CN117949115A - A wearable positioning and force measurement tactile sensor - Google Patents

Abstract

The invention discloses a wearable positioning and force-measuring touch sensor, which is characterized by comprising a characteristic layer and an isolation layer, wherein the characteristic layer is provided with a conductive surface and an insulating surface which are opposite; the insulating layers are arranged between the first characteristic layer and the second characteristic layer, the conductive surfaces of the first characteristic layer and the second characteristic layer are respectively attached to the upper end and the lower end of the insulating layer, and the insulating surfaces of the second characteristic layer and the third characteristic layer are attached to each other; the first characteristic layer and the second characteristic layer are respectively provided with a constant current source A and a constant current source B, the current directions of the constant current source A and the constant current source B are vertical, and the constant current source A and the constant current source B are alternately arranged. The invention has the advantages of easy wearing, simple internal structure, stability, reliability, long service life and the like.

Description

A wearable positioning and force measurement tactile sensor

Technical Field

The present invention relates to the technical field of tactile sensors, and more specifically to a wearable positioning and force measuring tactile sensor.

Background technique

At present, traditional tactile sensors are mainly made through the principles and methods of resistance, capacitance and piezoelectricity. In recent years, portable intelligent electronic products have developed rapidly, and many multifunctional wearable devices have emerged. Among them, wearable tactile sensors are one of the most cutting-edge fields in the current technology circle. They can imitate the tactile function of direct contact between people and the external environment, mainly including the detection of force signals, heat signals and moisture signals. They are the nerve endings of the Internet of Things and the core components that assist humans in fully perceiving nature and themselves.

Existing wearable tactile sensors still face many challenges in practical applications. For example, existing sensors generally have a flexible outer layer and a plurality of arrays of piezoelectric modules in the middle layer. When pressed, the piezoelectric modules at the corresponding position are triggered to achieve tactile sensing of the pressed position. The processing of this structure is relatively complicated, and the position of the piezoelectric modules needs to be accurately arrayed, which requires high precision. In addition, due to different materials, the elasticity of the middle layer and the flexible layer is often different, so that the position of the middle layer relative to the flexible layer may shift during repeated deformation, resulting in performance degradation and deviations in the positioning and force measurement of tactile sensing. In the future, wearable tactile sensors will develop in a more flexible, miniaturized, intelligent, multifunctional, and humanized direction. Tactile sensors with traditional structures will find it difficult to meet the demand.

Therefore, the present invention proposes a wearable positioning and force measurement tactile sensor.

Summary of the invention

In view of the shortcomings of the prior art, the present invention provides a wearable positioning and force measuring tactile sensor, which has the advantages of being easy to wear, simple internal structure, stable and reliable, and having a long service life.

To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a wearable positioning and force measurement tactile sensor, characterized in that: it includes a characteristic layer and an isolation layer, and the characteristic layer is provided with a relative conductive surface and an insulating surface; the characteristic layer includes a first characteristic layer, a second characteristic layer, and a third characteristic layer, and the isolation layer is arranged between the first characteristic layer and the second characteristic layer, and the conductive surfaces of the first characteristic layer and the second characteristic layer are respectively abutted against the upper and lower ends of the isolation layer, and the insulating surfaces of the second characteristic layer and the third characteristic layer are abutted against each other; a constant current source A and a constant current source B are respectively arranged on the first characteristic layer and the second characteristic layer, and the current directions of the constant current source A and the constant current source B are perpendicular to each other, and the constant current source A and the constant current source B are arranged alternately.

The present invention is further configured as follows: a conductor A is provided at both vertical or horizontal ends of the conductive surface of the first characteristic layer, and a constant current source A is applied through the conductor A; a conductor B is provided at both horizontal or vertical ends of the conductive surface of the second characteristic layer, and a constant current source B is applied through the conductor B; and when the conductor A is vertically arranged, the conductor B is horizontally arranged, and when the conductor A is horizontally arranged, the conductor B is vertically arranged.

The present invention is further configured as follows: the alternating change of the constant current source A and the constant current source B is configured as follows: when the constant current source A supplies power to the first characteristic layer, the constant current source B stops supplying power to the second characteristic layer; when the constant current source A stops supplying power to the first characteristic layer, the constant current source B supplies power to the second characteristic layer.

The present invention is further configured as follows: the characteristic layer is configured as a conductive fabric with double-sided effect function, the conductive fabric is woven from non-conductive yarn and conductive yarn, the conductive yarn is woven into the conductive surface; the non-conductive yarn is woven into the insulating surface.

The present invention is further configured such that a capacitor is formed between the conductive surfaces of the second characteristic layer and the third characteristic layer.

The present invention is further configured as follows: the material of the conductive yarn is one of silver-plated fiber, copper fiber, nickel-plated fiber or a blend thereof; the material of the non-conductive yarn is one of nylon, cotton thread or a blend thereof.

In summary, the present invention has the following beneficial effects:

The interior of the wearable positioning and force measuring tactile sensor provided by the present invention is composed of a simple characteristic layer and an insulating layer, and the material is uniformly fabric, which is light, thin, elastic, easy to wear, and can be applied to wearable products for various groups of people, including the young and the old.

At the same time, the internal structure of the structure of the present invention is simpler than the existing structure of the piezoelectric module using an array, and the multi-layer structure has good elasticity, so that when pressed, the internal characteristic layer and the insulating layer will deform as a whole, thereby making the internal structure stable, not easy to deform and damage during long-term use, long service life, and high practical value.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the overall structure of a tactile sensor according to the present invention;

FIG2 is a schematic diagram of the explosion structure of the tactile sensor of the present invention;

FIG3 is a schematic structural diagram of a double-sided effect fabric of the present invention;

FIG4 is a schematic diagram of the planar application principle of the present invention;

FIG. 5 is a schematic diagram of the three-dimensional surface application principle of the present invention.

Figure numerals: 1, characteristic layer; 1a, conductive surface; 1b, insulating surface; 101, first characteristic layer; 102, second characteristic layer; 103, third characteristic layer; 2, isolation layer; 3, capacitor part; 41, planar tactile sensor; 42, processing module; 43, computer terminal; 51, three-dimensional tactile sensor; 52, robotic arm.

Detailed ways

The present invention is further described in detail below in conjunction with the accompanying drawings.

The present embodiment discloses a wearable positioning and force measurement tactile sensor, as shown in FIGS. 1-5 , including a characteristic layer 1 and an isolation layer 2. The characteristic layer 1 has a double-sided effect function, that is, the characteristic layer 1 is provided with a relative conductive surface 1a and an insulating surface 1b, wherein the conductive surface can conduct electricity and the insulating surface is insulated; the characteristic layer 1 includes a first characteristic layer 101, a second characteristic layer 102, and a third characteristic layer 103. The isolation layer 2 is provided between the first characteristic layer 101 and the second characteristic layer 102. The conductive surfaces of the first characteristic layer 101 and the second characteristic layer 102 are respectively attached to the upper and lower ends of the isolation layer 2; wherein the isolation layer 2 is a polyurethane sponge, which plays an isolation role, that is, in the absence of external pressure, the isolation between the conductive surfaces of the first characteristic layer 101 and the second characteristic layer 102 is maintained; the insulating surfaces of the second characteristic layer 102 and the third characteristic layer 103 are attached to each other; the constant current source A and the constant current source B are respectively arranged on the first characteristic layer 101 and the second characteristic layer 102, the current directions of the constant current source A and the constant current source B are perpendicular to each other, and the constant current source A and the constant current source B are arranged alternately.

Specifically, wires A are provided at both vertical or horizontal ends of the conductive surface 1a of the first characteristic layer 101, and a constant current source A is applied through wire A (wire A and constant current source A are not shown in the figure); wires B are provided at both horizontal or vertical ends of the conductive surface 1a of the second characteristic layer 102, and a constant current source B is applied through wire B (wire B and constant current source B are not shown in the figure); and when wire A is provided vertically, wire B is provided horizontally, and when wire A is provided horizontally, wire B is provided vertically.

The following example uses the case where the conductor A is arranged horizontally and the conductor B is arranged vertically. When a constant current source is applied to the conductive surface 1a of the first characteristic layer 101 through the conductor A, the first characteristic layer 101 will generate infinitely subdivided equipotential surfaces in the horizontal direction. Assuming that the potential distribution is 0-1 volt, it constitutes the X-axis. Similarly, infinitely subdivided equipotential surfaces will be generated in the vertical direction on the second characteristic layer 102. At the same time, assuming that the potential distribution is 0-1 volt, it constitutes the Y-axis. The alternating change of the constant current source A and the constant current source B is set as follows: when the constant current source A supplies power to the first characteristic layer 101, the constant current source B stops supplying power to the second characteristic layer 102; when the constant current source A stops supplying power to the first characteristic layer 101, the constant current source B supplies power to the second characteristic layer 102. The alternating change speed of the two is extremely fast. Therefore, referring to Figure 1-2, assuming that the first characteristic layer 101 has power at the moment of pressing, If the second characteristic layer has no power, the voltage of the first characteristic layer 101 will be transmitted to the second characteristic layer 102 through the isolation layer 2, assuming it is 0.5 (i.e., the middle position of the X-axis); at the next moment, the first characteristic layer 101 has no power, but the second characteristic layer has power, then the voltage of the second characteristic layer 102 will also be transmitted to the first characteristic layer 101, assuming it is 0.5 (i.e., the middle position of the Y-axis); then, through the combination of the feedback voltages of the first characteristic layer and the second characteristic layer (i.e., through the positioning of the X-axis and the Y-axis), the pressed position can be obtained, thereby realizing the positioning of the sensor of the present invention.

Furthermore, the characteristic layer 1 is configured as a conductive fabric with a double-sided effect function. Specifically, the conductive fabric is woven from non-conductive yarns and conductive yarns, and the interweaving method of the two yarns is a conventional weaving method in the art. The conductive yarn is woven into a conductive surface 1a; the non-conductive yarn is woven into an insulating surface 1b. The structure of the double-sided effect fabric used in the wearable positioning and force measurement tactile sensor of the present invention after interweaving is shown in Figure 3. The double-sided fabric is stably combined by superposition in the figure, so that the insulating surface 1b and the conductive surface 1a are stably combined, and the conductive performance of the conductive surface 1a itself can be guaranteed, ensuring a long service life.

Further, referring to FIG. 2 , a capacitor portion 3 is formed between the conductive surface 1a of the second characteristic layer 102 and the third characteristic layer 103. Specifically, the conductive surface 1a of the second characteristic layer 102 is on the top and the insulating surface 1b is on the bottom, and the insulating surface 1b of the third characteristic layer 103 is on the top and the conductive surface 1a is on the bottom. Through such a combination, a capacitor portion 3 is formed between the conductive surfaces of the two characteristic layers. When pressed, the distance between the two plates of the capacitor (i.e., the two conductive surfaces) is reduced, so the capacitance between them will increase. Through this change, the magnitude of the force can be converted, so the function of force measurement of the wearable sensor can be realized. Therefore, through the tactile sensor structure of the present invention, three layers of characteristic layers and one isolation layer are combined to form a four-layer structure, which can achieve both positioning and force measurement, and the internal structure is made of elastic conductive fabric, insulating fabric and sponge for isolation. It has a simple structure, a light texture, and a stable internal structure after long-term use. It is not easy to deform or damage, and is very suitable for the application of wearable products for various groups of people such as the young and the elderly.

Furthermore, the conductive yarn of the present invention is made of silver-plated fiber, copper fiber, nickel-plated fiber or a blend thereof; the above material has good conductivity, meets the use of the present invention, and is a conventional material in the art, and the specific fiber preparation is not described in detail in the present invention. The non-conductive yarn is made of nylon, cotton thread or a blend thereof, and the non-conductive yarn is also a conventional material in the art and can be directly purchased.

In a typical application scenario of the present invention, reference can be made to Figure 4, which is a schematic diagram of the principle of applying the sensor of the present invention to a plane. The planar tactile sensor 41 is arranged flatly, and the corresponding conductive layer is connected to the processing module 42, and the processing module 42 is connected to the computer terminal 43. When the planar tactile sensor 41 is pressed, the processing module 42 receives the corresponding electrical signal and transmits it to the computer terminal 43, and the position and force are displayed through the computer terminal 43.

In another typical application scenario of the present invention, reference can be made to Figure 5, which is a schematic diagram of the principle of the sensor application and the three-dimensional surface of the present invention. The tactile sensor of the present invention can be expanded into a device for avoiding collision of a robotic arm. The three-dimensional tactile sensor 51 is wrapped around the cylindrical robotic arm 52 to form a three-dimensional structure. The principle of signal transmission is the same as that of Figure 4. When in use, its C, D, E, and F surfaces can correspond to four directions respectively. In this way, when the robotic arm 52 collides during movement, the three-dimensional tactile sensor can collect position and force information accordingly, so that the robotic arm 52 can take corresponding countermeasures.

The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the design concept of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. A wearable positioning and force measuring tactile sensor, characterized in that: comprises a characteristic layer (1) and an isolation layer (2), wherein the characteristic layer (1) is provided with a conductive surface (1 a) and an insulating surface (1 b) which are opposite; the isolation layer (2) is arranged between the first characteristic layer (101) and the second characteristic layer (102), conductive surfaces of the first characteristic layer (101) and the second characteristic layer (102) are respectively attached to the upper end and the lower end of the isolation layer (2), and insulating surfaces of the second characteristic layer (102) and the third characteristic layer (103) are attached to each other; the first characteristic layer (101) and the second characteristic layer (102) are respectively provided with a constant current source A and a constant current source B, the current directions of the constant current source A and the constant current source B are vertical, and the constant current source A and the constant current source B are alternately arranged.

2. A wearable positioning and force-measuring tactile sensor according to claim 1, characterized in that: a conducting wire A is arranged at the vertical or horizontal two ends of the conducting surface (1 a) of the first characteristic layer (101), a constant current source A is applied through the conducting wire A, a conducting wire B is arranged at the horizontal or vertical two ends of the conducting surface (1 a) of the second characteristic layer (102), and a constant current source B is applied through the conducting wire B; and when the wire A is arranged vertically, the wire B is arranged horizontally, and when the wire A is arranged horizontally, the wire B is arranged vertically.

3. A wearable positioning and force-measuring tactile sensor according to claim 1, characterized in that: the alternating change of the constant current source A and the constant current source B is set as follows: when the constant current source A supplies power to the first characteristic layer (101), the constant current source B stops supplying power to the second characteristic layer (102); when the constant current source A stops supplying power to the first characteristic layer (101), the constant current source B supplies power to the second characteristic layer (102).

4. A wearable positioning and force-measuring tactile sensor according to claim 1, characterized in that: the characteristic layer (1) is arranged as a conductive fabric with double-sided effect function, the conductive fabric is woven by non-conductive yarns and conductive yarns, and the conductive yarns are woven into the conductive surface (1 a); the non-conductive yarn is woven into the insulating surface (1 b).

5. A wearable positioning and force-measuring tactile sensor according to claim 1, characterized in that: a capacitance section (3) is formed between the conductive surfaces (1 a) of the second characteristic layer (102) and the third characteristic layer (103).

6. The wearable positioning and force-measuring tactile sensor according to claim 4, wherein: the conductive yarn is made of silver-plated fiber, copper fiber, nickel-plated fiber or a blend thereof; the non-conductive yarn is made of one of nylon, cotton thread or a blend thereof.