-layer wires and the first-layer wire. 9. The decoupling method of a three-dimensional flexible tactile sensor according to claim 6, wherein the determination of the force Fy is opposite to the change of the resistance value between two adjacent third-layer wires and the first-layer wire.

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