CN104406627B - Wearable flexible touch sensor of artificial hand and touch detection system thereof - Google Patents
Wearable flexible touch sensor of artificial hand and touch detection system thereof Download PDFInfo
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- CN104406627B CN104406627B CN201410634475.6A CN201410634475A CN104406627B CN 104406627 B CN104406627 B CN 104406627B CN 201410634475 A CN201410634475 A CN 201410634475A CN 104406627 B CN104406627 B CN 104406627B
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Abstract
The invention discloses a wearable flexible touch sensor of an artificial hand and a touch detection system thereof. A flexible electrode layer, a middle layer and a PDMS (Polymethylsiloxane) raised layer are tightly laminated from top to bottom; the middle layer comprises a conductive rubber array and a flexible filler around the conductive rubber array; the conductive rubber array is formed by configuring conductive rubber unit arrays; a testing electrode assembly is arranged below the conductive rubber array; the side length of the conductive rubber unit is the same with that of the testing electrode assembly on the flexible electrode layer; a micro lug boss structures are arranged on the PDMS raised layer which is located above the conductive rubber units; the flexible electrode layer is a flexible circuit board with a crossed structure; Velcro nylon fastener tapes are arranged at the extending edges of the upper side, the left side and the right side of the flexible circuit board so as to be worn on a finger. The wearable flexible touch sensor is simple and easy to manufacture, solves a problem of major touch sensors incapable of simultaneously detecting three-dimensional touch force and slippage signals and can be conveniently bound on the irregular curve of a support body inside artificial fingers.
Description
Technical field
The present invention relates to a kind of touch sensor and its detecting system, more particularly, to a kind of prosthetic hand Wearable softness haptic perception
Sensor and its touch detection system.
Background technology
Touch sensor is that intelligent artificial limb hand obtains the indispensable means of contact information, is provided according to touch sensor
Information, intelligent artificial limb hand can carry out reliable crawl to target object, and can perceive its size, shape, weight, soft further
The physical characteristic such as hard.When capturing object, the crawl that leads to due to can not obtain contact information is unreliable can carry for intelligent artificial limb hand
Come greatly dangerous.The existing touch sensor being applied to intelligent artificial limb hand mostly can only detect normal force, and can not detect
Size to tangential force.But the detection of tangential force plays the role of critically important to the reliability of crawl.And it is applied to intelligent vacation
The touch sensor of limb hand requires touch sensor to have highly flexible and miniaturization, can firm docile finger surface and integrated
In the finger of intelligent artificial limb hand.Effectively mounting means equally has vital work to the reliability of touch sensor
With.
China national patent of invention (publication number cn201210193314.9) discloses a kind of many fingers of human emulated robot
Flexible 3 D force-touch sensor and its three-dimensional force detection system.This sensor is combined using having the pressure-sensitive of quantum tunneling effect
Material quantum tunneling composites(qtc), when qtc is not subject to natural compression, its body is insulator, resistance
Resistance is up to 1k ω；When qtc is subject to natural compression, there is compressive deformation in body, qtc assumes conductive characteristic, resistance with
The increase of pressure and taper into.This sensor integrally has flexibility, can detect three-dimensional force.But this sensor electrode electricity
Road is divided into upper and lower two-layer, easily damages circuit in long-term loading process, and the undeclared touch sensor effectively side of installation
Formula, the reliability of impact touch sensor is it is difficult to meet the demand of intelligent artificial limb hands movement feedback control.
Content of the invention
For the illusive problem of the existing touch sensor and its detecting system installation in prosthetic hand and existing tactile
Feel that sensor is simple signal acquisition circuit design problem, it is an object of the invention to provide a kind of prosthetic hand Wearable is soft
Property touch sensor and its touch detection overall system design, solve most touch sensors and can not detect Three-Dimensional contact simultaneously
Power and the problem of Slip Signal, can advantageously be bundled in the irregular surface of the supporter of finger interior of intelligent artificial limb hand
On, can be used for the detection of three-dimensional contact force and Slip Signal.
The technical solution used in the present invention is:
First, a kind of prosthetic hand Wearable flexible touch sensation sensor:
Fit tightly flexible electrode layer, intermediate layer and pdms convexity layer from bottom to up；Intermediate layer includes thering is pressure-sensitive effect
The conductive rubber array answered and the flexible filler being filled in around conductive rubber array, conductive rubber array is by conductive rubber
Cell array arrangement forms, and the flexible electrode layer immediately below conductive rubber unit is provided with test electrode group, test electrode group with
Conductive rubber cellular array distribution mode is identical, the side of one group of test electrode group on conductive rubber unit and flexible electrode layer
Length is identical；Pdms convexity layer is provided with miniature boss structure corresponding with each conductive rubber unit, positioned at conductive rubber unit
Surface；Flexible electrode layer is the flexible PCB of " ten " character form structure, and intermediate layer and pdms convexity layer cover in " ten " word
In the middle part of shape, test electrode group covers in the middle part of " ten " font and the stretching, extension side of downside, on the upside of flexible PCB, left side and right side
The side edge that stretches be provided with Velcro for binding sensor, to be worn on finger.
Described every group of test electrode group is five electrode structures of square shape, and five electrode structures are by being uniformly distributed
The square electrode composition at four right angled triangle electrodes in corner and its center, the square electrode being in center is as public affairs
Use electrode；Often all square electrode of row test electrode group are connected in series rear fairlead by the lead of parallel routing mode
Pin, the lead string by parallel routing mode for the position identical right angled triangle electrode in the test electrode group in same row
Pin drawn by connection after connecting, m row test electrode group draws m pin as row electrode, n row test electrode group by square electrode
4n pin is drawn as row electrode by right angled triangle electrode.
Described conductive rubber array is bonded together by the flexible filler of normal temperature cure.
Described conductive rubber array is 3 × 3 array distribution, and conductive rubber unit is square conductive sheet rubber.
The inastomer conductive rubber that described conductive rubber array is produced using Japanese inaba company, flexible electrode layer
For double-sided flex circuit plate, using Kapton as base material.
2nd, a kind of prosthetic hand Wearable softness haptic perception detecting system:
Including described flexible touch sensation sensor and signal acquisition circuit, signal acquisition circuit include power transfer module,
Microprocessor, operational amplification circuit and Multipexer selecting module, microprocessor contains analog-to-digital conversion module multichannel adc；Institute
The pin that the row electrode of the flexible touch sensation sensor stated is drawn is connected with the negative-phase input of respective operational amplification circuit respectively,
Reference resistance r two ends are connected on the negative-phase input and output end of operational amplification circuit, the output of operational amplification circuit
End is connected with the adc input end of analog signal in microprocessor；External power is connected to power transfer module and produces negative 3.3v power supply
Voltage, the variable connector input of Multipexer selecting module is connected with negative 3.3v supply voltage, described flexible touch sensation sensor
Row electrode draw pin be connected with each signal output part of Multipexer selecting module respectively；Microprocessor is many with simulation
Road selecting module connects, and controls the selective break-make of its variable connector, and microprocessor sends break-make to Multipexer selecting module
Control signal, each pin priority successively that the row electrode of negative 3.3v supply voltage and described flexible touch sensation sensor is drawn
Gating；The pin output voltage analog signal that the row electrode of described flexible touch sensation sensor is drawn, puts through operational amplification circuit
It is connected to microprocessor after big and carries out ad sampling, obtain voltage digital signal.
Described microprocessor adopts the tms320f28069 of ti company, and it contains 12 analog-digital converter adc, can double adopt
Sample keeps, and be up to 16 channel signals gather simultaneously.
Described Multipexer selecting module adopts the ts5a3359 SP3T open type analog switch of ti company.
Described operational amplification circuit adopts the opa656 chip of ti company.
Described power transfer module is using the bipolarity being built by the tps65135 power conversion chip of ti company
Power circuit.
The invention has the beneficial effects as follows:
(1) the touch sensor structure of the present invention is simple, be easy to making, significantly reduces the processing cost of sensor,
And three-dimensional force and identification sliding can be detected simultaneously.
(2) touch sensor that the present invention adopts has overall submissive bendability, can using dimension on flexible PCB
Firm velcro structure design, can carry out the binding sensor in three directions, firm be advantageously worn on finger surface or
On the supporter of finger interior.
(3) touch sensor of the present invention and its detecting system are arranged on finger interior, and by flexible pdms convexity layer
Contact with external force, the detection sensitivity of softness haptic perception sensor array can be effectively improved, and protect within composite sensing array
Electrode and lead.
(4) electrode in flexible electrode layer in the present invention, by the way of packet shunt leads, effectively reduces tactile and passes
The external number of pin of sensor.Its signal processing circuit structure is simple, size is little.
Brief description
Fig. 1 is the top view of the present invention.
Fig. 2 is the tactile sensing array cross section structure schematic diagram of the present invention.
Fig. 3 is the flexible electrode layer schematic diagram with Velcro of the present invention.
Fig. 4 is that the surrounding of the present invention is filled with the conductive rubber array schematic diagram of flexible filler.
Fig. 5 is the pdms convexity layer of the present invention.
Fig. 6 is the structural representation of the tactile sensing array unit of the present invention.
Fig. 7 is the test electrode schematic diagram of the present invention.
Fig. 8 is the test philosophy schematic diagram of the tactile sensing array unit of the present invention.
Fig. 9 is one of scheme of installation of the present invention.
Figure 10 is the two of the scheme of installation of the present invention.
Figure 11 is the attachment structure schematic diagram of present system.
In figure: 1.pdms convexity layer, 2. conductive rubber array, 3. flexible filler, 4. flexible electrode layer, 5. miniature boss
Structure, 6. conductive rubber unit, 7. test electrode group, 8. Velcro, 9. row electrode, 10. row electrode.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and examples.
The touch sensor of the present invention is as shown in Figure 1:
As shown in Fig. 2 the present invention includes fitting tightly flexible electrode layer 4, intermediate layer and pdms convexity layer from bottom to up
1；As shown in figure 3, flexible electrode layer 4 is the flexible PCB of " ten " character form structure, intermediate layer and pdms convexity layer 1 cover
In the middle part of " ten " font, test electrode group 7 covers in the middle part of " ten " font and downside stretching, extension side, positioned at upside, left side and right side
Stretching, extension side edge is provided with the Velcro 8 for binding sensor, to be securely worn on intelligent artificial limb finger watch
On face or on the supporter of intelligent artificial limb finger interior；As shown in figure 4, intermediate layer includes the conductive rubber with voltage-sensitive effect
Array 2 and the flexible filler 3 being filled in around conductive rubber array 2, conductive rubber array 2 is by 6 gusts of conductive rubber unit
Row arrangement forms；As shown in figure 5, pdms convexity layer 1 is provided with miniature boss structure 5 corresponding with each conductive rubber unit 6；
As shown in fig. 6, miniature boss structure 5 is located at the flexible electrode directly over conductive rubber unit 6, immediately below conductive rubber unit 6
Layer 4 is provided with test electrode group 7, and test electrode group 7 is identical with the array distribution mode of conductive rubber unit 6, conductive rubber list
Unit 6 is identical with the length of side of one group of test electrode group 7 in flexible electrode layer 4.
The scheme of installation of the present invention as shown in Figure 9 and Figure 10.The flexible electrode layer 4 of the present invention is flexible PCB, one
As conventional employing Kapton as base material, flexible electrode layer is except adopting Velcro Buddhist nun on three stretching, extension sides of lower survey
Imperial loop fastener scheme, Velcro structure is by the simultaneously fabric with little hook, and the fabric of another side band little lint pile loop
Composition, two sides has the characteristic of " touch bond, pulls and can separate ".Sensor carries out three by Velcro 8
The binding in individual direction, can firm advantageously be worn on intelligent artificial limb finger surface or intelligent artificial limb finger interior
On the irregular surface of support body.
As shown in figure 3, every group is tested five electrode structures that electrode group 7 is square shape, five electrode structures are by equal
The square electrode composition at even four right angled triangle electrodes being distributed in corner and its center, is in the square electrode at center
As common electrode；After often all square electrode of row test electrode group 7 are connected in series by the lead of parallel routing mode
Draw pin, position identical right angled triangle electrode is by parallel routing mode in the test electrode group 7 in same row
Lead be connected in series after draw pin, m row test electrode group 7 draws m pin as row electrode 9, n row by square electrode
Test electrode group 7 draws 4n pin as row electrode 10 by right angled triangle electrode.As shown in fig. 6, by one group of test electrode
Group 7 and the conductive rubber unit 6 of cover it side and miniature boss structure 5 constitute tactile sensing array unit.
Surrounding is filled with the conductive rubber array 2 of flexible filler 3, can be by 3 × 3 pros with identical pressure-sensitive character
Shape conductive rubber slice is constituted, and conductive rubber array 2 is bonded together by the flexible filler 3 of normal temperature cure and is formed.Test electricity
The group number of pole group 7 is identical with conductive rubber unit 6 number of conductive rubber array 2, the test electrode group 7 of flexible electrode layer 4
In 3 × 3 array distribution.
The inastomer conductive rubber that conductive rubber array 2 is produced using Japanese inaba company, flexible electrode layer 4 is double
Face flexible PCB, using Kapton as base material.
According to the demand of certain applications, the spatial resolution such as requiring, the range of three-dimensional force, transducer sensitivity,
Accuracy of detection, require the indexs such as diastrophic degree, determine size, the tactile sensing array of softness haptic perception sensor array
Spacing between the size of sensing unit and unit.The range of three-dimensional force and sensitivity are by tactile sensing array sensing unit
The size of the size of middle conductive rubber slice and five electrode square structures and spacing determine.
The manufacture process of sensor is as described below: first passes through flexible circuit printing technology and manufactures flexible electrode layer 4, utilizes
High-purity conductive silver glue is spin-coated in the test electrode group 7 of flexible electrode layer 4 screen printing technique；Then by square conductive
Sheet rubber is pasted onto in test electrode group 7；Then flexible filler 3 is filled into the blank position of flexible electrode layer 4, normal temperature is solid
Chemical conversion type；Finally the pdms convexity layer 1 imprinting out by mould secondary is bonded in surrounding and is filled with leading of flexible filler 3
On electric rubber array 2.So, just obtain softness haptic perception sensor array as depicted in figs. 1 and 2.
The three-dimensional contact force of the present invention and sliding Cleaning Principle are as follows:
As shown in Fig. 6, Fig. 7 and Fig. 8, the three-dimensional force of any direction passes through the miniature boss structure 5 of pdms convexity layer 1 by power
It is conducted to conductive rubber unit 6, the elastic deformation of the flexible filler 3 of surrounding is bigger than conductive rubber unit 6.Due to conductive rubber
Contact resistance between the piezoresistive effect of unit 6 and conductive rubber array 2 and flexible electrode layer 4, there are four equivalent electric
Resistance r1, r2, r3, r4.When conductive rubber unit 6 occurs strain, resistance will change.Four resistance are respectively through each
Testing circuit export corresponding voltage signal, be converted into three-dimensional force by following principlef x、f y、f zMeasurement,
Thus obtaining Arbitrary 3 D power.
When onlyf xDuring effect, because being subject to the compressive strain of equal extent, resistance r1, r4 reduce；Because being subject to equal extent
Tension, resistance r2, r3 increase, and resistance r2, r3 increase amplitude and resistance r1, r4 to reduce amplitude identical.
When onlyf yDuring effect, because being subject to the compressive strain of equal extent, resistance r1, r2 reduce；Because being subject to equal extent
Tension, resistance r3, r4 increase, and resistance r3, r4 increase amplitude and resistance r1, r2 to reduce amplitude identical.
When onlyf zDuring effect, because being subject to the compressive strain of equal extent, resistance r1, r2, r3, r4 reduce, and reduce amplitude
Identical.
According to above-mentioned analysis, the relation between three-dimensional force and four piezo-resistance change in resistance can be derived.Repeatedly try
Test the change in resistance data obtaining three-dimensional force and four piezo-resistances, through linearly decoupling the stress obtaining three-dimensional and four
The linear relationship of the change in resistance of piezo-resistance, such that it is able to the actual three-dimensional force of accurate measurement.
Further, since the present invention can adopt inastomer conductive rubber, it has excellent piezoresistive effect, lag performance
Low, the linearity is high, can identify the Slip Signal of high-frequency short arc.After measuring three-dimensional force, by signal processing analysis level
Tangential force, is extracted the sliding jump signal of the high-frequency short arc of horizontal direction, can quickly determine whether using wavelet analysis
There is sliding it is adaptable to robot adjusts the size of grip force, force homeostasis of realizing holding with a firm grip during capturing article.
As shown in figure 11, the touch detection system of the present invention includes described flexible touch sensation sensor and signals collecting electricity
Road, signal acquisition circuit include power transfer module, the programmable microprocessor of mixed signal array, operational amplification circuit and
Multipexer selecting module, microprocessor contains analog-to-digital conversion module multichannel adc；The row electrode 10 of flexible touch sensation sensor draws
The pin going out is connected with the negative-phase input of respective operational amplification circuit respectively, and reference resistance r two ends are connected to computing
Adc analog signal on the negative-phase input and output end of amplifying circuit, in the output end of operational amplification circuit and microprocessor
Input connects；External power is connected to power transfer module and produces negative 3.3v supply voltage, the multichannel of Multipexer selecting module
Switch input terminal is connected with negative 3.3v supply voltage, and the pin that the row electrode 9 of flexible touch sensation sensor is drawn is many with simulation respectively
Each signal output part of road selecting module connects；Microprocessor is connected with Multipexer selecting module, controls its variable connector
Selective break-make, microprocessor to Multipexer selecting module send break-make control signal, by negative 3.3v supply voltage with soft
Property touch sensor each pin first backgating successively of drawing of row electrode 9；The row electrode of flexible touch sensation sensor is drawn
Pin output voltage analog signal, is connected to microprocessor after amplifying through operational amplification circuit and carries out ad sampling, obtain voltage number
Word signal.
Embodiments of the invention and implementation process are as follows:
Flexible electrode layer 4 adopts the hardened structure of double-sided flex circuit, using Kapton as base material.Every group of test electricity
Pin is drawn, 3 row test electrode groups 7 draw 3 pins as row electrode 9 by square electrode in five electrode structures of pole group 7,
3 row test electrode groups draw 12 pins as row electrode 10 by right angled triangle electrode.The row electrode of flexible touch sensation sensor
12 pins of 10 extractions are connected with the negative-phase input of 12 operational amplification circuits respectively, the row electrode of flexible touch sensation sensor
3 pins of 9 extractions are connected with 3 signal output parts of Multipexer selecting module respectively.
The programmable microprocessor of mixed signal array contains the analog-digital converter adc of 16 Channel 12-Bits, can be double sampled
Keep, be up to 16 channel signals gather simultaneously, and comprise external data transmission port, described external data transmission port is sp
Serial line interface, i2C serial line interface or uart serial line interface, using the tms320f28069 of ti company.
Multipexer selecting module adopts the ts5a3359 SP3T open type analog switch of ti company.
Operational amplification circuit adopts the opa656 chip of ti company, wherein can be using the survey based on electric current to voltage conversion method
Amount method.
Power transfer module is using the bipolar power supply electricity being built by the tps65135 power conversion chip of ti company
Road.
Manufacture sensor, Calibration and sliding test experience by actual, record the prosthetic hand softness haptic perception of the present invention
Sensor and its detecting system have good pressure-sensitive character, sensitively three-dimensional force can be detected, its touch detection systematic function
Stable.Compared with Chinese invention patent (cn201210193314.9), the sensitivity of institute's survey sensor three-dimensional force is respectively increased
10%, 10%, 15%.Simultaneously because the particularity of selected pressure-sensitive conductive rubber material, extract in primary signal by signal transacting
The Slip Signal of low amplitude high frequency rate, effectively identifies sliding, is that the intelligent Application of prosthetic hand provides sound assurance, tool
There is significant technique effect.
Above-mentioned specific embodiment is used for illustrating the present invention, rather than limits the invention, the present invention's
In spirit and scope of the claims, any modifications and changes that the present invention is made, both fall within the protection model of the present invention
Enclose.
Claims (10)
1. a kind of prosthetic hand Wearable flexible touch sensation sensor it is characterised in that: fit tightly flexible electrode layer from bottom to up
(4), intermediate layer and pdms convexity layer (1)；The conductive rubber array (2) that intermediate layer includes having voltage-sensitive effect is led with being filled in
Flexible filler (3) around electric rubber array (2), conductive rubber array (2) is by conductive rubber unit (6) array arrangement
Become, the flexible electrode layer (4) immediately below conductive rubber unit (6) is provided with test electrode group (7), test electrode group (7) and lead
The array distribution mode of electric rubber unit (6) is identical, and conductive rubber unit (6) is electric with one group of test in flexible electrode layer (4)
The length of side of pole group (7) is identical；Pdms convexity layer (1) is provided with miniature boss structure corresponding with each conductive rubber unit (6)
(5), directly over conductive rubber unit (6)；Flexible electrode layer (4) is the flexible PCB of " ten " character form structure, intermediate layer
And pdms convexity layer (1) covers in the middle part of " ten " font, test electrode group (7) covers in the middle part of " ten " font and downside is stretched
Side, on the upside of flexible PCB, the side edge that stretches on left side and right side is provided with and takes for the Velcro binding sensor
Button (8), to be worn on finger.
2. a kind of prosthetic hand Wearable flexible touch sensation sensor according to claim 1 it is characterised in that: described every group
Test electrode group (7) is five electrode structures of square shape, and five electrode structures are straight by be evenly distributed on corner four
The square electrode composition at angle triangular-shaped electrodes and its center, the square electrode being in center is as common electrode；Often row is surveyed
All square electrode of examination electrode group (7) draw pin, positioned at same after being connected in series by the lead of parallel routing mode
After in test electrode group (7) on row, position identical right angled triangle electrode is connected in series by the lead of parallel routing mode
Draw pin, m row test electrode group (7) draws m pin as row electrode (9), n row test electrode group by square electrode
(7) 4n pin is drawn as row electrode (10) by right angled triangle electrode.
3. a kind of prosthetic hand Wearable flexible touch sensation sensor according to claim 1 it is characterised in that: described conduction
Rubber array (2) is bonded together by the flexible filler (3) of normal temperature cure.
4. a kind of prosthetic hand Wearable flexible touch sensation sensor according to claim 1 it is characterised in that: described conduction
Rubber array (2) is 3 × 3 array distribution, and conductive rubber unit (6) is square conductive sheet rubber.
5. a kind of prosthetic hand Wearable flexible touch sensation sensor according to claim 1 it is characterised in that: described conduction
The inastomer conductive rubber that rubber array (2) is produced using Japanese inaba company, flexible electrode layer (4) is double-faced flexible electricity
Road plate, using Kapton as base material.
6. include a kind of prosthetic hand Wearable softness haptic perception detecting system of the arbitrary described sensor of Claims 1 to 5, it is special
Levy and be: include described flexible touch sensation sensor and signal acquisition circuit, signal acquisition circuit includes power transfer module, micro-
Processor, operational amplification circuit and Multipexer selecting module, microprocessor contains analog-to-digital conversion module multichannel adc；
The pin negative with respective operational amplification circuit respectively that the row electrode (10) of described flexible touch sensation sensor is drawn
Input connects, and reference resistance two ends are connected on the negative-phase input and output end of operational amplification circuit, operation amplifier
The output end of circuit is connected with the adc input end of analog signal in microprocessor；External power is connected to power transfer module and produces
Negative 3.3v supply voltage, the variable connector input of Multipexer selecting module is connected with negative 3.3v supply voltage, described flexibility
The pin that the row electrode (9) of touch sensor is drawn is connected with each signal output part of Multipexer selecting module respectively；Micro-
Processor is connected with Multipexer selecting module, controls the selective break-make of its variable connector, and microprocessor selects to Multipexer
Select module and send break-make control signal, the row electrode (9) of negative 3.3v supply voltage and described flexible touch sensation sensor is drawn
Each pin first backgating successively；The pin output voltage simulation that the row electrode (10) of described flexible touch sensation sensor is drawn
Signal, is connected to microprocessor after amplifying through operational amplification circuit and carries out ad sampling, obtain voltage digital signal.
7. a kind of prosthetic hand Wearable softness haptic perception detecting system according to claim 6 it is characterised in that: described is micro-
Processor adopts the tms320f28069 of ti company, and it contains 12 analog-digital converter adc.
8. a kind of prosthetic hand Wearable softness haptic perception detecting system according to claim 6 it is characterised in that: described mould
Intend the ts5a3359 SP3T open type analog switch that multi-path choice module adopts ti company.
9. a kind of prosthetic hand Wearable softness haptic perception detecting system according to claim 6 it is characterised in that: described fortune
Calculate the opa656 chip that amplifying circuit adopts ti company.
10. a kind of prosthetic hand Wearable softness haptic perception detecting system according to claim 6 it is characterised in that: described
Power transfer module is using the bipolar power supply circuit being built by the tps65135 power conversion chip of ti company.
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| CN201410634475.6A CN104406627B (en) | 2014-11-11 | 2014-11-11 | Wearable flexible touch sensor of artificial hand and touch detection system thereof |
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| CN201410634475.6A CN104406627B (en) | 2014-11-11 | 2014-11-11 | Wearable flexible touch sensor of artificial hand and touch detection system thereof |
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2014
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