CN101738275B - Three-dimensional flexible touch sensor and decoupling method thereof - Google Patents
Three-dimensional flexible touch sensor and decoupling method thereof Download PDFInfo
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- CN101738275B CN101738275B CN2008102341467A CN200810234146A CN101738275B CN 101738275 B CN101738275 B CN 101738275B CN 2008102341467 A CN2008102341467 A CN 2008102341467A CN 200810234146 A CN200810234146 A CN 200810234146A CN 101738275 B CN101738275 B CN 101738275B
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Abstract
The invention discloses a three-dimensional flexible touch sensor and a decoupling method thereof. The sensor comprises three layers of insulated wires which are parallel layer by layer, wherein the second layer of insulated wires (3) and the third layer of insulated wires (5) in the wires are vertical to and parallel with the first layer of insulated wires (1) respectively; a plurality of electrodes of the corresponding layer are electrically connected to each layer of wires at equal intervals respectively; the projection of each electrode (2) of a first layer is positioned in the centre of a square formed by four electrodes (4) of a second layer and in the centre of a square formed by four electrodes (6) of a third layer at the same time; and a conducting rubber (7) is arranged between each layer of insulated wires and each layer of electrodes. The method comprises a step of obtaining resistance value changes between each row of the first layer and each column of the second layer, and between each row of the first layer and each row of the third layer by row-column scanning to obtain a position of a force point, the magnitude of a force Fz vertical to the first layer of wires (1) layer, and the magnitudes of axial forces Fx and Fy parallel with and vertical to the first layer of wires (1) respectively. The three-dimensional flexible touch sensor and the decoupling method can be widely applied to the detection of the magnitudes of the three-dimensional forces.
Description
Technical field
The present invention relates to a kind of touch sensor and decoupling method, especially a kind of three-dimensional flexible touch sensor and decoupling method thereof.
Background technology
Touch sensor to robot particularly the research and development and the application of service robot and bio-robot be very important, it can make the robot can sensitivity perception external environment condition exactly, can move flexibly and comfortably again, realizes the touch interaction with people's safety nature.Moreover, touch sensor all has widely aspect a lot of at athletic training, rehabilitation medical etc. and uses.For this reason, people are for the touch sensor of obtained performance excellence, made unremitting effort, as a kind of " based on the profile touch sensor of pressure-sensitive conductive rubber " that discloses among the disclosed Japanese application for a patent for invention prospectus JP 62080528A on April 14th, 1987.It is intended to provide a kind of touch sensor that can measure continuous force.The structure of this sensor is many electrodes that are pasted with spaced set on the identical organic film of two sheet material respectively by identical arrangement mode, be equipped with conductive rubber between two organic films, many electrodes on the two-layer up and down organic film contact with the upper and lower surface of conductive rubber respectively, and many electrodes of upper and lower surface all in twos vertically over against, wherein, after the electrode of upper surface connects by topping wire by rows, the electrode of lower surface is arranged by row after layer conductor connects down, and promptly the lead of aspect is perpendicular up and down.When sensor surface was under pressure, corresponding variation can take place in the resistance of two interelectrode conductive rubbers that face up and down, can obtain the force information that is subjected to of each stress point by the mode of rank scanning.But this touch sensor exists weak point, at first, can only record the size perpendicular to the power of sensor surface, also i.e. energy measurement one-dimensional power only, and can not detect the information of three-dimensional force simultaneously, restricted its range of application; Secondly, loosely organized, manufacture craft requires high, is difficult to suitability for industrialized production.
Summary of the invention
The technical problem to be solved in the present invention provides a kind of size that can detect three-dimensional force simultaneously for overcoming weak point of the prior art, and compact conformation, three-dimensional flexible touch sensor easy to use.
Another technical matters that the present invention will solve is for providing a kind of decoupling method of three-dimensional flexible touch sensor.
For solving technical matters of the present invention, the technical scheme that is adopted is: three-dimensional flexible touch sensor comprises the ground floor lead and the second layer lead of the spaced set that is parallel to each other between aspect, and many ground floor electrodes that are electrically connected respectively equidistantly on ground floor lead and the second layer lead and second layer electrode, described ground floor lead and second layer lead homeotropic alignment, be equipped with conductive rubber between described ground floor lead, second layer lead, ground floor electrode and second layer electrode, particularly:
Be equipped with the 3rd layer conductor of spaced set under the described second layer lead, the aspect of described the 3rd layer conductor is parallel with the aspect of second layer lead, and be arranged in parallel with described ground floor lead, its equal intervals is electrically connected many triple electrodes, is equipped with conductive rubber between described the 3rd layer conductor, triple electrode and described second layer lead, second layer electrode;
The projection of described every ground floor electrode all is positioned at the square center that described four second layer electrodes constitute, and is positioned at the square center that described four triple electrodes constitute simultaneously;
Described ground floor lead, second layer lead and the 3rd layer conductor are the insulated conductor that its outside surface wraps insulation course.
As the further improvement of three-dimensional flexible touch sensor, the mutual spacing of the mutual spacing of described ground floor electrode and ground floor lead is identical; The mutual spacing of the mutual spacing of described second layer electrode and second layer lead is identical; The mutual spacing of the mutual spacing of described triple electrode and the 3rd layer conductor is identical; Interlayer spacing between described second layer lead and the 3rd layer conductor is identical with the interlayer spacing between ground floor lead and second layer lead.
For solving another technical matters of the present invention, another technical scheme that is adopted is: the decoupling method of three-dimensional flexible touch sensor comprises on lead acquired signal and in conjunction with the state equation F of conductive rubber
i=f (△
i) obtain power F
iSize, the function f in the formula is by the decision of the character of conductive rubber, △
iBe the displacement on the i direction, i is x or y or z, and particularly decoupling method comprises following steps:
Step 1, selected ground floor lead is a basic point with it,
Detect earlier all second layer leads and the resistance value between it, obtain stress point by the variation of resistance value and be positioned at axial location on this ground floor lead, and perpendicular to the size of the power Fz of ground floor conductor layer and be parallel to the ground floor traverse shaft to the size of power Fx,
Detect again and parallel with this ground floor lead and two the 3rd layer conductors and the resistance value between it of spacing minimum, by the variation of resistance value obtain perpendicular to the ground floor traverse shaft to the size of power Fy;
As the further improvement of the decoupling method of three-dimensional flexible touch sensor, the variation that is defined as the resistance value between adjacent two second layer leads and ground floor lead of described power Fz is identical; The variation that is defined as the resistance value between adjacent two second layer leads and ground floor lead of described power Fx is opposite; The variation that is defined as the resistance value between adjacent two the 3rd layer conductors and ground floor lead of described power Fy is opposite.
Beneficial effect with respect to prior art is, one, the three-layer insulated lead that is parallel to each other between the employing aspect, second layer lead in the three-layer insulated lead and ground floor lead homeotropic alignment, the 3rd layer conductor and ground floor lead are arranged in parallel, the electrode of many equivalent layers of the equally spaced electrical connection of difference on every layer conductor, and the projection that makes every ground floor electrode all is positioned at the square center that four second layer electrodes constitute, and be positioned at the square center that four triple electrodes constitute simultaneously, all be equipped with the structure of conductive rubber between above-mentioned each layer conductor and electrode, make sensor can detect the size of three-dimensional force simultaneously, have the fabulous characteristics of pliability again, make its characteristic that skin of similar people is arranged, can also carry out the space three-dimensional force measurement continuously, greatly promoted the performance of sensor use and expanded the scope of its application; Its two be that integral injection molding technology makes its location and typing because each layer conductor and interelectrode conductive rubber adopt, so the compact conformation of sensor, globality is strong, thereby makes its working stability, and is easy to use, adaptability is good, applicable scope is wide.Sensor not only manufacture craft is simple, is easy to suitability for industrialized production, also is beneficial to its commercial applications; They are three years old, decoupling zero is adopted by rank scanning and is obtained each row of ground floor each row and the second layer and each row of ground floor and the 3rd layer of each resistance change in the ranks, obtain the position of stress point, and perpendicular to the size of the power Fz of ground floor conductor layer, be parallel to and perpendicular to the ground floor traverse shaft to power Fx and the method for the size of Fy, both science, easy again, also quick and efficient.
Further embodiment as beneficial effect, the one, the mutual spacing of every layer of electrode is preferably identical with the mutual spacing of every layer conductor, and the identical structure of interlayer spacing of every layer conductor, except that make manufacture craft easier, also be convenient to the rank scanning information processing; The 2nd, it is identical that the determining of power Fz is preferably the variation of the resistance value between adjacent two second layer leads and ground floor lead, it is opposite that the determining of power Fx is preferably the variation of the resistance value between adjacent two second layer leads and ground floor lead, it is opposite that the determining of power Fy is preferably the variation of the resistance value between adjacent two the 3rd layer conductors and ground floor lead, both targeted, simple and convenient again.
Description of drawings
Below in conjunction with accompanying drawing optimal way of the present invention is described in further detail.
Fig. 1 is a kind of basic structure synoptic diagram of sensor of the present invention;
Fig. 2 is the force analysis synoptic diagram of sensor of the present invention impression during from z direction power;
Fig. 3 is the force analysis synoptic diagram of sensor of the present invention impression during from directions X power;
Fig. 4 is the force analysis synoptic diagram of sensor of the present invention impression during from Y direction power.
Embodiment
Referring to Fig. 1, three-dimensional flexible touch sensor by be parallel to each other between aspect and lead between ground floor lead 1, second layer lead 3 and the 3rd layer conductor 5 of spaced set, and many ground floor electrodes 2 that equidistantly are electrically connected respectively on ground floor lead 1, second layer lead 3 and the 3rd layer conductor 5, second layer electrode 4 and triple electrode 6 constitute.Wherein, second layer lead 3 and ground floor lead 1 homeotropic alignment, the 3rd layer conductor 5 is arranged in parallel with ground floor lead 1.The projection of every ground floor electrode 2 all is positioned at the square center that four second layer electrodes 4 constitute, and is positioned at the square center that four triple electrodes 6 constitute simultaneously.The mutual spacing of the mutual spacing of ground floor electrode 2 and ground floor lead 1 is identical, the mutual spacing of the mutual spacing of second layer electrode 4 and second layer lead 3 is identical, the mutual spacing of the mutual spacing of triple electrode 6 and the 3rd layer conductor 5 is identical, and the interlayer spacing that the interlayer spacing of second layer lead 3 and 5 of the 3rd layer conductors and ground floor lead 1 and second layer lead are 3 is identical.Above-mentioned ground floor lead 1, ground floor electrode 2, second layer lead 3, second layer electrode 4, the 3rd layer conductor 5 and 6 of triple electrodes all are equipped with conductive rubber 7, and ground floor lead 1, second layer lead 3 and the 3rd layer conductor 5 are the insulated conductor that its outside surface wraps insulation course.
Three-dimensional flexible touch sensor is in the process of using, external when stressed when it, its suffered power is by three different directions, be that power on z direction, x direction and the y direction merges and to form, this makes a concerted effort to make the conductive rubber 7 at stress point place to be out of shape because of being squeezed, thereby the resistance value of 6 of the ground floor electrode 2 that is positioned at the stress point place and second layer electrode 4, triple electrodes is changed.After the resistance value that is changing is obtained by rank scanning, again in conjunction with the state equation F of conductive rubber
i=f (Δ
i) obtain power F
iSize, the function f in the formula is by the decision of the character of conductive rubber, Δ
iBe the displacement on the i direction, i is x or y or z.Referring to Fig. 2, Fig. 3 and Fig. 4, the Fz among Fig. 2 is perpendicular to the power on ground floor lead 1 bedding angle, also is the power on the z direction, and Δ z is a ground floor electrode 2 perpendicular to the displacement on ground floor lead 1 bedding angle; Fx among Fig. 3 is parallel to ground floor lead 1 power on axially, also is the power on the x direction, and to be ground floor electrode 2 be parallel to the displacement of ground floor lead 1 on axially to Δ x; Fy among Fig. 4 is perpendicular to ground floor lead 1 power on axially, also is the power on the y direction, and Δ y is a ground floor electrode 2 perpendicular to the displacement of ground floor lead 1 on axially.
The concrete job step of the decoupling method of three-dimensional flexible touch sensor is:
Step 1, certain the bar lead in the earlier selected ground floor lead 1 is a basic point with this selected lead again.Then, detect the resistance value between all second layer leads 3 and this lead earlier, obtain stress point by the variation of resistance value and be positioned at axial location on this lead, and perpendicular to the size (referring to Fig. 2) of the power Fz of this conductor layer and be parallel to this traverse shaft to the size (referring to Fig. 3) of power Fx; Wherein, the variation that is defined as the resistance value between adjacent two second layer leads 3 and this lead of power Fz is identical, and the variation that is defined as the resistance value between adjacent two second layer leads 3 and this lead of power Fx is opposite.Afterwards, detect again and parallel with this lead and two the 3rd layer conductors 5 and the resistance value between it of spacing minimum, by the variation of resistance value obtain perpendicular to this traverse shaft to the size (referring to Fig. 4) of power Fy; Wherein, the variation that is defined as the resistance value between adjacent two the 3rd layer conductors 5 and this lead of power Fy is opposite.
Obviously, those skilled in the art can carry out various changes and modification to three-dimensional flexible touch sensor of the present invention and decoupling method thereof and not break away from the spirit and scope of the present invention.Like this, if of the present invention these are revised and modification belongs within the scope of claim of the present invention and equivalent technologies thereof, then the present invention also is intended to comprise these changes and modification interior.
Claims (9)
1. three-dimensional flexible touch sensor, the ground floor lead (1) and the second layer lead (3) that comprise the spaced set that is parallel to each other between aspect, and ground floor lead (1) and upward equidistant respectively many ground floor electrodes (2) and the second layer electrode (4) that is electrically connected of second layer lead (3), described ground floor lead (1) and second layer lead (3) homeotropic alignment, be equipped with conductive rubber (7) between described ground floor lead (1), second layer lead (3), ground floor electrode (2) and second layer electrode (4), it is characterized in that:
Be equipped with the 3rd layer conductor (5) of spaced set under the described second layer lead (3), the aspect of described the 3rd layer conductor (5) is parallel with the aspect of second layer lead (3), and be arranged in parallel with described ground floor lead (1), its equal intervals is electrically connected many triple electrodes (6), is equipped with conductive rubber (7) between described the 3rd layer conductor (5), triple electrode (6) and described second layer lead (3), second layer electrode (4);
The projection of described every ground floor electrode (2) all is arranged in the square center of four formations of described many second layer electrodes (4), and is arranged in the square center of four formations of described many triple electrodes (6) simultaneously;
Described ground floor lead (1), second layer lead (3) and the 3rd layer conductor (5) are the insulated conductor that its outside surface wraps insulation course.
2. three-dimensional flexible touch sensor according to claim 1 is characterized in that the mutual spacing of mutual spacing of ground floor electrode (2) and ground floor lead (1) is identical.
3.3 three-dimensional flexible touch sensor according to claim 2 is characterized in that the mutual spacing of mutual spacing of second layer electrode (4) and second layer lead (3) is identical.
4. three-dimensional flexible touch sensor according to claim 3 is characterized in that the mutual spacing of mutual spacing of triple electrode (6) and the 3rd layer conductor (5) is identical.
5. three-dimensional flexible touch sensor according to claim 4 is characterized in that the interlayer spacing between second layer lead (3) and the 3rd layer conductor (5) is identical with interlayer spacing between ground floor lead (1) and second layer lead (3).
6. the decoupling method of the described three-dimensional flexible touch sensor of claim 1 comprises on lead acquired signal and in conjunction with the state equation F of conductive rubber
i=f (Δ
i) obtain power F
iSize, the function f in the formula is by the decision of the character of conductive rubber, Δ
iBe the displacement on the i direction, i is x or y or z, it is characterized in that decoupling method comprises following steps:
Step 1, selected ground floor lead is a basic point with it,
Detect earlier all second layer leads and the resistance value between it, obtain stress point by the variation of resistance value and be positioned at axial location on this ground floor lead, and perpendicular to the size of the power Fz of ground floor conductor layer and be parallel to the ground floor traverse shaft to the size of power Fx,
Detect again and parallel with this ground floor lead and two the 3rd layer conductors and the resistance value between it of spacing minimum, by the variation of resistance value obtain perpendicular to the ground floor traverse shaft to the size of power Fy;
Step 2 is selected next ground floor lead successively, and repeating step 1 is until having selected.
7. the decoupling method of three-dimensional flexible touch sensor according to claim 6 is characterized in that the variation that is defined as the resistance value between adjacent two second layer leads and ground floor lead of power Fz is identical.
8. the decoupling method of three-dimensional flexible touch sensor according to claim 6 is characterized in that the variation that is defined as the resistance value between adjacent two second layer leads and ground floor lead of power Fx is opposite.
9. the decoupling method of three-dimensional flexible touch sensor according to claim 6 is characterized in that the variation that is defined as the resistance value between adjacent two the 3rd layer conductors and ground floor lead of power Fy is opposite.
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| CN2008102341467A CN101738275B (en) | 2008-11-04 | 2008-11-04 | Three-dimensional flexible touch sensor and decoupling method thereof |
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| CN101738275B true CN101738275B (en) | 2011-07-20 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2013044226A2 (en) * | 2011-09-24 | 2013-03-28 | President And Fellows Of Harvard College | Artificial skin and elastic strain sensor |
| CN102435376A (en) * | 2011-10-24 | 2012-05-02 | 中北大学 | Flexible three-dimensional force sensor and decoupling method and manufacturing method thereof |
| CN103134622B (en) * | 2013-01-31 | 2014-12-10 | 中国科学院合肥物质科学研究院 | Three-dimensional soft tactile sensor array |
| GB2564835A (en) * | 2017-05-19 | 2019-01-30 | Impact Tech Labs Ag | A sensor pad |
| CN108362410B (en) * | 2018-04-26 | 2023-07-18 | 中国科学院合肥物质科学研究院 | Three-dimensional force flexible sensor |
| CN112014003B (en) * | 2019-05-28 | 2022-03-18 | 华中科技大学 | Flexible sensor for measuring human muscle deformation and preparation method thereof |
| CN110202595B (en) * | 2019-06-19 | 2022-03-15 | 安徽建筑大学 | Artificial skin sensor with double-layer sparse array structure |
| CN112539863B (en) * | 2020-12-02 | 2021-09-14 | 苏州大学 | Three-dimensional force flexible touch sensor and preparation method and decoupling method thereof |
| CN117288355A (en) * | 2023-09-21 | 2023-12-26 | 北京软体机器人科技股份有限公司 | Pressure sensor and flexible finger clamp |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5010774A (en) * | 1987-11-05 | 1991-04-30 | The Yokohama Rubber Co., Ltd. | Distribution type tactile sensor |
| CN1796954A (en) * | 2004-12-22 | 2006-07-05 | 中国科学院合肥智能机械研究所 | Flexible 3D force-touch sensor |
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2008
- 2008-11-04 CN CN2008102341467A patent/CN101738275B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5010774A (en) * | 1987-11-05 | 1991-04-30 | The Yokohama Rubber Co., Ltd. | Distribution type tactile sensor |
| CN1796954A (en) * | 2004-12-22 | 2006-07-05 | 中国科学院合肥智能机械研究所 | Flexible 3D force-touch sensor |
Non-Patent Citations (3)
| Title |
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| JP特开平11-248577A 1999.09.17 |
| JP特开平7-19975A 1995.01.20 |
| 黄英等.一种新型机器人三维力柔性触觉传感器的设计.《传感技术学报》.2008,第21卷(第10期),1695-1699. * |
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