CN107328497B - Signal detection sensing structure, manufacturing method thereof and signal detection method - Google Patents
Signal detection sensing structure, manufacturing method thereof and signal detection method Download PDFInfo
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- CN107328497B CN107328497B CN201710651168.2A CN201710651168A CN107328497B CN 107328497 B CN107328497 B CN 107328497B CN 201710651168 A CN201710651168 A CN 201710651168A CN 107328497 B CN107328497 B CN 107328497B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H11/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties
- G01H11/06—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties by electric means
- G01H11/08—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties by electric means using piezoelectric devices
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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
- G01L1/16—Measuring force or stress, in general using properties of piezoelectric devices
Abstract
The invention discloses a signal detection sensing structure, a manufacturing method thereof and a signal detection method, wherein the signal detection sensing structure comprises the following components: a first piezoelectric electret layer, a second piezoelectric electret layer, and an adhesive layer between the first piezoelectric electret layer and the second piezoelectric electret layer; a side surface of the first piezoelectric electret layer far away from the second piezoelectric electret layer comprises a plurality of protruding structures; the surface of one side of the second piezoelectric electret layer, which is close to the first piezoelectric electret layer, is a smooth surface; the first piezoelectric electret layer is used for detecting a contact signal and/or a sliding signal of a touch object, and the second piezoelectric electret layer is used for detecting the contact signal of the touch object. The laminated structure of the first piezoelectric electret layer and the second piezoelectric electret layer realizes simultaneous detection of the contact signal and the sliding signal by the single sensing unit, and the signal detection sensing structure provided by the embodiment of the invention has the advantages of simple structure, high sensitivity, basically no pyroelectric effect, basically no influence of temperature change in the working temperature range, and can realize high-precision detection of the contact signal and the sliding signal.
Description
Technical Field
The embodiment of the invention relates to a signal detection technology, in particular to a signal detection sensing structure, a manufacturing method thereof and a signal detection method.
Background
The sensations associated with hand function primarily include contact, pressure, position, slip, temperature, and the like. Investigation shows that contact, grip, etc. are important, and we also find that "contact" and "sliding" are the most important sensory information of prosthetic hands, and that the two types of sensory information exist in most prosthetic hand movements (except "waving hands" etc.) and are key to achieving safe and reliable grip. The contact slip signal may be derived by analysing the interaction forces between the prosthetic hand and the object, typically the "contact" signal is mainly static and the "slip" signal is mainly dynamic.
The most common static force sensors are capacitive and resistive sensors. Capacitive sensors measure pressure by measuring the change in capacitance between parallel plates, but their circuits are complex and subject to large electromagnetic interference. Resistive sensors, including piezoresistive and contact resistive, measure pressure by measuring changes in resistivity of a material, but have limited sensitivity and signal stability. In addition, a method such as a strain gauge can be used for detecting the artificial hand feel signal, but the method has the defects of complex structure, low sensitivity and the like.
Common dynamic force sensors are piezoelectric and triboelectric sensors. Both types of sensors are relatively high in manufacturing process, and the signal of the piezoelectric material is affected by temperature, and when a hotter or colder object is gripped, temperature changes interfere with the detection of the sensory signal. In addition, an array of a plurality of resistive sensors can be used for detecting a sliding signal, and photoelectric sensors, acousto-electric sensors, electromagnetic sensors and the like can be used for obtaining signals in an indirect way, but the array has the defects of complex structure, high manufacturing difficulty, low reliability, difficult guarantee of precision and the like.
At present, the contact signal and the sliding signal can be detected simultaneously by using a polyvinylidene isopipe, but the difficulty in signal separation is high, so that the detection precision of the two signals is low.
Disclosure of Invention
The invention provides a signal detection sensing structure, a manufacturing method thereof and a signal detection method, which are used for realizing the simultaneous detection of a contact signal and a sliding signal by a single sensing unit and improving the detection precision of the contact signal and the sliding signal.
In a first aspect, an embodiment of the present invention provides a signal detection sensing structure, including: a first piezoelectric electret layer, a second piezoelectric electret layer, and an adhesive layer between the first piezoelectric electret layer and the second piezoelectric electret layer; a side surface of the first piezoelectric electret layer far away from the second piezoelectric electret layer comprises a plurality of protruding structures; the surface of one side of the second piezoelectric electret layer, which is close to the first piezoelectric electret layer, is a smooth surface; the first piezoelectric electret layer is used for detecting a contact signal and/or a sliding signal of a touch object, and the second piezoelectric electret layer is used for detecting the contact signal of the touch object.
Further, the first piezoelectric electret layer and the second piezoelectric electret layer have a microporous structure therein, and the cross-sectional shape of the microporous structure includes at least one of a circle, an ellipse, and a polygon.
Further, the material of the first piezoelectric electret layer comprises at least one of fluorinated ethylene propylene copolymer and polytetrafluoroethylene.
Further, the material of the second piezoelectric electret layer includes at least one of polypropylene, polyethylene terephthalate, and polyethylene naphthalate.
Further, the first piezoelectric electret layer is laminated and bonded on the second piezoelectric electret layer through the bonding layer by adopting a pasting, hot pressing or melting process.
Further, the signal detection sensing structure further includes: a signal processing module; a first electrode is arranged on one side, far away from the second piezoelectric electret layer, of the first piezoelectric electret layer, and a second electrode is arranged on one side, close to the second piezoelectric electret layer, of the first piezoelectric electret layer; a third electrode is arranged on one side, close to the first piezoelectric electret layer, of the second piezoelectric electret layer, the second electrode and the third electrode are mutually insulated, and a fourth electrode is arranged on one side, far away from the first piezoelectric electret layer, of the second piezoelectric electret layer; the signal processing module is respectively and electrically connected with the first electrode, the second electrode, the third electrode and the fourth electrode and is used for calculating a contact signal and/or a sliding signal of a touch object.
In a second aspect, an embodiment of the present invention further provides a method for manufacturing the signal detection sensing structure according to the first aspect, including: providing a second piezoelectric electret layer; attaching an adhesive layer to one side of the second piezoelectric electret layer; providing a first piezoelectric electret layer, and laminating and bonding the first piezoelectric electret layer on the second piezoelectric electret layer through the bonding layer; wherein, a side surface of the first piezoelectric electret layer far away from the second piezoelectric electret layer comprises a plurality of convex structures; the surface of one side of the second piezoelectric electret layer, which is close to the first piezoelectric electret layer, is a smooth surface; the first piezoelectric electret layer is used for detecting a contact signal and/or a sliding signal of a touch object, and the second piezoelectric electret layer is used for detecting the contact signal of the touch object.
Further, the first piezoelectric electret layer and/or the second piezoelectric electret layer is formed by adopting a puffing method, a template method or an etching method.
Further, the first piezoelectric electret layer is laminated and bonded on the second piezoelectric electret layer through the bonding layer by adopting a pasting, hot pressing or melting process.
In a third aspect, an embodiment of the present invention further provides a signal detection method of the signal detection sensing structure according to the first aspect, including: acquiring a first signal detected by a first piezoelectric electret layer and a second signal detected by a second piezoelectric electret layer; and determining a contact signal and/or a sliding signal of the touch object according to the first signal, and determining the contact signal of the touch object according to the second signal.
Further, detecting a contact signal and/or a sliding signal of the touch object according to the first signal, and detecting a contact signal of the touch object according to the second signal; comprising the following steps: if the number of signal peaks of the first signal is equal to 1 and the amplitude of the signal peaks is larger than a first preset value, determining that the first signal is a contact signal of a touch object; if the number of signal peaks of the first signal is greater than 1, the amplitudes of the signal peaks are smaller than a first preset value, and when the signal variance of the first signal is smaller than a second threshold value, determining that the first signal is a sliding signal of a touch object; and if the number of the signal peaks of the second signal is equal to 1 and the amplitude of the signal peaks is larger than a first preset value, determining that the second signal is a contact signal of a touch object.
Further, detecting a contact signal and/or a sliding signal of the touch object according to the first signal, and detecting a contact signal of the touch object according to the second signal; comprising the following steps: if the number of signal peaks of the first signal is greater than 1 and the amplitude of one signal peak is greater than a first preset value, taking the difference between the absolute value of the first signal and the absolute value of the second signal as a third signal, and determining the third signal as a sliding signal of a touch object; the second signal is determined as a contact signal of the touching object.
Further, if the number of signal peaks of the first signal is equal to 1 and the amplitude of the signal peaks is greater than a first preset value, the signal peaks of the first signal are greater than 0, and the touch object is judged to be in a gradual contact state; if the number of signal peaks of the first signal is changed from 1 to 0, judging that the touch object is changed from a gradual contact state to a holding state; and if the number of the signal peaks of the first signal is equal to 1 and the amplitude of the signal peaks is larger than a first preset value, and the signal peaks of the first signal are smaller than 0, judging that the touch object is in a state of being separated from contact.
Further, if the number of signal peaks of the second signal is equal to 1 and the amplitude of the signal peaks is greater than a first preset value, the signal peaks of the second signal are greater than 0, and the touch object is judged to be in a gradual contact state; if the number of signal peaks of the second signal is changed from 1 to 0, judging that the touch object is changed from a gradual contact state to a holding state; and if the number of the signal peaks of the second signal is equal to 1 and the amplitude of the signal peaks is larger than a first preset value, and the signal peaks of the second signal are smaller than 0, judging that the touch object is in a state of being separated from contact.
The signal detection sensing structure provided by the embodiment of the invention comprises a first piezoelectric electret layer, a second piezoelectric electret layer and an adhesive layer, wherein the first piezoelectric electret layer and the second piezoelectric electret layer are laminated and adhered, the adhesive layer is positioned between the first piezoelectric electret layer and the second piezoelectric electret layer, one side surface of the first piezoelectric electret layer, which is far away from the second piezoelectric electret layer, comprises a plurality of convex structures for detecting a contact signal and/or a sliding signal of a touch object, one side surface of the second piezoelectric electret layer, which is close to the first piezoelectric electret layer, is a smooth surface for detecting the contact signal of the touch object, and the laminated structure of the first piezoelectric electret layer and the second piezoelectric electret layer realizes simultaneous detection of the contact signal and the sliding signal by a single sensing unit.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below of the drawings required for the embodiments or the prior art descriptions, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a signal detection sensing structure according to an embodiment of the present invention.
Fig. 2 is a schematic connection diagram of a processing module of a signal detection sensing structure provided by an embodiment of the present invention and a first piezoelectric electret layer and a second piezoelectric electret layer.
Fig. 3 is a flowchart of a method for manufacturing a signal detection sensing structure according to an embodiment of the present invention.
Fig. 4 is a flowchart of a signal detection method of the signal detection sensing structure according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a touch signal output detected by the signal detection sensing structure according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of a sliding signal output detected by the signal detection sensing structure according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Fig. 1 is a schematic diagram of a signal detection sensing structure according to an embodiment of the present invention, where the signal detection sensing structure shown in fig. 1 includes: a first piezoelectric electret layer 1, a second piezoelectric electret layer 2, and an adhesive layer 5 between the first piezoelectric electret layer 1 and the second piezoelectric electret layer 2; the adhesive layer 5 is formed by laminating and adhering the first piezoelectric electret layer 1 and the second piezoelectric electret layer 2. The surface of one side of the first piezoelectric electret layer 1 far away from the second piezoelectric electret layer 2 comprises a plurality of convex structures 3; the surface of one side of the second piezoelectric electret layer 2 adjacent to the first piezoelectric electret layer 1 is a smooth surface; the first piezoelectric electret layer 1 is used for detecting a contact signal and/or a sliding signal of a touch object, and the second piezoelectric electret layer 2 is used for detecting the contact signal of the touch object.
The signal detection sensing structure provided by the embodiment of the invention can be worn on artificial skin of a prosthetic limb or a robot hand, and the prosthetic limb can perform sliding operation, pressing operation and the like on a touch object. The pressing operation is mainly static force, and the pressing operation can be obtained by detecting the pressure of the contact surface of the artificial limb and the touch object. The sliding operation is mainly dynamic force, so that the artificial limb skin and the touch object are smooth, a large number of tiny peaks are distributed in the microstructure, when the artificial limb skin and the touch object slide relatively, micro-vibration can be generated, and the sliding operation can be obtained by detecting the vibration of the tiny peaks. The signal detection sensing structure provided by the invention uses the piezoelectric electret, and the micropore structure of the piezoelectric electret, which stores charges (dipoles) therein, can deform under the action of external force (static force and dynamic force), so that the electric dipole moment is changed, the change of the charges is compensated, corresponding charges or voltage signals are displayed externally, and therefore, the sliding operation, the pressing operation and the like between the artificial limb and a touch object can be detected. Referring to fig. 1, a side surface of a first piezoelectric electret layer 1 far from a second piezoelectric electret layer 2 of a signal detection sensing structure provided by the embodiment of the invention includes a plurality of bump structures 3, and when a relative sliding occurs between the side surface of the first piezoelectric electret layer 1 far from the second piezoelectric electret layer 2 and a touch object, the first piezoelectric electret layer 1 can detect micro-vibration caused by the sliding, so that a sliding signal can be detected. When the prosthesis presses a touch object, the first piezoelectric electret layer 1 in the signal detection sensing structure worn on the prosthesis transmits pressure to the second piezoelectric electret layer 2, and the first piezoelectric electret layer 1 and the second piezoelectric electret layer 2 can detect a contact signal. When the prosthesis wearing the signal detection sensing structure has both sliding touch and forceful pressing operation on a touch object, the first piezoelectric electret layer 1 can detect the sliding signal and the contact signal and transmit the pressure to the second piezoelectric electret layer 2 so that the second piezoelectric electret layer 2 detects the contact signal.
The signal detection sensing structure provided by the embodiment of the invention comprises the laminated structure of the first piezoelectric electret layer 1 and the second piezoelectric electret layer 2, and the laminated structure not only realizes the simultaneous detection of a contact signal and a sliding signal by a single sensing unit, but also has light weight, thin thickness, softness and flexibility and certain elasticity compared with the traditional capacitive, resistive, piezoelectric and friction type sensors, so that the first piezoelectric electret layer and the second piezoelectric electret layer in the embodiment of the invention can be easily embedded into the artificial skin surface of the prosthetic hand. In addition, the first piezoelectric electret layer and the second piezoelectric electret layer are high in sensitivity, good in linearity, basically free of pyroelectric effect and basically free of temperature change in the working temperature range, so that high-precision detection of contact signals and sliding signals can be achieved.
Specifically, the first piezoelectric electret layer 1 and the second piezoelectric electret layer 2 have the micro-pore structure 4 therein, and it should be noted that the cross-sectional shape of the micro-pore structure 4 of the second piezoelectric electret layer 2 shown in fig. 1 is exemplified by an ellipse, and the cross-sectional shape of the micro-pore structure 4 in the first piezoelectric electret layer 1 shown in fig. 1 is exemplified by a shape of a half ellipse, which is merely an example and not a limitation, and in other embodiments, the cross-sectional shape of the micro-pore structure 4 in the first piezoelectric electret layer 1 and the second piezoelectric electret layer 2 includes at least one of a circle, an ellipse, and a polygon. The microporous structures 4 of the first piezoelectric electret layer 1 and the second piezoelectric electret layer 2 may be the same or different, and may be determined according to factors such as actual production conditions and raw materials.
Optionally, the material of the first piezoelectric electret layer 1 includes at least one of fluorinated ethylene propylene copolymer and polytetrafluoroethylene. Optionally, the material of the second piezoelectric electret layer 2 includes at least one of polypropylene, polyethylene terephthalate, and polyethylene naphthalate.
Alternatively, the first piezoelectric electret layer 1 is laminated and bonded on the second piezoelectric electret layer 2 through the bonding layer 5 by adopting a pasting, hot pressing or melting process, so that not only can the pressure be transmitted from the first piezoelectric electret layer 1 to the second piezoelectric electret layer 2 without distortion when a touch object is pressed, but also the flexibility of the whole signal detection sensing structure can be not damaged.
Specifically, the signal detection sensing structure further includes: as shown in fig. 2, fig. 2 is a schematic connection diagram of the processing module 6 and the first piezoelectric electret layer 1 and the second piezoelectric electret layer 2 of the signal detection sensing structure according to the embodiment of the present invention, and it should be noted that, in fig. 2, for clarity of description of the electrical connection relationship between the processing module 6 and the first piezoelectric electret layer 1 and the second piezoelectric electret layer 2, the first piezoelectric electret layer 1 and the second piezoelectric electret layer 2 are shown separately, but the first piezoelectric electret layer 1 and the second piezoelectric electret layer 2 are actually laminated and bonded together. An insulating adhesive layer 5 is provided between the first piezoelectric electret layer 1 and the second piezoelectric electret layer 2, and serves both as an adhesive function and as an insulating second electrode 8 and third electrode 9. The bonding layer 5 is made of flexible film materials, does not influence the overall flexibility of the sensing structure, and can well transmit pressure signals from the first piezoelectric electret layer 1 to the second piezoelectric electret layer 2. A first electrode 7 is arranged on one side of the first piezoelectric electret layer 1 far away from the second piezoelectric electret layer 2, and a second electrode 8 is arranged on one side of the first piezoelectric electret layer 1 near the second piezoelectric electret layer 2; a third electrode 9 is arranged on one side of the second piezoelectric electret layer 2, which is close to the first piezoelectric electret layer 1, the second electrode 8 and the third electrode 9 are mutually insulated, and a fourth electrode 10 is arranged on one side of the second piezoelectric electret layer 2, which is far away from the first piezoelectric electret layer 1. The first electrode 7, the second electrode 8, the third electrode 9 and the fourth electrode 10 may be, for example, very thin metal electrode layers including, but not limited to, conductive materials such as aluminum, silver, gold, etc., and the preparation method of the metal electrode layers includes, but not limited to, evaporation deposition, magnetron sputtering, etc. The signal processing module 6 is electrically connected to the first electrode 7, the second electrode 8, the third electrode 9, and the fourth electrode 10, respectively, for calculating a contact signal and/or a sliding signal of the touching object.
Alternatively, the first piezoelectric electret layer 1 and the second piezoelectric electret layer 2 may share a signal processing module, or a signal processing module may be provided for each of the first piezoelectric electret layer 1 and the second piezoelectric electret layer 2, which is exemplified as the first case.
Specifically, the signal processing module is provided with a first signal end, a first grounding end, a second signal end and a second grounding end, wherein the first signal end is electrically connected with the first electrode 7 and is used for acquiring a contact signal and/or a sliding signal of a touch object, and the first grounding end is electrically connected with the second electrode 8 and is used for realizing electromagnetic shielding and reducing interference of other external signals; the second signal end is electrically connected with the third electrode 9 and used for acquiring a contact signal of a touch object, and the second grounding end is electrically connected with the fourth electrode 10 and used for realizing electromagnetic shielding and reducing interference of other external signals. The connection between the first signal terminal and the first ground terminal and the first electrode 7 and the second electrode 8, and the connection between the second signal terminal and the second ground terminal and the third electrode 9 and the fourth electrode 10 are not particularly limited, but the first signal terminal and the second electrode 8 may be electrically connected, the first ground terminal and the first electrode 7 may be electrically connected, the second signal terminal and the fourth electrode 10 may be electrically connected, and the second ground terminal and the third electrode 9 may be electrically connected.
The embodiment of the present invention further provides a method for manufacturing the signal detection sensing structure according to the foregoing embodiment, and fig. 3 is a flowchart of a method for manufacturing the signal detection sensing structure according to the embodiment of the present invention, as shown in fig. 3, including:
s101, providing a second piezoelectric electret layer.
S102, attaching an adhesive layer on one side of the second piezoelectric electret layer.
S103, providing a first piezoelectric electret layer, and laminating and bonding the first piezoelectric electret layer on the second piezoelectric electret layer through the bonding layer.
Specifically, a surface of one side of the first piezoelectric electret layer far away from the second piezoelectric electret layer comprises a plurality of convex structures; the surface of one side of the second piezoelectric electret layer, which is close to the first piezoelectric electret layer, is a smooth surface; the first piezoelectric electret layer is used for detecting a contact signal and/or a sliding signal of a touch object, and the second piezoelectric electret layer is used for detecting the contact signal of the touch object.
Optionally, the first piezoelectric electret layer and/or the second piezoelectric electret layer is formed by a puffing method, a template method or an etching method.
Optionally, the first piezoelectric electret layer is adhered to the second piezoelectric electret layer through the adhesion layer by adopting an adhesion, hot pressing or melting process, so that the contact signal can be transmitted from the first piezoelectric electret layer to the second piezoelectric electret layer without distortion, and the flexibility of the whole signal detection sensing structure can be not damaged.
The embodiment of the present invention further provides a signal detection method of the signal detection sensing structure according to the foregoing embodiment, and fig. 4 is a flowchart of a signal detection method of the signal detection sensing structure provided by the embodiment of the present invention, as shown in fig. 4, including:
s201, acquiring a first signal detected by the first piezoelectric electret and a second signal detected by the second piezoelectric electret layer.
S201, determining a contact signal and/or a sliding signal of the touch object according to the first signal, and determining the contact signal of the touch object according to the second signal.
Specifically, the signal detection method of the signal detection sensing structure provided by the embodiment of the invention can be used for detecting the signal of the signal detection sensing structure worn on the artificial limb, and the operation of the artificial limb on the touch object can be such as sliding operation, pressing operation and the like. The pressing operation is mainly a static force, and can be obtained by detecting the pressure of the contact surface of the prosthetic hand and the touch object. The sliding operation is mainly dynamic force, so that the artificial limb skin and the touch object are smooth, a large number of tiny peaks are distributed in the microstructure, when the artificial limb skin and the touch object slide relatively, micro-vibration can be generated, and the sliding operation can be obtained by detecting the vibration of the tiny peaks. According to the signal detection method of the signal detection sensing structure provided by the embodiment of the invention, according to the characteristics of the piezoelectric electret, the micropore structure of the piezoelectric electret, in which charges (dipoles) are stored, deforms under the action of external force (static force and dynamic force), so that the electric dipole moment is changed, the change of the charges is compensated, corresponding charges or voltage signals are displayed externally, and sliding operation, pressing operation and the like between an artificial limb and a touch object can be detected. Referring to fig. 1, in the signal detection method of the signal detection sensing structure provided by the embodiment of the invention, a side surface of the first piezoelectric electret layer 1, which is far away from the second piezoelectric electret layer 2, includes a plurality of raised structures 3, when a relative sliding occurs between the side surface of the first piezoelectric electret layer 1, which is far away from the second piezoelectric electret layer 2, and a touch object, the first piezoelectric electret layer 1 can detect micro-vibration caused by the sliding, so that a sliding signal can be detected, the detected sliding signal is used as a first signal, when a prosthesis presses the touch object, the first piezoelectric electret layer 1 in the signal detection sensing structure worn on the prosthesis transmits pressure to the second piezoelectric electret layer 2, and both the first piezoelectric electret layer 1 and the second piezoelectric electret layer 2 can detect a contact signal, and the detected contact signal is used as a second signal. When the prosthesis wearing the signal detection sensing structure has both sliding touch and forced pressing operation on a touch object, the first piezoelectric electret layer 1 can detect a sliding signal and a contact signal, and transmit pressure to the second piezoelectric electret layer 2 so that the second piezoelectric electret layer 2 detects the contact signal, the detected sliding signal is used as a first signal, and the detected contact signal is used as a second signal.
The signal detection method of the signal detection sensing structure provided by the embodiment of the invention firstly obtains the first signal detected by the first piezoelectric electret and the second signal detected by the second piezoelectric electret layer, then determines the contact signal and/or the sliding signal of the touch object according to the first signal, and determines the contact signal of the touch object according to the second signal, thereby realizing the simultaneous detection of the contact secondary signal and the sliding signal.
Fig. 5 is a schematic diagram of a touch signal output detected by the signal detection sensing structure according to the embodiment of the present invention, as shown in fig. 5, when an object is touched, the signal output of the touch signal is an isolated signal peak, and the amplitude of the signal peak is relatively large. Fig. 6 is a schematic diagram of a sliding signal output detected by the signal detection sensing structure according to the embodiment of the present invention, where, as shown in fig. 6, the signal output of the sliding signal is a series of irregular micro vibrations, a plurality of signal peaks exist, and the amplitudes of the signal peaks are smaller. Thus, a first threshold and a second threshold may be set, distinguishing between a touch signal and a slip signal based on the number of signal peaks and the amplitude of the signal peaks compared to the first threshold, and the variance of the signal compared to the second threshold.
Optionally, detecting a contact signal and/or a sliding signal of the touch object according to the first signal, and detecting a contact signal of the touch object according to the second signal; comprising the following steps:
if the number of signal peaks of the first signal is equal to 1 and the amplitude of the signal peaks is larger than a first preset value, determining that the first signal is a contact signal of a touch object;
if the number of signal peaks of the first signal is greater than 1, the amplitudes of the signal peaks are smaller than a first preset value, and when the signal variance of the first signal is smaller than a second threshold value, determining that the first signal is a sliding signal of a touch object;
and if the number of the signal peaks of the second signal is equal to 1 and the amplitude of the signal peaks is larger than a first preset value, determining that the second signal is a contact signal of a touch object.
The first piezoelectric electret layer can detect the contact signal and the sliding signal, so that the detected contact signal and the sliding signal can be separated by the method. If the number of signal peaks of the first signal detected by the first piezoelectric electret is equal to 1 and the amplitude of the signal peaks is larger than a first preset value, the first signal is indicated to have only one isolated signal peak, and the amplitude of the signal peaks is larger, namely, only a contact signal exists in the first signal, and the first signal is determined to be the contact signal of the touch object. If the number of signal peaks of the first signal is greater than 1 and the amplitudes of the signal peaks are smaller than a first preset value, the first signal is determined to be a sliding signal of a touch object, if the signal variance of the first signal is smaller than a second threshold value, the first signal is a series of irregular tiny vibration, a plurality of signal peaks are present, and the amplitudes of the signal peaks are smaller, namely, only the sliding signal is present in the first signal. Because the second piezoelectric electret layer can only detect the contact signal, signal separation is not needed, and the second signal can be determined to be the contact signal of the touch object only when the number of signal peaks of the second signal is equal to 1 and the amplitude of the signal peaks is larger than a first preset value.
Optionally, detecting a contact signal and/or a sliding signal of the touch object according to the first signal, and detecting a contact signal of the touch object according to the second signal; comprising the following steps:
if the number of signal peaks of the first signal is greater than 1 and the amplitude of one signal peak is greater than a first preset value, taking the difference between the absolute value of the first signal and the absolute value of the second signal as a third signal, and determining the third signal as a sliding signal of the touch object;
the second signal is determined as a contact signal of the touching object.
If the number of signal peaks of the first signal detected by the first piezoelectric electret is greater than 1 and the amplitude of one signal peak is greater than a first preset value, the first signal is indicated to have both a contact signal and a sliding signal. The second signal detected by the second piezoelectric electret layer is a contact signal, the contact signal detected by the second piezoelectric electret layer is transmitted by the first piezoelectric electret layer, the contact signals detected by the second piezoelectric electret layer and the first piezoelectric electret layer are equal in size, specifically, the contact signal in the first signal can be removed by making difference between the absolute value of the first signal and the absolute value of the second signal, the difference is used as a third signal, and the third signal is a sliding signal of a touch object.
Optionally, the signal detection method of the signal detection sensing structure provided by the embodiment of the invention further includes:
if the number of signal peaks of the first signal is equal to 1 and the amplitude of the signal peaks is larger than a first preset value, the signal peaks of the first signal are larger than 0, and the touch object is judged to be in a gradual contact state;
if the number of signal peaks of the first signal is changed from 1 to 0, judging that the touch object is changed from a gradual contact state to a holding state;
if the number of signal peaks of the first signal is equal to 1 and the amplitude of the signal peaks is larger than a first preset value, the signal peaks of the first signal are smaller than 0, and the touch object is judged to be in a separated contact state.
If the number of signal peaks of the first signal is equal to 1 and the amplitude of the signal peaks is larger than a first preset value, the first signal is indicated to have only one isolated signal peak, and the amplitude of the signal peaks is larger, namely the first signal only has a contact signal, and because the signal peaks of the first signal are larger than 0, the process that the touch object is in gradual contact is indicated; if the number of signal peaks of the first signal is changed from 1 to 0, the first signal is changed from continuously-changed signal output to no signal output, namely, the touch object is changed from a gradual contact state to a holding state; if the number of signal peaks of the first signal is equal to 1 and the amplitude of the signal peaks is greater than a first preset value, the first signal is indicated to have only one isolated signal peak, and the amplitude of the signal peaks is relatively large, namely the first signal only has a contact signal, and because the signal peaks of the first signal are smaller than 0, the touch object is indicated to be in a state of being separated from contact.
Optionally, the signal detection method of the signal detection sensing structure provided by the embodiment of the invention further includes:
if the number of the signal peaks of the second signal is equal to 1 and the amplitude of the signal peaks is larger than a first preset value, the signal peaks of the second signal are larger than 0, and the touch object is judged to be in a gradual contact state;
if the number of signal peaks of the second signal is changed from 1 to 0, judging that the touch object is changed from a gradual contact state to a holding state;
if the number of signal peaks of the second signal is equal to 1 and the amplitude of the signal peaks is larger than the first preset value, the signal peaks of the second signal are smaller than 0, and the touch object is judged to be in a separated contact state.
If the number of signal peaks of the second signal is equal to 1 and the amplitude of the signal peaks is greater than a first preset value, the second signal is indicated to have only one isolated signal peak, and the amplitude of the signal peaks is relatively large, namely the second signal is a contact signal, and because the signal peaks of the second signal are greater than 0, the touch object is indicated to be in a gradual contact process; if the number of signal peaks of the second signal is changed from 1 to 0, the second signal is changed from continuously-changed signal output to no signal output, namely the touch object is changed from a gradual contact state to a holding state; if the number of signal peaks of the second signal is equal to 1 and the amplitude of the signal peaks is greater than a first preset value, the second signal is indicated to have only one isolated signal peak, and the amplitude of the signal peaks is relatively large, namely the second signal is a contact signal, and because the signal peak of the second signal is smaller than 0, the touch object is indicated to be in a state of being separated from contact.
The signal detection method of the signal detection sensing structure provided by the embodiment of the invention firstly obtains the first signal detected by the first piezoelectric electret and the second signal detected by the second piezoelectric electret layer, then determines the contact signal and/or the sliding signal of the touch object according to the first signal, and determines the contact signal of the touch object according to the second signal, thereby realizing the simultaneous detection of the contact secondary signal and the sliding signal. The signal detection method provided by the invention provides a method for separating the contact signal and the sliding signal in the first signal according to the characteristics of the contact signal and the sliding signal, and can judge the grasping state of the prosthetic hand wearing the signal detection sensing structure, such as judging whether a touch object is in a gradual contact state, a grasping state or a separation contact state, so that the practical application of the novel sensing unit is realized.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (10)
1. A signal detection sensing structure, comprising:
a first piezoelectric electret layer, a second piezoelectric electret layer, and an adhesive layer between the first piezoelectric electret layer and the second piezoelectric electret layer;
a side surface of the first piezoelectric electret layer far away from the second piezoelectric electret layer comprises a plurality of protruding structures; the surface of one side of the second piezoelectric electret layer, which is close to the first piezoelectric electret layer, is a smooth surface;
the first piezoelectric electret layer is used for detecting a contact signal and a sliding signal of a touch object, and the second piezoelectric electret layer is used for detecting the contact signal of the touch object;
laminating and bonding the first piezoelectric electret layer on the second piezoelectric electret layer through the bonding layer by adopting a pasting, hot pressing or melting process;
the material of the first piezoelectric electret layer comprises at least one of fluorinated ethylene propylene copolymer and polytetrafluoroethylene.
2. The signal detection sensing structure of claim 1, wherein the first and second piezoelectric electret layers have a microporous structure therein, and wherein a cross-sectional shape of the microporous structure comprises at least one of a circle, an ellipse, and a polygon.
3. The signal detection sensing structure of claim 1, wherein the material of the second piezoelectric electret layer comprises at least one of polypropylene, polyethylene terephthalate, and polyethylene naphthalate.
4. The signal detection sensing structure of claim 1, further comprising: a signal processing module;
a first electrode is arranged on one side, far away from the second piezoelectric electret layer, of the first piezoelectric electret layer, and a second electrode is arranged on one side, close to the second piezoelectric electret layer, of the first piezoelectric electret layer; a third electrode is arranged on one side, close to the first piezoelectric electret layer, of the second piezoelectric electret layer, the second electrode and the third electrode are mutually insulated, and a fourth electrode is arranged on one side, far away from the first piezoelectric electret layer, of the second piezoelectric electret layer;
the signal processing module is respectively and electrically connected with the first electrode, the second electrode, the third electrode and the fourth electrode and is used for calculating a contact signal and/or a sliding signal of a touch object.
5. A method of making a signal detection sensing structure according to any one of claims 1-4, comprising:
providing a second piezoelectric electret layer;
attaching an adhesive layer to one side of the second piezoelectric electret layer;
providing a first piezoelectric electret layer, and laminating and bonding the first piezoelectric electret layer on the second piezoelectric electret layer through the bonding layer;
wherein, a side surface of the first piezoelectric electret layer far away from the second piezoelectric electret layer comprises a plurality of convex structures; the surface of one side of the second piezoelectric electret layer, which is close to the first piezoelectric electret layer, is a smooth surface; the first piezoelectric electret layer is used for detecting a contact signal and/or a sliding signal of a touch object, and the second piezoelectric electret layer is used for detecting the contact signal of the touch object;
and laminating and bonding the first piezoelectric electret layer on the second piezoelectric electret layer through the bonding layer by adopting a pasting, hot pressing or melting process.
6. The method of claim 5, wherein the first piezoelectric electret layer and/or the second piezoelectric electret layer is formed using a puffing method, a stencil method, or an etching method.
7. A signal detection method of a signal detection sensing structure according to any one of claims 1 to 4, comprising:
acquiring a first signal detected by a first piezoelectric electret layer and a second signal detected by a second piezoelectric electret layer;
determining a contact signal and/or a sliding signal of the touch object according to the first signal, and determining a contact signal of the touch object according to the second signal;
if the number of signal peaks of the first signal is greater than 1 and the amplitude of one signal peak is greater than a first preset value, taking the difference between the absolute value of the first signal and the absolute value of the second signal as a third signal, and determining the third signal as a sliding signal of a touch object;
the second signal is determined as a contact signal of the touching object.
8. The method according to claim 7, wherein the determining the contact signal and/or the sliding signal of the touching object based on the first signal and the determining the contact signal of the touching object based on the second signal; comprising the following steps:
if the number of signal peaks of the first signal is equal to 1 and the amplitude of the signal peaks is larger than a first preset value, determining that the first signal is a contact signal of a touch object;
if the number of signal peaks of the first signal is greater than 1, the amplitudes of the signal peaks are smaller than a first preset value, and when the signal variance of the first signal is smaller than a second threshold value, determining that the first signal is a sliding signal of a touch object;
and if the number of the signal peaks of the second signal is equal to 1 and the amplitude of the signal peaks is larger than a first preset value, determining that the second signal is a contact signal of a touch object.
9. The method as recited in claim 7, further comprising:
if the number of signal peaks of the first signal is equal to 1 and the amplitude of the signal peaks is larger than a first preset value, and the signal peaks of the first signal are larger than 0, judging that the touch object is in a gradual contact state;
if the number of signal peaks of the first signal is changed from 1 to 0, judging that the touch object is changed from a gradual contact state to a holding state;
and if the number of the signal peaks of the first signal is equal to 1 and the amplitude of the signal peaks is larger than a first preset value, and the signal peaks of the first signal are smaller than 0, judging that the touch object is in a state of being separated from contact.
10. The method as recited in claim 7, further comprising:
if the number of signal peaks of the second signal is equal to 1 and the amplitude of the signal peaks is larger than a first preset value, and the signal peaks of the second signal are larger than 0, judging that the touch object is in a gradual contact state;
if the number of signal peaks of the second signal is changed from 1 to 0, judging that the touch object is changed from a gradual contact state to a holding state;
and if the number of the signal peaks of the second signal is equal to 1 and the amplitude of the signal peaks is larger than a first preset value, and the signal peaks of the second signal are smaller than 0, judging that the touch object is in a state of being separated from contact.
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| CN107328497B (en) * | 2017-08-02 | 2023-06-27 | 深圳先进技术研究院 | Signal detection sensing structure, manufacturing method thereof and signal detection method |
| CN108931323A (en) * | 2018-05-03 | 2018-12-04 | 复旦大学 | A kind of electret body transistor force snesor and preparation method thereof |
| CN109100070A (en) * | 2018-09-27 | 2018-12-28 | 中国科学院深圳先进技术研究院 | A kind of sensor and the method for detecting haptic signal |
| CN109271031A (en) * | 2018-09-27 | 2019-01-25 | 中国科学院深圳先进技术研究院 | A kind of haptic signal detection method, device, system, equipment and storage medium |
| CN110017937A (en) * | 2019-04-08 | 2019-07-16 | 清华大学深圳研究生院 | A kind of pliable pressure sensor and preparation method thereof and pulse condition analyser |
| CN110617914B (en) * | 2019-08-30 | 2022-01-11 | 华为技术有限公司 | Signal correction method of piezoelectric sensor and electronic equipment |
| CN113576084A (en) * | 2021-08-18 | 2021-11-02 | 同济大学 | Integrated intelligent waistband and preparation method thereof |
| CN114322827B (en) * | 2021-12-13 | 2023-12-01 | 北京纳米能源与系统研究所 | Non-contact sensor and related method |
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| US4555953A (en) * | 1984-04-16 | 1985-12-03 | Paolo Dario | Composite, multifunctional tactile sensor |
| TW523582B (en) * | 2000-11-24 | 2003-03-11 | Shr-Guang Li | Fourth-order partial differential equation piezoelectric transducer with mutually independent gain and phase functions |
| JP4900650B2 (en) * | 2005-11-17 | 2012-03-21 | アイシン精機株式会社 | Biological information pressure sensor and biological information pressure detection device |
| JP4671057B2 (en) * | 2007-12-28 | 2011-04-13 | 花王株式会社 | Hair surface property sensor |
| CN103519924B (en) * | 2013-10-22 | 2015-12-02 | 深圳先进技术研究院 | Intelligent artificial hand system |
| CN104406627B (en) * | 2014-11-11 | 2017-01-25 | 浙江大学 | Wearable flexible touch sensor of artificial hand and touch detection system thereof |
| CN106813812B (en) * | 2016-12-28 | 2019-07-19 | 华中科技大学 | A kind of electroactive flexible compound membrane pressure electric transducer of high pressure and preparation method thereof |
| CN107328497B (en) * | 2017-08-02 | 2023-06-27 | 深圳先进技术研究院 | Signal detection sensing structure, manufacturing method thereof and signal detection method |
| CN207036311U (en) * | 2017-08-02 | 2018-02-23 | 深圳先进技术研究院 | A kind of signal detection sensing arrangement |
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