CN111283690A - Elastic bionic villus type electronic skin for human-computer interaction safety - Google Patents
Elastic bionic villus type electronic skin for human-computer interaction safety Download PDFInfo
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- CN111283690A CN111283690A CN202010048611.9A CN202010048611A CN111283690A CN 111283690 A CN111283690 A CN 111283690A CN 202010048611 A CN202010048611 A CN 202010048611A CN 111283690 A CN111283690 A CN 111283690A
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- sensing units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
Abstract
The invention relates to an elastic bionic villus type electronic skin for man-machine interaction safety, and belongs to the technical field of bionics. The electronic skin is composed of a lower elastic buffer layer, wherein the elastic buffer layer is composed of special synthetic rubber butyl rubber; the middle-layer sensing unit layer is provided with a plurality of sensing units which are made of mixed materials connected by array circuits and used as the filler 1, and the sensing units convert pressure values into voltage signals by means of resistance changes; and the upper fluff layer is formed by fluff type sensing units connected with an array circuit, and the fluff type sensing units are connected with the array circuit by strain sensing units taking mixed materials as the filler 2. The invention improves the sensitivity of the sensor; the special synthetic rubber butyl rubber is used as a buffer layer during contact, so that the severity of accidents is reduced; and the flexible polyester film is adopted, so that the flexibility of the sensor is improved, and the sensor can be conveniently attached to the surfaces and joints of various complex robots.
Description
Technical Field
The invention belongs to the technical field of bionics, and relates to elastic bionic villus type electronic skin for man-machine interaction safety.
Background
Human skin can sense various senses such as touch sense, pain sense, heat sense and the like, wherein the touch sense is particularly important. In the human-computer interaction process, the human and the robot inevitably collide, and great threat is caused to the safety of the human. Therefore, how to ensure the safe interaction between a human and a robot becomes a first problem to be solved urgently in the application and development of the robot, and the touch bionic electronic skin can play an important role in the problem.
A layer of electronic skin is attached to the surface of the robot to mimic or even surpass the sensory function of human skin. The design requirements of electronic skins include two aspects, first, electronic skins should have biomimetic functionality. When a person or other object is in contact with the robot, there will be the following sequence of contact- > press- > squeeze. If the sensor can sense the touch just before the touch, the sensor can react according to whether pressing or even squeezing occurs, and the sensor mainly realizes the purpose through the sensor structure; secondly, the bionic electronic skin not only has the capability of sensing external environment information, but also can be completely covered on the complex surfaces and movable joints of some robots, so that the electronic skin is required to have certain flexibility and elasticity. Electronic skins are of very many kinds and applications, and elastic bionic electronic skins for tactile detection are the most researched and most potential to be applied.
Disclosure of Invention
In view of the above, the present invention provides an elastic bionic villus type electronic skin for human-computer interaction security. The problem that the flexibility and elasticity of the existing electronic skin and the measurement precision cannot be considered simultaneously in the process of realizing human-computer interaction is solved. In human-computer interaction, 1, when the machine is swept over an object at a very close distance without direct contact, the electronic skin should be able to sense like human skin. Whereas human skin is primarily sensed by superficial villi. 2, when a machine comes into contact with an object or person, the sensor should be more sensitive and detect contact with a wider range of pressure. 3, when the person or object and the machine are squeezed more vigorously, the sensor should also be able to detect.
In order to achieve the purpose, the invention provides the following technical scheme:
an elastic bionic villus type electronic skin for man-machine interaction safety comprises an elastic buffer layer on the lower surface layer, a sensitive unit layer on the middle layer and a villus layer on the upper layer;
the elastic buffer layer is made of special synthetic rubber butyl rubber;
the sensitive unit layer is provided with a plurality of array circuits and sensing units which are connected with the array circuits and made of mixed materials as fillers 1;
the sensing unit converts the pressure value into a voltage signal by means of resistance change;
the fluff layer is composed of fluff sensing units connected by an array circuit;
the villus sensing unit is connected with the array circuit by a strain sensing unit which takes a mixed material as a filler 2.
Optionally, the elastic buffer layer is made of special synthetic rubber butyl rubber, and the thickness of the elastic buffer layer is 2 mm.
Optionally, a groove is formed in the sensitive unit layer, and the electrode is made into an interdigital electrode; the mixed material is used as a sensing unit of the filler 1 to be attached to the array circuit, and covers the groove.
Optionally, the filler 1 is carbon nanotube, C60And the graphene nanoplatelets, wherein the proportion is as follows: carbon nanotube not less than 56%, C60Not less than 23 percent, and not less than 21 percent of graphene nanoplatelets.
Optionally, the sensing units are manufactured on a flexible polyester film, the sensing units are connected in a determinant mode, the flexible polyester film is adhered to a flexible circuit board through an adhesive layer, and gating of the sensing units is controlled through an analog switch.
Optionally, the villus sensing unit adopts a mixed material as a sensing unit of the filler 2, and the filler 2 is distributed at the outer edge of the villus; the interdigital electrodes, namely the transverse electrodes and the longitudinal electrodes are connected with two ends of the fluff sensing unit, and the gating of the sensing unit is controlled through the analog switch.
Optionally, the filler 2 is carbon nanotube, C60And the graphene nanoplatelets, wherein the proportion is as follows: carbon nanotube of not less than 43%, C60Not less than 35 percent and not less than 22 percent of graphene nanoplatelets.
The invention has the beneficial effects that:
the pressure information of each step from contact to light pressing to extrusion can be detected; and secondly, the graphene carbon nano wall/PDMS microchip of the three-dimensional conformal force-sensitive interface is embedded into the high polymer material, so that the reliability is greatly improved.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a pile sensor;
FIG. 3 is a schematic view of an interdigital electrode;
FIG. 4 is a schematic view of a fluff layer sensor fabrication;
reference numerals: 1-special synthetic rubber; 2-a sensing unit and an array circuit board; 3-a pile layer sensor; 31-a filler; 32-interdigitated electrodes.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.
Referring to fig. 1 to 3, an elastic bionic electronic skin for touch detection in a human-computer interaction process belongs to the safety field in human-computer interaction. The electronic skin is composed of a lower elastic buffer layer, wherein the elastic buffer layer is composed of special synthetic rubber butyl rubber; the middle-layer sensing unit layer is provided with a plurality of sensing units which are made of mixed materials connected by array circuits and used as the filler 1, and the sensing units convert pressure values into voltage signals by means of resistance changes; and the upper fluff layer is formed by fluff type sensing units connected with an array circuit, and the fluff type sensing units are connected with the array circuit by strain sensing units taking mixed materials as the filler 2. In the human-computer interaction process, the electronic skin can sense approaching, contacting and pressing and buffer the collision degree. The invention adopts a new filling material and a villus type sensing unit structure, thereby improving the sensitivity of the sensor; the special synthetic rubber butyl rubber is used as a buffer layer during contact, so that the severity of accidents is reduced; and the flexible polyester film is adopted, so that the flexibility of the sensor is improved, and the sensor can be conveniently attached to the surfaces and joints of various complex robots.
In the invention, the structure of the flexible bionic electronic skin is determined based on the physiological structure characteristics of the skin of the organism, so that the flexible bionic electronic skin can simulate the function of the skin of the organism to work. The elastic layer corresponds to the skin of a living body, the fluff on the elastic layer corresponds to the fine hair on the skin of the living body, and the flexible FPC circuit board corresponds to the neuron in the skin of the living body. The resistance value of the elastic layer can be detected through the force sensitive layer, and the terminal equipment such as a computer can determine the force applied to the flexible bionic electronic skin according to the detection result, namely when the skin of an organism is stimulated, the neuron transmits the stimulation to the brain through an electric signal, so that the brain determines the stimulation. Specifically, the method comprises the following steps: when the fluff is pressed, the force-sensitive unit is contacted with the electrode layer, so that the dielectric layer of the pressure sensing unit is deformed, the resistance value is changed, and the pressure is measured.
The filler 1 is carbon nano tube and C60And graphene nanoplatelets, wherein the proportion of the carbon nanotubes is not less than 56 percent, and C60Not less than 23 percent, and not less than 21 percent of graphene nanoplatelets. The proportion of the mixed materials is the preferred proportion, the mixed materials have good mechanical stability and flexibility as the filler, when the mixed materials are acted by force, the single villus type sensing unit is firstly strained, and then pressure is formed among a plurality of villus. The density of the filler changes and the resistance changes accordingly.
The filler 2 is carbon nano tube and C60And graphene nanoplatelets, wherein the proportion of the carbon nanotubes is not less than 43 percent, and C60Not less than 35 percent and not less than 22 percent of graphene nanoplatelets. The proportion of the mixed materials is the preferred proportion, and the mixed materials have good effect as fillersThe flexible array circuit board has good mechanical stability and flexibility, and when the flexible array circuit board is acted by force, the sensing layer on the flexible array circuit board is deformed, the density of the filler is changed, and the resistance is changed immediately.
The elastic layer of the present invention is preferably a specialty synthetic rubber butyl rubber. The thickness is 2mm
The fluff sensing layer was prepared in the manner shown in FIG. 4, where the units are mm and the fluff length is 16 mm. The process is as follows,
1. determining a punching position by using Cu as a preparation material;
2. punching, and growing graphene carbon nanowall by PECVD
3. Laser ablation processing connecting circuit
4. Screen printing, using gold material to fill the connecting circuit
Making PDMS into fluff layer
The size of the electronic skin can be adjusted according to actual requirements.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.
Claims (7)
1. The utility model provides a elasticity bionical fine hair formula electron skin for human-computer interaction safety which characterized in that:
comprises an elastic buffer layer on the lower surface layer, a sensitive unit layer on the middle layer and a fluff layer on the upper layer;
the elastic buffer layer is made of special synthetic rubber butyl rubber;
the sensitive unit layer is provided with a plurality of array circuits and sensing units which are connected with the array circuits and made of mixed materials as fillers 1;
the sensing unit converts the pressure value into a voltage signal by means of resistance change;
the fluff layer is composed of fluff sensing units connected by an array circuit;
the villus sensing unit is connected with the array circuit by a strain sensing unit which takes a mixed material as a filler 2.
2. The elastic bionic villus type electronic skin for man-machine interaction safety of claim 1, wherein: the elastic buffer layer is made of special synthetic rubber butyl rubber and is 2mm thick.
3. The elastic bionic villus type electronic skin for man-machine interaction safety of claim 1, wherein: grooves are formed in the sensitive unit layers, and the electrodes are made into interdigital electrodes; the mixed material is used as a sensing unit of the filler 1 to be attached to the array circuit, and covers the groove.
4. The elastic bionic villus type electronic skin for man-machine interaction safety of claim 1, wherein: the filler 1 is carbon nano tube and C60And the graphene nanoplatelets, wherein the proportion is as follows: carbon nanotube not less than 56%, C60Not less than 23 percent, and not less than 21 percent of graphene nanoplatelets.
5. The elastic bionic villus type electronic skin for man-machine interaction safety of claim 1, wherein: the sensing units are manufactured on a flexible polyester film, the sensing units are connected in a determinant mode, the sensing units are adhered to a flexible circuit board through an adhesive layer, and gating of the sensing units is controlled through an analog switch.
6. The elastic bionic villus type electronic skin for man-machine interaction safety of claim 1, wherein: the villus sensing unit adopts a mixed material as a sensing unit of the filler 2, and the filler 2 is distributed at the outer edge of the villus; the interdigital electrodes, namely the transverse electrodes and the longitudinal electrodes are connected with two ends of the fluff sensing unit, and the gating of the sensing unit is controlled through the analog switch.
7. The elastic bionic villus type electronic skin for man-machine interaction safety of claim 1, wherein: the filler 2 is carbon nano tube and C60And the graphene nanoplatelets, wherein the proportion is as follows: carbon nanotube of not less than 43%, C60Not less than 35 percent and not less than 22 percent of graphene nanoplatelets.
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Cited By (5)
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| CN112461422A (en) * | 2020-11-03 | 2021-03-09 | 清华大学 | Collision detection electronic skin and detection quantity calculation method |
| CN113048974A (en) * | 2021-03-17 | 2021-06-29 | 吉林大学 | Bionic positioning device and using method thereof |
| CN113820048A (en) * | 2021-09-30 | 2021-12-21 | 中国科学院重庆绿色智能技术研究院 | Conformal flexible mechanical sensing network and printing preparation method thereof |
| CN114954716A (en) * | 2022-04-28 | 2022-08-30 | 西安交通大学 | Intelligent adhesive material for interface contact state perception |
| CN117067199A (en) * | 2023-07-26 | 2023-11-17 | 睿尔曼智能科技（北京）有限公司 | Mechanical arm electronic skin, mechanical arm and collision detection system thereof |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112461422A (en) * | 2020-11-03 | 2021-03-09 | 清华大学 | Collision detection electronic skin and detection quantity calculation method |
| CN113048974A (en) * | 2021-03-17 | 2021-06-29 | 吉林大学 | Bionic positioning device and using method thereof |
| CN113048974B (en) * | 2021-03-17 | 2023-09-22 | 吉林大学 | Bionic positioning device and application method thereof |
| CN113820048A (en) * | 2021-09-30 | 2021-12-21 | 中国科学院重庆绿色智能技术研究院 | Conformal flexible mechanical sensing network and printing preparation method thereof |
| CN113820048B (en) * | 2021-09-30 | 2024-04-26 | 中国科学院重庆绿色智能技术研究院 | Conformal flexible mechanical sensing network and printing preparation method thereof |
| CN114954716A (en) * | 2022-04-28 | 2022-08-30 | 西安交通大学 | Intelligent adhesive material for interface contact state perception |
| CN117067199A (en) * | 2023-07-26 | 2023-11-17 | 睿尔曼智能科技（北京）有限公司 | Mechanical arm electronic skin, mechanical arm and collision detection system thereof |
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