CN107329436B - Flexible touch sensor and robotic handling system - Google Patents
Flexible touch sensor and robotic handling system Download PDFInfo
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- CN107329436B CN107329436B CN201710678410.5A CN201710678410A CN107329436B CN 107329436 B CN107329436 B CN 107329436B CN 201710678410 A CN201710678410 A CN 201710678410A CN 107329436 B CN107329436 B CN 107329436B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/005—Measuring force or stress, in general by electrical means and not provided for in G01L1/06 - G01L1/22
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a flexible touch sensor, comprising: the sensor comprises a flexible substrate and a PET film which are oppositely arranged, wherein the flexible substrate is insulated, a metal electrode is arranged on one side of the flexible substrate facing the PET film, a gasket is arranged between the flexible substrate and the PET film, one side of the flexible substrate of the sensor is attached to the surface of the robot, which needs to have touch feedback, the sensor is flexible and suitable for being attached to a plane or a non-plane surface, and when the sensor is not subjected to external force, a certain gap exists between the PET film and the metal electrode due to the action of the gasket; when an external object touches the PET film to enable the sensor to be subjected to external force, the PET film deforms and contacts with the metal electrode, so that an electric signal is generated. Compared with the prior art, the invention does not need to provide a power supply and a signal conversion circuit outside under the action of external force, and can directly generate an electric signal and output the electric signal to a system. It can be manufactured according to large surface area, and can conveniently cover the surface of the robot in large area. And the method can be used for industrialized mass production, so that the cost is reduced.
Description
Technical Field
The invention relates to the field of robots, in particular to a flexible touch sensor and a robot processing system.
Background
The flexible touch sensor is used as an intelligent skin of the robot, can realize detection and perception of various contact forces in the environment, and is a necessary medium for the robot to directly perceive the environmental effect. The touch sensing sensor has flexibility like human skin, can be covered on the surface of the robot body through arbitrary bending deformation, has the thickness controlled in an ideal range, has a system feedback function, and can feed back touch information to a control center in real time to realize intelligent control response of the robot.
At present, due to the wide use of robots, flexible tactile sensors applied to intelligent skins of robots are paid great attention to, and various different kinds of flexible sensors are designed and manufactured based on different principles and different flexible materials. The flexible tactile sensor principle generally adopts piezoresistive, capacitive and the like. The flexible material of the flexible tactile sensor generally adopts polymers, such as PET, silica gel, PDMS, and the like.
At present, the flexible touch sensor applied to the intelligent skin of the robot mainly comprises piezoresistive sensors, capacitive sensors and the like. The working principle of the piezoresistive flexible touch sensor is that under the action of external force, the resistance changes, the external power supply supplies power, the change of the resistance is converted into an electric signal through a conversion circuit, and then the electric signal is fed back to the system. The working principle of the capacitive flexible touch sensor is that under the action of external force, the capacitance changes, the external power supply supplies power, the change of the capacitance is converted into an electric signal through the conversion circuit, and then the electric signal is fed back to the system.
Both piezoresistive and capacitive flexible tactile sensors require external power supply and external conversion circuitry for electrical signal output when in operation, which increases the complexity of the system. In addition, the manufacturing processes of the high-temperature-resistant ceramic material are relatively complex, the processing cost is high, and the high-temperature-resistant ceramic material has certain limitations in mass production and large-scale commercial application. And their fabrication typically uses a lithographic apparatus, the area of the fabricated sensor array that can cover the surface of the robot is limited due to the limitations of the maximum exposure area of the lithographic apparatus.
Disclosure of Invention
In order to overcome the defects in the prior art, the technical problem to be solved by the invention is to provide a flexible touch sensor and a robot processing system, which can directly generate an electric signal under the action of external force.
The specific technical scheme of the invention is as follows: a flexible tactile sensor comprising: the sensor comprises a flexible substrate and a PET film which are oppositely arranged, wherein the flexible substrate is insulated, a metal electrode is arranged on one side of the flexible substrate facing the PET film, a gasket is arranged between the flexible substrate and the PET film, one side of the flexible substrate of the sensor is attached to the surface of the robot, which needs to have touch feedback, the sensor is flexible and suitable for being attached to a plane or a non-plane surface, and when the sensor is not subjected to external force, a certain gap exists between the PET film and the metal electrode due to the action of the gasket; when an external object touches the PET film to enable the sensor to be subjected to external force, the PET film deforms and contacts with the metal electrode, so that an electric signal is generated.
Preferably, the PET film is provided with a microstructure on the side facing the flexible substrate, the microstructure being produced by roll-to-roll nanoimprint technology.
Preferably, the number of the metal electrodes is plural, and each metal electrode is connected with a wire for outputting a signal.
Preferably, the flexible substrate and the PET film are in a sheet shape, the plurality of gaskets and the plurality of metal electrodes are arranged in a plurality along the first axis direction, the plurality of gaskets are arranged at intervals along the second axis direction, the plurality of metal electrodes are formed with units between the two gaskets, and the metal electrodes in each unit are arranged at intervals along the first axis direction.
Preferably, the pad is made of foam or other flexible material.
The application discloses a robot processing system includes: the control system is used for controlling the robot according to the signal processing module.
Preferably, the signal processing module is used for judging the acting force value acting on the flexible touch sensor according to the electric signal generated by the contact of the PET film and the metal electrode.
Preferably, the signal processing module is used for judging the position of the acting force acting on the flexible touch sensor according to the electric signal generated by the contact of the PET film and the metal electrode.
Preferably, the signal processing module comprises a microprocessor and a peripheral circuit, when external force acts on the surface of the robot attached with the flexible sensor, the sensor sends out an electric signal, the signal processing module receives and processes the electric signal, then sends out a signal to the robot control system, and the robot control system controls the robot to perform corresponding actions according to the signal.
Compared with the prior art, the invention does not need to provide a power supply and a signal conversion circuit under the action of external force, and can directly generate an electric signal and output the electric signal to a system. Because the PET film with the microstructure can adopt a roll-to-roll nanoimprint process, the PET film can be manufactured according to a large surface area, and can conveniently cover the surface of a robot in a large area. And the method can be used for industrialized mass production, so that the cost is reduced.
Drawings
The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. In addition, the shapes, proportional sizes, and the like of the respective components in the drawings are merely illustrative for aiding in understanding the present invention, and are not particularly limited. Those skilled in the art with access to the teachings of the present invention can select a variety of possible shapes and scale sizes to practice the present invention as the case may be.
FIG. 1 is a schematic diagram of an exploded structure of a flexible tactile sensor in an embodiment of the present application;
FIG. 2 is a front view of a flexible tactile sensor in an embodiment of the present application;
FIG. 3 is a schematic view of the structure of a PET film;
FIG. 4 is a schematic diagram of the working principle of the flexible tactile sensor during an action;
fig. 5 is a schematic diagram of a robotic processing system employing a flexible tactile sensor.
Reference numerals of the above drawings: 1. a flexible substrate; 2. a metal electrode; 3. a gasket; 4. a PET film; 5. a lead wire; 6. a microstructure; 7. a resistor; 8. a flexible tactile sensor; 9. a signal processing module; 91. an MCU; 92. a peripheral circuit; 10. and a control system.
Detailed Description
The details of the invention will be more clearly understood in conjunction with the accompanying drawings and description of specific embodiments of the invention. However, the specific embodiments of the invention described herein are for the purpose of illustration only and are not to be construed as limiting the invention in any way. Given the teachings of the present invention, one of ordinary skill in the related art will contemplate any possible modification based on the present invention, and such should be considered to be within the scope of the present invention.
The application discloses flexible touch sensor 8, including relative flexible substrate 1 and the PET film 4 that set up, flexible substrate 1 is insulating, flexible substrate 1 is provided with metal electrode 2 in its one side of facing to the PET film 4, flexible substrate 1 with be provided with gasket 3 between the PET film 4, the flexible substrate one side of sensor is attached at the surface that needs the tactile feedback of robot, because this sensor has flexibility, is fit for attaching in plane or nonplanar surface. When the sensor 8 is not subjected to external force, a certain gap exists between the PET film 4 and the metal electrode 2 due to the action of the gasket 3; when an external object touches the PET film to enable the sensor 8 to be subjected to external force, the PET film 4 deforms and contacts with the metal electrode 2, so that an electric signal is generated.
In particular, referring to fig. 1 and 2, the flexible substrate 1 has opposite upper and lower sides. The flexible substrate 1 may be made of an insulating material having good flexibility, such as PET or the like.
The metal electrode 2 may be attached to the upper side of the flexible substrate 1. The metal electrode 2 may be made of a very thin copper foil because of the excellent triboelectric effect of copper and PET film. In practice, other triboelectrically effective materials may be used. In particular, each metal electrode 2 is also connected with a wire so as to output the generated electric signal. Of course, the number, shape and distribution position of the metal electrodes 2 on the flexible substrate 1 may be designed according to the actual practice. The spacer 3 is also provided on the upper side of the flexible substrate 1. The PET film 4 is attached to the gasket 3. The spacer 3 may provide a certain distance between the PET film 4 and the metal electrode 2 without deformation or deformation of the flexible tactile sensor 8. Of course, the thickness of the spacer 3 and the distribution on the flexible substrate 1 can be designed according to the actual situation.
When the flexible touch sensor 8 receives an external force, the PET film 4 deforms and can be contacted with the metal electrode 2, and an electric signal is generated due to coupling of friction electricity generation and electrostatic induction.
In order to increase the triboelectric effect, an array of microstructures 6 is designed on the surface of the PET film 4 opposite to the metal electrode 2, and as shown in fig. 3, the array of microstructures 6 is a square convex array with a size of 1mm by 1mm, a spacing length of 1mm and a height of 25 μm. Of course, the actual array of microstructures 6 may be designed according to the actual situation. The microstructure 6 is able to greatly increase the output voltage of the flexible triboelectric flexible tactile sensor 8 due to: firstly, the microstructure 6 increases the contact area of two friction materials, so that the triboelectric effect is enhanced; second, the tip discharge effect is more pronounced and triboelectric charges are more easily generated than in the case of the microstructure 6 and planar structure. The microstructure 6 in the application can be manufactured in large area and in large batch by using the roll-to-roll nanoimprint technology, so that the defects of small processing area and low production efficiency caused by the traditional photoetching technology are overcome.
Preferably, the flexible substrate 1 and the PET film 4 are in the form of a sheet, the plurality of spacers 3 and the plurality of metal electrodes 2 are provided, the plurality of spacers 3 extend in the first axis direction, the plurality of spacers 3 are arranged at intervals in the second axis direction, the plurality of metal electrodes 2 are formed with cells between the two spacers 3, and the metal electrodes 2 in each cell are arranged at intervals in the first axis direction. The distribution of the specific gaskets and the metal electrodes on the flexible substrate is not limited to the form given in the figure, and the gaskets can enable a certain gap to exist between the PET film and the metal electrodes as long as a certain interval exists between each metal electrode. The sensor is made of flexible materials, is sheet-shaped and thin in thickness, has good flexibility, and is suitable for being attached to a plane or a non-plane surface.
The principle of operation of the flexible tactile sensor 8 in the present application is generally as follows: the metal electrode 2 and the PET film 4 are used as friction materials, the PET material has strong electron obtaining capability, and copper is easy to lose electrons. When the sensor 8 is not stressed, the metal electrode 2 and the PET film 4 have a certain gap due to the existence of the gasket 3. When external pressure is applied to the flexible tactile sensor 8, the PET film 4 contacts with the underlying metal electrode 2, charge transfer occurs due to triboelectric effect, so that the inner surface of the metal electrode 2 is positively charged, and the inner surface of the PET film 4 is negatively charged; when the deformation force is released, the two oppositely charged surfaces are automatically separated, an electric field is formed between the friction materials with opposite charges, the inner surface of the metal electrode 2 is positively charged, electrons flow from the grounding end to the positively charged end due to the grounding of the metal electrode 2, so that current is generated, the current generated in the process is continued until the distance between the two metal electrodes 2 reaches the maximum and is not changed any more, the electric potential between the two metal electrodes 2 reaches an electrostatic balance state, and the external circuit current is zeroed; then when the two materials are compressed towards each other by external force again, electrons at one end with positive charges flow back along the original circuit, so that another current pulse with opposite directions is generated, and the current returns to zero until the two materials are contacted again. When this periodic mechanical deformation continues, an alternating current signal will continue to be generated.
The voltage amplitude of the generated electric signal is related to the external force, so that the larger the external force is, the larger the contact area of the friction material is, and the more the separated charges are, so that the larger the external force is, the larger the voltage amplitude of the generated electric signal is, and the voltage amplitude of the generated electric signal can reflect the external force in a certain range. Each metal electrode 2 has a separate lead 5 so that an external force is applied to identify which metal electrode 2 is the electrical signal from which to apply the external force and the specific location to which the external force is applied.
The application also discloses a robot processing system, including: the control system 10 is used for controlling the robot according to the signal processing module 9. Leads 5 of the flexible tactile sensor 8 are connected to a signal processing module 9.
The flexible substrate 1 of the flexible tactile sensor 8 is attached to a robotic surface and is adapted to be attached to a planar or non-planar surface due to the flexibility of the sensor. External force acts on the surface of the robot, the flexible touch sensor 8 sends out an electric signal, the signal processing module 9 can identify the specific position and the size of the stress by analyzing the electric signal, and the information is transmitted to the control system 10 of the robot, and the control system 10 of the robot can respond correspondingly according to the information.
From the foregoing, the signal processing module 9 may determine the value of the acting force acting on the flexible tactile sensor 8 based on the electric signal generated by the contact of the PET film 4 with the metal electrode 2. The control system 10 may control the robot to operate according to the magnitude of the external force.
The signal processing module 9 may determine the position of the acting force acting on the flexible tactile sensor 8 according to the electric signal generated by the contact between the PET film 4 and the metal electrode 2. The control system 10 may control the robot to operate according to the position of the external force.
Preferably, the signal processing module 9 comprises an MCU91 and peripheral circuitry 92. The microprocessor receives the electric signal of the sensor; the microprocessor then processes the data and transmits it to the peripheral circuit, which is then fed to the control system.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.
The above embodiments are provided to illustrate the technical concept and features of the present invention and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.
Claims (8)
1. A flexible tactile sensor comprising: the sensor comprises a flexible substrate and a PET film which are oppositely arranged, wherein the flexible substrate is insulated, a metal electrode is arranged on one side of the flexible substrate facing the PET film, a gasket is arranged between the flexible substrate and the PET film, one side of the flexible substrate of the sensor is attached to the surface of the robot, which needs to have touch feedback, the sensor is flexible and suitable for being attached to a plane or a non-plane surface, and when the sensor is not subjected to external force, a certain gap exists between the PET film and the metal electrode due to the action of the gasket; when an external object touches the PET film to enable the sensor to be subjected to external force, the PET film deforms and contacts with the metal electrode, so that an electric signal is generated; the PET film is provided with a microstructure on one side facing the flexible substrate, and the microstructure is manufactured by a roll-to-roll nanoimprint technology; wherein, the metal electrode and the PET film are used as friction materials; when the sensor is not stressed, the metal electrode and the PET film have a certain gap due to the existence of the gasket; when external pressure is applied to the flexible touch sensor, the PET film is in contact with the metal electrode below, and charge transfer occurs due to a triboelectric effect, so that the inner surface of the metal electrode is positively charged, and the inner surface of the PET film is negatively charged; when the deformation force is released, the two oppositely charged surfaces are automatically separated, an electric field is formed between the friction materials with opposite charges, the inner surfaces of the metal electrodes are positively charged, electrons flow from the grounding end to the positively charged end due to the grounding of the metal electrodes, so that current is generated, the current generated in the process is continuous until the distance between the two metal electrodes reaches the maximum and is not changed any more, the electric potential between the two metal electrodes reaches an electrostatic balance state, and the external circuit current is zeroed; then when the two materials are compressed towards each other by external force again, electrons at one end with positive charges flow back along the original circuit, so that another current pulse with opposite directions is generated, and the current returns to zero until the two materials are contacted again.
2. The flexible touch sensor of claim 1, wherein the number of metal electrodes is a plurality, each metal electrode being connected to a wire for outputting a signal.
3. The flexible tactile sensor according to claim 1, wherein the flexible substrate and the PET film are in a sheet shape, the plurality of spacers and the metal electrode are plural, the plurality of spacers extend in the first axis direction, and the plurality of spacers are arranged at intervals in the second axis direction, the plurality of metal electrodes are formed with cells between the two spacers, and the metal electrode in each cell is arranged at intervals in the first axis direction.
4. The flexible tactile sensor according to claim 1, wherein said pad is made of foam or other flexible material.
5. A robotic processing system, comprising: the flexible touch sensor of any of claims 1-4, a signal processing module electrically coupled to the flexible touch sensor, and a control system electrically coupled to the signal processing module, the control system configured to control a robot in accordance with the signal processing module.
6. The robot processing system according to claim 5, wherein the signal processing module is configured to determine a force value acting on the flexible tactile sensor according to an electrical signal generated by the PET film contacting the metal electrode, and when an external force acts on a surface of the robot to which the flexible tactile sensor is attached, the sensor emits an electrical signal, and the signal processing module receives and processes the electrical signal and then emits a signal to the robot control system, and the robot control system controls the robot to perform a corresponding operation according to the signal.
7. The robotic processing system of claim 6, wherein the signal processing module is configured to determine a location of the force acting on the flexible tactile sensor based on an electrical signal generated by the PET film in contact with the metal electrode.
8. The robotic processing system of claim 5, wherein the signal processing module comprises a microprocessor and peripheral circuitry.
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| CN107941246B (en) * | 2017-11-10 | 2019-11-22 | 北京大学 | It is a kind of contactless from driving electronic skin and preparation method thereof |
| CN108444620B (en) * | 2018-02-08 | 2020-11-03 | 浙江大学 | Same-layer type multi-stage array pressure sensor |
| CN108433734B (en) * | 2018-02-08 | 2020-07-24 | 浙江大学 | Discrete threshold value type plantar pressure sensing device |
| CN108627288B (en) * | 2018-05-08 | 2019-07-26 | 清华大学 | Softness haptic perception sensing device, manufacturing method, system and touch detection method |
| CN109141696B (en) * | 2018-07-31 | 2020-08-25 | 上海材料研究所 | Flexible touch sensor based on piezoelectric film and signal processing system thereof |
| CN109602423B (en) * | 2019-02-01 | 2023-11-03 | 清华大学深圳研究生院 | Wearable device for preventing diabetic foot |
| CN110487450B (en) * | 2019-08-23 | 2021-09-07 | 南方科技大学 | Flexible touch sensor and preparation method and application thereof |
| CN111006795B (en) * | 2019-11-11 | 2022-01-18 | 南京航空航天大学 | Triboelectric three-dimensional flexible touch sensor and sensing unit |
| CN111595491B (en) * | 2020-05-18 | 2021-08-31 | 重庆大学 | Low-crosstalk matrix type touch sensing unit capable of being infinitely subdivided |
| CN111780898A (en) * | 2020-07-02 | 2020-10-16 | 苏州大学 | Flexible pressure sensor suitable for curved surface stress measurement and preparation method thereof |
| CN112798153B (en) * | 2020-12-25 | 2022-12-23 | 苏州大学 | Flexible capacitive pressure sensor and preparation method thereof |
| CN113103258B (en) * | 2021-05-17 | 2023-03-28 | 浙江大学 | Expandable and reconfigurable interactive flexible robot skin |
| CN113509023A (en) * | 2021-07-14 | 2021-10-19 | 重庆大学 | Self-powered human body sitting posture monitoring back cushion |
| CN113885092B (en) * | 2021-07-15 | 2024-03-26 | 清华大学无锡应用技术研究院 | Explosion-proof soft touch sensor |
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| US7019734B2 (en) * | 2002-07-17 | 2006-03-28 | 3M Innovative Properties Company | Resistive touch sensor having microstructured conductive layer |
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