CN102706489A - Flexible three-dimensional force touch sensor of multi-fingered hands of human-simulated robot and three-dimensional force detecting system thereof - Google Patents
Flexible three-dimensional force touch sensor of multi-fingered hands of human-simulated robot and three-dimensional force detecting system thereof Download PDFInfo
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Abstract
The invention discloses a flexible three-dimensional force touch sensor of multi-fingered hands of a human-simulated robot and a three-dimensional force detecting system, relating to the field of touch sensors of robots. The invention aims at solving the problem that more touch sensors only can acquire normal force but can not detect the normal force and the force simultaneously like the human hands. A sensor body consists of a force-transferring hemispherical layer, a flexible top-level electrode layer, a composite material QTC (Quantum Tunneling Composites) with quantum channel effect and a flexible bottom-level electrode layer which are arranged in sequence from top to bottom; a signal acquisition circuit consists of a mixed-signal array programmable on-chip system and an analog multiplex selection module; the on-chip system comprises a digital logic module, an analog digital conversion module ADC, a digital analog conversion module DAC, an analog signal register I, an analog signal register II, a voltage amplifying circuit and a multi-way switch; and the analog multiplex selection module comprises an analog multi-way switch I and an analog multi-way switch II. The invention is used for the touch sensor for detecting the three-dimensional force of the multi-fingered hands of the human-simulated robot.
Description
Technical field
The present invention relates to the robot touch sensor field.
Background technology
Touch sensor is that human emulated robot refers to that hand obtains the indispensable means of contact information more, and according to the information that touch sensor provides, human emulated robot refers to that hand can reliably grasp target object more.Human emulated robot refers to that hand brings great danger owing to not obtaining the unreliable meeting of extracting that contact information causes when grasping objects more.Existing human emulated robot refers to that the hand feeling sensor mostly can only detect normal force more, and can not detect the size of tangential force.But the detection of tangential force has very important effect to the reliability that grasps.And human emulated robot refers to that hand feeling sensor requirement touch sensor has highly flexible and miniaturization more, can paste the clothes finger surface and be integrated in human emulated robot to refer in the finger of hand more.
The patent " flexible 3 D force-touch sensor " of people such as the Mei Tao of Hefei Intelligent Machinery Inst., Chinese Academy of Scineces application, publication number is CN1796954, open day is on 07 05th, 2006;
This sensor adopts MEMS technology to make, and integral body has flexibility, can detect three-dimensional force.But this size sensor is big, processing technology is complicated, lack highly flexible, is not suitable for robot multi-finger hand and uses.And do not propose signal acquisition circuit in the patent, the performance of signal acquisition circuit and size have very big influence to application of sensor.
The patent " based on the touch sensor of flexible pressure-sensitive conductive rubber " of people such as the Huang Ying of HeFei University of Technology application, publication number is CN101231200, open day is 2008 years 07 month 30 days;
This sensor adopts pressure-sensitive conductive rubber, and sensor integral body has highly flexible, can detect three-dimensional force.But this sensor adopts single-layer electrodes layer structure, and sensor is restricted by the size of the long-pending single haptic unit of influence of electrode contact surface, is not suitable for disabled person's application of doing evil through another person; Pressure-sensitive conductive rubber has high lagging characteristics, poor linearity.And do not propose signal acquisition circuit in the patent, the performance of signal acquisition circuit and size have very big influence to application of sensor.
The pressure sensitive that this patent adopts is " the compound substance QTCQuantum Tunneling Composites with quantum tunneling effect is by the research and development of Britain Peratech company ".
The principle of work of QTC is: when QTC was not exerted pressure by external force, its body was an insulator, and resistance is up to 1k Ω; When QTC receives external force and exerts pressure, body generation compression set, the metallics of the constricted zone tunnel current that under the effect of electric field force, produces closer to each other; When the external force that receives as QTC is increased to a certain threshold value, QTC will present the characteristic of conduction, and its resistance value can reach 10 Ω.
Summary of the invention
The objective of the invention is can only gather normal force and detect the problem of power when can not can detect normal force as people's skin of hand to most touch sensors, a kind of human emulated robot that provides refers to hand flexible 3 D force-touch sensor and three-dimensional force detection system thereof more.
A kind of human emulated robot refers to the hand flexible 3 D force-touch sensor more, and it is made up of power transmission hemisphere layer, flexible top layer electrode layer, the compound substance QTC layer with quantum tunneling effect and flexible bottom layer electrode layer from top to bottom successively;
Power transmission hemisphere layer is provided with 12 power transmission hemisphere, and said 12 power transmission hemisphere are the array of two row, six row and arrange;
The flexible top layer electrode layer is the flexible circuit plate structure; The flexible top layer electrode layer is provided with 12 groups of potential electrode and eight golden fingers; These eight golden fingers comprise eight pins, are respectively pin R01, pin R02, pin R03, pin R04, pin R05, pin R06, pin R07 and pin R08; Every group of test electrode is made up of four identical fan-shaped gold-plated electrodes of shape; The central angle of said fan-shaped gold-plated electrode is 90 degree; Four fan-shaped gold-plated electrodes in every group of test electrode are formed circular; The diameter of the circular electrode on this circular diameter and the flexible bottom layer electrode layer is identical, and four fan-shaped gold-plated electrodes in every group of test electrode are respectively electrode A, electrode B, electrode C and electrode D, and the array that 12 groups of potential electrode are two row, six row is arranged;
Compound substance QTC layer with quantum tunneling effect is by through room temperature-vulcanized electrically insulating silicone rubber the compound substance QTC disk gluing that 12 circles have quantum tunneling effect is formed together; This diameter with the circular electrode on diameter and the flexible bottom layer electrode layer of compound substance QTC disk of quantum tunneling effect is identical, and the array that 12 compound substance QTC disks with quantum tunneling effect are two row, six row is arranged;
The flexible bottom layer electrode layer is the flexible circuit plate structure, and the flexible bottom layer electrode layer is provided with 12 electrodes and 12 golden fingers, and each electrode is the circular gold-plated electrode, and said 12 electrodes are the array of two row, six row and arrange;
12 power transmission hemisphere on the power transmission hemisphere layer, 12 groups of potential electrode on the flexible top layer electrode layer, 12 compound substance QTC disk and 12 circular electrodes on the flexible bottom layer electrode layer with quantum tunneling effect that have on the compound substance QTC layer of quantum tunneling effect are corresponding one by one respectively;
And a hemisphere on the power transmission hemisphere layer, one group of electrode on the flexible top layer electrode layer, have that on the compound substance QTC layer of quantum tunneling effect one has the compound substance QTC disk of quantum tunneling effect and a circular electrode on the flexible bottom layer electrode layer has constituted a haptic unit; Compound substance QTC and circular electrode that totally ten two haptic unit, an and corresponding power transmission hemisphere, one group of electrode, circle have quantum tunneling effect are coaxial; Six haptic unit of the first three columns of said 12 haptic unit are formed the first joint sensing unit, and six haptic unit of back three row are formed the second joint sensing unit;
The sector electrode A series connection back of six groups the test electrode that is arranged in first row on the flexible top layer electrode layer is electrically connected with first golden finger R01 on the flexible top layer electrode layer; The sector electrode B series connection back that is arranged in six groups of test electrodes 5 of first row on the flexible top layer electrode layer is electrically connected with second golden finger R02 on the flexible top layer electrode layer; The sector electrode C series connection back that is arranged in six groups of test electrodes of first row on the flexible top layer electrode layer is electrically connected with the 3rd golden finger R03 on the flexible top layer electrode layer; The sector electrode D series connection back that is arranged in six groups of test electrodes of first row on the flexible top layer electrode layer is electrically connected with the 4th golden finger R04 on the flexible top layer electrode layer; The sector electrode A series connection back that is arranged in six groups of test electrodes of second row on the flexible top layer electrode layer is electrically connected with the 5th golden finger R05 on the flexible top layer electrode layer; The sector electrode B series connection back that is arranged in six groups of test electrodes of second row on the flexible top layer electrode layer is electrically connected with the six roots of sensation golden finger R06 on the flexible top layer electrode layer; The sector electrode C series connection back that is arranged in six groups of test electrodes of second row on the flexible top layer electrode layer is electrically connected with the 7th golden finger R07 on the flexible top layer electrode layer; The sector electrode D series connection back that is arranged in six groups of test electrodes of second row on the flexible top layer electrode layer is electrically connected with the 8th golden finger R08 on the flexible top layer electrode layer; Being arranged in two circular electrodes series connection back of same two flexible bottom layer electrode layers that list is connected with a golden finger on the flexible bottom layer electrode layer; Total six roots of sensation row golden finger on the said flexible bottom layer electrode layer, this six roots of sensation row golden finger comprises six pins, is respectively pin CO1, pin CO2, pin CO3, pin CO4, pin CO5 and pin CO6.
A kind of human emulated robot refers to the three-dimensional force detection system of hand flexible 3 D force-touch sensor more; It comprises that a kind of human emulated robot refers to hand flexible 3 D force-touch sensor and signal acquisition circuit more; It comprises that a kind of human emulated robot refers to hand flexible 3 D force-touch sensor and signal acquisition circuit more; Signal acquisition circuit is to select module to constitute by programmable SOC(system on a chip) of mixed signal array and simulation multichannel, and the programmable SOC(system on a chip) of mixed signal array comprises digital logic module, analog digital modular converter ADC, digital-to-analogue conversion module DAC, No. 1 simulating signal register, No. 2 simulating signal registers, voltage amplifier circuit and multi-way switchs; The simulation multichannel selects module to comprise No. 1 analog multichannel switch and No. 2 analog multichannel switches;
The end of the pin CO1 of 3 D force-touch sensor, pin CO2, pin CO3, pin CO4, pin CO5 and pin CO6 respectively with the programmable SOC(system on a chip) of mixed signal array in six input ends of multi-way switch be electrically connected; The output terminal of multi-way switch and the input end of voltage amplifier circuit are electrically connected; The input end of analog signal of voltage amplifier circuit analog signal output and analog digital modular converter ADC is electrically connected, and the digital signal output end of analog digital modular converter ADC and the digital signal input end of digital logic module are electrically connected;
The digital signal input end of the D/A converter module DAC of the digital signal output end of digital logic module and the programmable SOC(system on a chip) of mixed signal array is electrically connected; The digital signal input end of the digital signal output end of D/A converter module DAC and No. 2 simulating signal registers is electrically connected, and the benchmark low voltage signal output terminal of No. 2 simulating signal registers is electrically connected with an end of six reference resistances of connecting simultaneously; The other end of six reference resistances is electrically connected with pin CO1, pin CO2, pin CO3, pin CO4, pin CO5 and the pin CO6 of 3 D force-touch sensor respectively;
The input end of the output terminal of voltage amplifier circuit and No. 1 simulating signal register is electrically connected; The input end of the output terminal of No. 1 simulating signal register and No. 2 analog multichannel switches is electrically connected, and eight signal output parts of No. 2 analog multichannel switches are electrically connected with eight golden fingers of flexible top layer electrode layer respectively;
The input end of No. 1 analog multichannel switch be connected on the 3.3V positive source is electric; Eight output terminals of this No. 1 analog multichannel switch are connected respectively with on eight golden fingers of flexible top layer electrode layer are electric, and the multi-way switch that digital logic module is used to control No. 1 analog multichannel switch is successively with pin R01, pin R02, pin R03, pin R04, pin R05, pin R06, pin R07 and pin R08 and 3.3V positive source gating.
The present invention has following beneficial effect:
One, touch sensor of the present invention can detect normal force and tangential force simultaneously.
Two, touch sensor of the present invention has whole compliance, can stick on humanoid robot well and refer on the three-dimensional apery shape curved surface of hand finger finger tip and basic dactylus more.
Three, because sensitive material adopts is the compound substance QTC with quantum tunneling effect, therefore, touch sensor of the present invention has good whole compliance and shock resistance simultaneously.
Four, the form of the electrodes use grouping shunt leads of touch sensor of the present invention effectively reduces the external number of pin of touch sensor.
Five, touch sensor signal processing circuit structure of the present invention is simple, size is little.
Six, touch sensor of the present invention simple in structure, be easy to make, effectively reduce the processing cost of sensor.
Description of drawings
Fig. 1 is a vertical view of the present invention;
Fig. 2 is a side view of the present invention;
Fig. 3 is the structural representation that a kind of human emulated robot refers to the flexible top layer electrode layer 2 of hand flexible 3 D force-touch sensor more;
Fig. 4 is the structural representation that a kind of human emulated robot refers to the flexible bottom layer electrode layer 4 of hand flexible 3 D force-touch sensor more;
Fig. 5 is the structural representation of a haptic unit of the present invention;
Fig. 6 is the structural representation of one group of electrode on the flexible top layer electrode layer 2 among the present invention;
Fig. 7 is the partial cross-sectional side-elevation view that a kind of human emulated robot refers to the hand flexible 3 D force-touch sensor more;
Fig. 8 is the principle of work synoptic diagram that a kind of human emulated robot refers to its three-dimensional force detection method of hand flexible 3 D force-touch sensor more;
Fig. 9 is a signals collecting principle schematic of the present invention;
Figure 10 is a signal acquisition circuit synoptic diagram of the present invention.
Embodiment
Embodiment one: this embodiment is described below in conjunction with Fig. 1 to Fig. 9; This embodiment is that a kind of human emulated robot refers to the hand flexible 3 D force-touch sensor more, and it is made up of power transmission hemisphere layer 1, flexible top layer electrode layer 2, compound substance QTC layer 3 and flexible bottom layer electrode layer 4 with quantum tunneling effect from top to bottom successively;
Power transmission hemisphere layer 1 is provided with 12 power transmission hemisphere, and said 12 power transmission hemisphere are the array of two row, six row and arrange;
Flexible top layer electrode layer 2 is the flexible circuit plate structure; Flexible top layer electrode layer 2 is provided with 12 groups of potential electrode 5 and eight golden fingers; These eight golden fingers comprise eight pins, are respectively pin R01, pin R02, pin R03, pin R04, pin R05, pin R06, pin R07 and pin R08; Every group of test electrode 5 is made up of four identical fan-shaped gold-plated electrodes of shape; The central angle of said fan-shaped gold-plated electrode is 90 degree; Four fan-shaped gold-plated electrodes in every group of test electrode 5 are formed circular; The diameter of the circular electrode on this circular diameter and the flexible bottom layer electrode layer 4 is identical, and four fan-shaped gold-plated electrodes in every group of test electrode 5 are respectively sector electrode A, sector electrode B, sector electrode C and sector electrode D, and the array that 12 groups of potential electrode are two row, six row is arranged;
Compound substance QTC layer 3 with quantum tunneling effect is by through room temperature-vulcanized electrically insulating silicone rubber 12 compound substance QTC disk gluings with quantum tunneling effect are formed together; This diameter with the circular electrode on diameter and the flexible bottom layer electrode layer 4 of compound substance QTC disk of quantum tunneling effect is identical, and the array that 12 compound substance QTC disks with quantum tunneling effect are two row, six row is arranged;
Flexible bottom layer electrode layer 4 is the flexible circuit plate structure, and flexible bottom layer electrode layer 4 is provided with 12 electrodes and 12 golden fingers, and each electrode is the circular gold-plated electrode, and said 12 electrodes are the array of two row, six row and arrange;
12 power transmission hemisphere on the power transmission hemisphere layer 1,12 groups of potential electrode on the flexible top layer electrode layer 2,12 compound substance QTC disk and 12 circular electrodes on the flexible bottom layer electrode layer 4 with quantum tunneling effect that have on the compound substance QTC layer 3 of quantum tunneling effect are corresponding one by one respectively;
And a hemisphere on the power transmission hemisphere layer 1, one group of electrode on the flexible top layer electrode layer 2, have that on the compound substance QTC layer 3 of quantum tunneling effect one has the compound substance QTC disk of quantum tunneling effect and a circular electrode on the flexible bottom layer electrode layer 4 has constituted a haptic unit; Totally ten two haptic unit, an and corresponding power transmission hemisphere, one group of electrode, a compound substance QTC disk and the circular electrode with quantum tunneling effect are coaxial; Six haptic unit of the first three columns of said 12 haptic unit are formed the first joint sensing unit, and six haptic unit of back three row are formed the second joint sensing unit;
The sector electrode A series connection back of six groups the test electrode 5 that is arranged in first row on the flexible top layer electrode layer 2 is electrically connected with first golden finger R01 on the flexible top layer electrode layer 2; The sector electrode B series connection back that is arranged in six groups of test electrodes 5 of first row on the flexible top layer electrode layer 2 is electrically connected with second golden finger R02 on the flexible top layer electrode layer 2; The sector electrode C series connection back that is arranged in six groups of test electrodes 5 of first row on the flexible top layer electrode layer 2 is electrically connected with the 3rd golden finger R03 on the flexible top layer electrode layer 2; The sector electrode D series connection back that is arranged in six groups of test electrodes 5 of first row on the flexible top layer electrode layer 2 is electrically connected with the 4th golden finger R04 on the flexible top layer electrode layer 2; The sector electrode A series connection back that is arranged in six groups of test electrodes 5 of second row on the flexible top layer electrode layer 2 is electrically connected with the 5th golden finger R05 on the flexible top layer electrode layer 2; The sector electrode B series connection back that is arranged in six groups of test electrodes 5 of second row on the flexible top layer electrode layer 2 is electrically connected with the six roots of sensation golden finger R06 on the flexible top layer electrode layer 2; The sector electrode C series connection back that is arranged in six groups of test electrodes 5 of second row on the flexible top layer electrode layer 2 is electrically connected with the 7th golden finger R07 on the flexible top layer electrode layer 2; The sector electrode D series connection back that is arranged in six groups of test electrodes 5 of second row on the flexible top layer electrode layer 2 is electrically connected with the 8th golden finger R08 on the flexible top layer electrode layer 2; Being arranged in two circular electrodes series connection back of same two flexible bottom layer electrode layers 4 that list is connected with a golden finger on the flexible bottom layer electrode layer 4; Total six roots of sensation row golden finger on the said flexible bottom layer electrode layer 4, this six roots of sensation row golden finger comprises six pins, is respectively pin CO1, pin CO2, pin CO3, pin CO4, pin CO5 and pin CO6.This sensor integral body is that first three classifies first group as in 12 haptic unit; Residue is second group; The flexible PCB that two groups of middle interconnecting pieces divide be the shape that caves in of inward at both ends up and down; In order to reduce crooked resistance, second group opposite side is consistent with two groups of middle flexible PCB width that are connected with golden finger coupling part flexible PCB.
Embodiment two: this embodiment is described below in conjunction with Fig. 1 to Fig. 9; This embodiment is further specifying the power transmission hemisphere layer 1 in the embodiment one; The material of the described power transmission hemisphere of this embodiment layer 1 is Shao Shi 45-55A ° a silicon rubber, and power transmission hemisphere layer 1 is bonded together with flexible top layer electrode layer 2.
Embodiment three: this embodiment is described below in conjunction with Fig. 1 to Fig. 9; This embodiment further specifies for wire laying mode that each electrode in the flexible top layer electrode layer 2 in the embodiment one and the flexible bottom layer electrode layer 4 is connected with golden finger, the wire laying mode employing parallel routing mode that each electrode is connected with golden finger in the described flexible top layer electrode layer 2 of this embodiment and the flexible bottom layer electrode layer 4.
Embodiment four: this embodiment is described below in conjunction with Fig. 1 to Fig. 6; This embodiment is further specifying the every group of test electrode 5 on the flexible top layer electrode layer 2 in the embodiment one; The diameter of the every group of test electrode 5 on the described flexible top layer electrode layer 2 of this embodiment is 3000 μ m, and the distance between adjacent two sector electrodes is 500 μ m.
Embodiment five: this embodiment is described below in conjunction with Fig. 1 to Figure 10; This embodiment is the three-dimensional force detection system that a kind of human emulated robot refers to the hand flexible 3 D force-touch sensor more; It comprises that a kind of human emulated robot refers to hand flexible 3 D force-touch sensor and signal acquisition circuit more; Signal acquisition circuit is to select module to constitute by programmable SOC(system on a chip) of mixed signal array and simulation multichannel, and the programmable SOC(system on a chip) of mixed signal array comprises digital logic module, analog digital modular converter ADC, digital-to-analogue conversion module DAC, No. 1 simulating signal register, No. 2 simulating signal registers, voltage amplifier circuit 7 and multi-way switchs; The simulation multichannel selects module to comprise No. 1 analog multichannel switch and No. 2 analog multichannel switches;
The end of the pin CO1 of 3 D force-touch sensor, pin CO2, pin CO3, pin CO4, pin CO5 and pin CO6 respectively with the programmable SOC(system on a chip) of mixed signal array in six input ends of multi-way switch be electrically connected; The output terminal of multi-way switch and the input end of voltage amplifier circuit 7 are electrically connected; The input end of analog signal of voltage amplifier circuit 7 analog signal outputs and analog digital modular converter ADC is electrically connected, and the digital signal output end of analog digital modular converter ADC and the digital signal input end of digital logic module are electrically connected;
The digital signal input end of the D/A converter module DAC of the digital signal output end of digital logic module and the programmable SOC(system on a chip) of mixed signal array is electrically connected; The digital signal input end of the digital signal output end of D/A converter module DAC and No. 2 simulating signal registers is electrically connected, and the benchmark low voltage signal output terminal of No. 2 simulating signal registers is electrically connected with an end of six reference resistances of connecting simultaneously; The other end of six reference resistances is electrically connected with pin CO1, pin CO2, pin CO3, pin CO4, pin CO5 and the pin CO6 of 3 D force-touch sensor respectively;
The input end of the output terminal of voltage amplifier circuit 7 and No. 1 simulating signal register is electrically connected; The input end of the output terminal of No. 1 simulating signal register and No. 2 analog multichannel switches is electrically connected, and eight signal output parts of No. 2 analog multichannel switches are electrically connected with eight golden fingers of flexible top layer electrode layer 2 respectively;
The input end of No. 1 analog multichannel switch be connected on the 3.3V positive source is electric; Eight output terminals of this No. 1 analog multichannel switch are connected respectively with on eight golden fingers of flexible top layer electrode layer 2 are electric, and the multi-way switch that digital logic module is used to control No. 1 analog multichannel switch is successively with pin R01, pin R02, pin R03, pin R04, pin R05, pin R06, pin R07 and pin R08 and 3.3V positive source gating; When the compound substance QTC of quantum tunnel effect disk pressurized, the resistance between its upper/lower electrode changes, with the comparison of reference resistance after, output correspondent voltage signal; The sensor output voltage signal divides two-way after the multi-way switch module and voltage amplifier circuit 7 of the programmable SOC(system on a chip) built of mixed signal array: the one tunnel converts digital quantity into through analog-to-digital conversion module, realizes the collection of tactile data; The gating of No. 1 simulating signal output register in another road and No. 2 analog switches feeds back among pin R01, pin R02, pin R03, pin R04, pin R05, pin R06, pin R07 and the pin R08 the not electrode of gating 3.3V positive source; Realization sampled voltage feedback, disturb in the loop that weakens array touch sensor rank scanning circuit.
Embodiment six: this embodiment is described below in conjunction with Fig. 1 to Figure 10; This embodiment is further describing the programmable SOC(system on a chip) of mixed signal array in the embodiment five; The programmable SOC(system on a chip) of mixed signal array also comprises external data transmission port, and said external data transmission port is SPI serial line interface, I
2C serial line interface or UART serial line interface.
Embodiment seven: this embodiment is described below in conjunction with Fig. 1 to Figure 10; This embodiment is to the further describing of the programmable SOC(system on a chip) of mixed signal array in the embodiment five, and the programmable SOC(system on a chip) of mixed signal array is to adopt CY8C24423A-24LFXI to realize;
Embodiment eight: this embodiment is described below in conjunction with Fig. 1 to Figure 10; This embodiment is that the simulation multichannel in the embodiment five is selected further describing of module; Said No. 1 analog multichannel switch of this embodiment is to adopt the MAX4781 chip to realize, No. 2 analog multichannel switches are to adopt the two single pole single throw closed type analog switches of ISL43L121 to realize.
Claims (8)
1. a human emulated robot refers to the hand flexible 3 D force-touch sensor more; It is characterized in that it is made up of power transmission hemisphere layer (1), flexible top layer electrode layer (2), the compound substance QTC layer (3) with quantum tunneling effect and flexible bottom layer electrode layer (4) from top to bottom successively;
Power transmission hemisphere layer (1) is provided with 12 power transmission hemisphere, and said 12 power transmission hemisphere are the array of two row, six row and arrange;
Flexible top layer electrode layer (2) is the flexible circuit plate structure; Flexible top layer electrode layer (2) is provided with 12 groups of potential electrode (5) and eight golden fingers; These eight golden fingers comprise eight pins, are respectively pin R01, pin R02, pin R03, pin R04, pin R05, pin R06, pin R07 and pin R08; Every group of test electrode (5) is made up of four identical fan-shaped gold-plated electrodes of shape; The central angle of said fan-shaped gold-plated electrode is 90 degree; Four fan-shaped gold-plated electrodes in every group of test electrode (5) are formed circular; The diameter of the circular electrode on this circular diameter and the flexible bottom layer electrode layer (4) is identical, and four fan-shaped gold-plated electrodes in every group of test electrode (5) are respectively sector electrode A, sector electrode B, sector electrode C and sector electrode D, and the array that 12 groups of potential electrode are two row, six row is arranged;
Compound substance QTC layer (3) with quantum tunneling effect is by through room temperature-vulcanized electrically insulating silicone rubber 12 compound substance QTC disk gluings with quantum tunneling effect are formed together; This diameter with the circular electrode on diameter and the flexible bottom layer electrode layer (4) of compound substance QTC disk of quantum tunneling effect is identical, and the array that 12 compound substance QTC disks with quantum tunneling effect are two row, six row is arranged;
Flexible bottom layer electrode layer (4) is the flexible circuit plate structure, and flexible bottom layer electrode layer (4) is provided with 12 electrodes and 12 golden fingers, and each electrode is the circular gold-plated electrode, and said 12 electrodes are the array of two row, six row and arrange;
12 power transmission hemisphere on the power transmission hemisphere layer (1), 12 groups of potential electrode on the flexible top layer electrode layer (2), 12 compound substance QTC disk and 12 circular electrodes on the flexible bottom layer electrode layer (4) with quantum tunneling effect that have on the compound substance QTC layer (3) of quantum tunneling effect are corresponding one by one respectively;
And a hemisphere on the power transmission hemisphere layer (1), one group of electrode on the flexible top layer electrode layer (2), have that on the compound substance QTC layer (3) of quantum tunneling effect one has the compound substance QTC disk of quantum tunneling effect and a circular electrode on the flexible bottom layer electrode layer (4) has constituted a haptic unit; Totally ten two haptic unit, an and corresponding power transmission hemisphere, one group of electrode, a compound substance QTC disk and the circular electrode with quantum tunneling effect are coaxial; Six haptic unit of the first three columns of said 12 haptic unit are formed the first joint sensing unit, and six haptic unit of back three row are formed the second joint sensing unit;
The sector electrode A series connection back of six groups the test electrode (5) that is arranged in first row on the flexible top layer electrode layer (2) is electrically connected with first golden finger R01 on the flexible top layer electrode layer (2); The sector electrode B series connection back that is arranged in six groups of test electrodes of first row (5) on the flexible top layer electrode layer (2) is electrically connected with second golden finger R02 on the flexible top layer electrode layer (2); The sector electrode C series connection back that is arranged in six groups of test electrodes of first row (5) on the flexible top layer electrode layer (2) is electrically connected with the 3rd golden finger R03 on the flexible top layer electrode layer (2); The sector electrode D series connection back that is arranged in six groups of test electrodes of first row (5) on the flexible top layer electrode layer (2) is electrically connected with the 4th golden finger R04 on the flexible top layer electrode layer (2); The sector electrode A series connection back that is arranged in six groups of test electrodes of second row (5) on the flexible top layer electrode layer (2) is electrically connected with the 5th golden finger R05 on the flexible top layer electrode layer (2); The sector electrode B series connection back that is arranged in second six groups of test electrodes of row (5) on the flexible top layer electrode layer (2) is electrically connected with the six roots of sensation golden finger R06 on the flexible top layer electrode layer (2); The sector electrode C series connection back that is arranged in second six groups of test electrodes of row (5) on the flexible top layer electrode layer (2) is electrically connected with the 7th golden finger R07 on the flexible top layer electrode layer (2); The sector electrode D series connection back that is arranged in second six groups of test electrodes of row (5) on the flexible top layer electrode layer (2) is electrically connected with the 8th golden finger R08 on the flexible top layer electrode layer (2); Being arranged in two circular electrodes series connection back of same two the flexible bottom layer electrode layers (4) that list is connected with a golden finger on the flexible bottom layer electrode layer (4); Said flexible bottom layer electrode layer (4) is gone up total six roots of sensation row golden finger, and this six roots of sensation row golden finger comprises six pins, is respectively pin CO1, pin CO2, pin CO3, pin CO4, pin CO5 and pin CO6.
2. a kind of human emulated robot according to claim 1 refers to the hand flexible 3 D force-touch sensor more; It is characterized in that; The material of said power transmission hemisphere layer (1) is Shao Shi 45-55A ° a silicon rubber, and power transmission hemisphere layer (1) and flexible top layer electrode layer (2) are bonded together.
3. a kind of human emulated robot according to claim 1 refers to the hand flexible 3 D force-touch sensor more; It is characterized in that the wire laying mode that each electrode is connected with golden finger in said flexible top layer electrode layer (2) and the flexible bottom layer electrode layer (4) adopts the parallel routing mode.
4. a kind of human emulated robot according to claim 1 refers to the hand flexible 3 D force-touch sensor more; It is characterized in that; The diameter of the every group of test electrode (5) on the said flexible top layer electrode layer (2) is 3000 μ m, and the distance between adjacent two sector electrodes is 500 μ m.
5. the three-dimensional force detection system that refers to the hand flexible 3 D force-touch sensor based on the described a kind of human emulated robot of claim 1 more; It is characterized in that; It comprises that a kind of human emulated robot refers to hand flexible 3 D force-touch sensor and signal acquisition circuit more; Signal acquisition circuit is to select module to constitute by programmable SOC(system on a chip) of mixed signal array and simulation multichannel, and the programmable SOC(system on a chip) of mixed signal array comprises digital logic module, analog digital modular converter ADC, digital-to-analogue conversion module DAC, No. 1 simulating signal register, No. 2 simulating signal registers, voltage amplifier circuit (7) and multi-way switchs; The simulation multichannel selects module to comprise No. 1 analog multichannel switch and No. 2 analog multichannel switches;
The end of the pin CO1 of 3 D force-touch sensor, pin CO2, pin CO3, pin CO4, pin CO5 and pin CO6 respectively with the programmable SOC(system on a chip) of mixed signal array in six input ends of multi-way switch be electrically connected; The output terminal of multi-way switch and the input end of voltage amplifier circuit (7) are electrically connected; The input end of analog signal of voltage amplifier circuit (7) analog signal output and analog digital modular converter ADC is electrically connected, and the digital signal output end of analog digital modular converter ADC and the digital signal input end of digital logic module are electrically connected;
The digital signal input end of the D/A converter module DAC of the digital signal output end of digital logic module and the programmable SOC(system on a chip) of mixed signal array is electrically connected; The digital signal input end of the digital signal output end of D/A converter module DAC and No. 2 simulating signal registers is electrically connected, and the benchmark low voltage signal output terminal of No. 2 simulating signal registers is electrically connected with an end of six reference resistances of connecting simultaneously; The other end of six reference resistances is electrically connected with pin CO1, pin CO2, pin CO3, pin CO4, pin CO5 and the pin CO6 of 3 D force-touch sensor respectively;
The output terminal of voltage amplifier circuit (7) and the input end of No. 1 simulating signal register are electrically connected; The input end of the output terminal of No. 1 simulating signal register and No. 2 analog multichannel switches is electrically connected, and eight signal output parts of No. 2 analog multichannel switches are electrically connected with eight golden fingers of flexible top layer electrode layer (2) respectively;
The input end of No. 1 analog multichannel switch be connected on the 3.3V positive source is electric; Eight output terminals of this No. 1 analog multichannel switch are connected respectively with on eight golden fingers of flexible top layer electrode layer (2) are electric, and the multi-way switch that digital logic module is used to control No. 1 analog multichannel switch is successively with pin R01, pin R02, pin R03, pin R04, pin R05, pin R06, pin R07 and pin R08 and 3.3V positive source gating.
6. a kind of human emulated robot according to claim 5 refers to the three-dimensional force detection system of hand flexible 3 D force-touch sensor more; It is characterized in that; The programmable SOC(system on a chip) of mixed signal array also comprises external data transmission port, and said external data transmission port is SPI serial line interface, I
2C serial line interface or UART serial line interface.
7. a kind of human emulated robot according to claim 5 refers to the three-dimensional force detection system of hand flexible 3 D force-touch sensor more, it is characterized in that, the programmable SOC(system on a chip) of said mixed signal array is to adopt CY8C24423A-24LFXI to realize.
8. a kind of human emulated robot according to claim 5 refers to the three-dimensional force detection system of hand flexible 3 D force-touch sensor more; It is characterized in that; Said No. 1 analog multichannel switch is to adopt the MAX4781 chip to realize, No. 2 analog multichannel switches are to adopt the two single pole single throw closed type analog switches of ISL43L121 to realize.
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