CN108760105B - Bionic hair sensing structure with adjustable angle - Google Patents
Bionic hair sensing structure with adjustable angle Download PDFInfo
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- CN108760105B CN108760105B CN201810532743.1A CN201810532743A CN108760105B CN 108760105 B CN108760105 B CN 108760105B CN 201810532743 A CN201810532743 A CN 201810532743A CN 108760105 B CN108760105 B CN 108760105B
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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
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/205—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using distributed sensing elements
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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
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
- G01L1/2287—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges constructional details of the strain gauges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
- G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
- G01L5/228—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping using tactile array force sensors
Abstract
The invention discloses an angle-adjustable bionic hair sensing structure. The bionic hair receptor array comprises a flexible substrate and hair receptors arranged on the flexible substrate in an arrangement mode, wherein the hair receptors are arranged on the upper surface of the flexible substrate in an equally-spaced array mode, and the hair receptors are of an active angle-adjustable structure to form an angle-adjustable bionic hair receptor array. The invention obtains the external force in different directions according to the actual requirement, and measures the external force on the uneven working surface, so that the object can obtain the touch perception when approaching the working surface, the time for the system to react is prolonged, and the safety performance is improved.
Description
Technical Field
The invention relates to a sensing device, in particular to an angle-adjustable bionic hair sensing structure.
Background
At present, a service robot, which is the robot closest to the life of people, is gradually entering daily production and life, and plays an increasingly important role in the development of the human society.
Safety is the most fundamental and important link in the human interaction with the service robot. The touch sense is a key way of information perception, and can assist the service robot to complete expected actions and perform safe interaction between the robot and the robot in a multi-element complex environment. Sensitive skin is typically composed of thousands of sensors, requiring a soft, flexible switching control array.
At present, the widely used flexible touch sensor mostly uses a two-dimensional flexible planar structure, and few flexible sensors with convex features for researching the structure of human hair are available. Such a two-dimensional structure has difficulty in obtaining more tactile dimension information. Meanwhile, the existing hair receptor is difficult to obtain the external force in different directions according to experimental requirements or measure the external force in a certain direction on an uneven working surface.
Disclosure of Invention
The invention provides an angle-adjustable bionic hair sensing structure, which aims to solve the defects that a flexible touch sensor with a two-dimensional flexible planar structure is difficult to acquire more dimensional information and realize innovation that external forces in different directions can be acquired according to experimental requirements and the external force in a certain direction can be measured on an uneven working surface.
The technical scheme adopted by the invention for solving the problems is as follows:
the bionic hair receptor array comprises a flexible substrate and hair receptors which are arranged on the flexible substrate, wherein the hair receptors are arranged on the upper surface of the flexible substrate at equal intervals in an array manner to form the angle-adjustable bionic hair receptor array.
The hair receptor is in a cylindrical structure and comprises a surface layer positioned on the outer surface, two air cavities and two flexible sensing layers, wherein the two air cavities and the two flexible sensing layers are wrapped by the surface layer; a first air inner cavity and a second air inner cavity which are close to each other and are vertically arranged are arranged in the hair receptor, the first air inner cavity and the second air inner cavity are in the same cylindrical structure, the central axis of the whole hair receptor is positioned on the plane formed by the central axes of the first air inner cavity and the second air inner cavity, and the central axis of the whole hair receptor is positioned between the central axes of the first air inner cavity and the second air inner cavity; the bottoms of the first air inner cavity and the second air inner cavity are respectively led out through a first air inner cavity air pipe and a second air inner cavity air pipe to be connected to an external air pressure controller; the outer cylindrical surface of the hair receptor is symmetrically provided with a first flexible sensing layer and a second flexible sensing layer, a power signal transmission lead is arranged at the central axis inside the hair receptor in a penetrating manner, and the upper end of the power signal transmission lead passes through the tops of the first air inner cavity and the second air inner cavity from the inside of the hair receptor and is connected with the upper ends of the first flexible sensing layer and the second flexible sensing layer respectively; and a first signal transmission lead connected with the lower end of the first flexible sensing layer and a second signal transmission lead connected with the lower end of the second flexible sensing layer are arranged on two sides of the bottom of the hair receptor in a penetrating manner, and the first flexible sensing layer and the second flexible sensing layer are respectively led out through the first signal transmission lead and the second signal transmission lead and are connected to an external circuit.
The hair sensing structure is specially designed, so that the sensing angle is adjustable, the stressed state is changed, the hair sensing structure is more sensitive to different deformation detection, and the hair sensing structure is suitable for different detection environments and applications and has universality.
The hair sensing structure can be used for the electronic skin of a robot, the robot is provided with the hair sensing structure, and the detection result of the hair sensing structure is used for feeding back the movement and the pose of the robot and setting the safety distance.
The outer surface of the hair receptor is insulated and protected by the surface layer.
The hair sensing structure can simultaneously realize the following angle adjustable states:
the hair receptor is not bent under the normal state that the hair receptor is not pressed after being installed and the first air cavity and the second air cavity have the same internal air pressure;
under the state that the air pressure in the first air cavity is lower than the air pressure in the second air cavity when the hair is not pressed, the hair receptor bends towards the direction of the first air cavity;
under the state that the air pressure in the first air cavity is larger than the air pressure in the second air cavity when the hair is not pressed, the hair receptor bends towards the direction of the second air cavity;
under the pressing, the hair receptor is elastically deformed, and is bent in the direction of the pressing force by the pressing force.
The bottom of the hair receptor is connected with the flexible substrate into a whole, and a power signal transmission lead, a first signal transmission lead and a second signal transmission lead in the hair receptor are arranged in the flexible substrate in a penetrating mode and are connected to an external circuit after being led out of the flexible substrate.
The first air inner cavity air pipe and the second air inner cavity air pipe in the hair receptor are arranged in the flexible substrate in a penetrating mode and are connected to an external air pressure controller after being led out of the flexible substrate.
The lower surface of the flexible substrate without the sensing function is attached to the area to be detected, and the hair receptor is in contact with the external force to sense the size.
The arrangement mode of the hair receptor array on the flexible substrate includes but is not limited to a 5 x 5 array, and the structure form of the higher-order array is the same.
The flexible substrate and the hair receptor are made of flexible materials including, but not limited to, Polydimethylsiloxane (PDMS).
The material used for the power signal transmission wire, the first signal transmission wire and the second signal transmission wire includes, but is not limited to, copper (Cu).
The sensing materials of the first flexible sensing layer and the second flexible sensing layer include, but are not limited to, a composite material consisting of Polydimethylsiloxane (PDMS) and multi-walled carbon nanotubes (MWCNTs).
The angle adjustable type is characterized in that the hair receptor is bent by adjusting the air pressure of a first air inner cavity and a second air inner cavity in the hair receptor, the bending direction is that the top axis of the hair receptor is vertical to the direction of external force, and the magnitude of the external force in different directions can be judged by combining the resistance values of a first flexible sensing layer and a second flexible sensing layer of the hair receptor.
The hair sensor can be used for detecting the magnitude of external force.
The invention has the beneficial effects that:
the angle-adjustable flexible bionic hair is integrated in the sensing device, external forces in different directions can be obtained according to experimental requirements, and the external force in a certain direction can be measured on an uneven working surface, so that the angle-adjustable flexible bionic hair can be used for feedback of the end part of the robot and implementation of a safe distance.
The hair sensing structure is adjustable in angle, and can change the stressed state, so that deformation detection is more sensitive.
Due to the hair structure on the outer surface of the device, when an object does not touch the flexible substrate, the sensor can also obtain touch perception, the time for the system to react is prolonged, and the safety performance is improved.
The device is a flexible structure, and can effectively buffer the contact between an object (such as a human body) and the sensing device.
Drawings
Fig. 1 is an isometric view of the present invention.
Figure 2 is an isometric view of a hair receptor.
Figure 3 is an elevational cross-sectional view of a hair receptor.
Fig. 4 is a schematic diagram of the deformation of the hair receptor when the air pressure in the first air cavity is greater than the air pressure in the second air cavity when no external force is applied to the hair receptor.
Fig. 5 is a schematic diagram of the deformation of the hair receptor when the air pressure in the first air cavity is smaller than the air pressure in the second air cavity when no external force is applied to the hair receptor.
Fig. 6 is a schematic view of the angle of a hair sensor being changed by adjusting the air pressure in the air chamber when a hair receptor is placed on a flat work surface.
Fig. 7 is a schematic view of a hair receptor placed on a circular arc-shaped working surface under a normal state without adjusting the air pressure of an air cavity.
Fig. 8 is a schematic view of the hair sensor being angled vertically by adjusting the air pressure in the air chamber when the hair receptor is placed on a circular arc-shaped work surface.
Fig. 9 is a schematic diagram of the operation of a hair receptor placed on a flat work surface to detect an external force directed perpendicular to the work surface without and with adjustments to the air pressure of the air cavity.
In the figure: 1. a flexible substrate, 2, a hair receptor; 201. the sensing device comprises a first air inner cavity, 202, a second air inner cavity, 203, a first air inner cavity air pipe, 204, a second air inner cavity air pipe, 205, a first flexible sensing layer, 206, a second flexible sensing layer, 207, a power signal transmission lead, 208, a first signal transmission lead, 209, a second signal transmission lead, 210 and a surface layer.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, the specific implementation of the invention includes a flexible substrate 1 and hair receptors 2 arranged on the flexible substrate 1, the hair receptors 2 are arranged on the upper surface of the flexible substrate 1 at equal intervals in an array, and the hair receptors 2 are active angle-adjustable structures to form an angle-adjustable bionic hair receptor array.
As shown in fig. 2 and 3, the hair receptor 2 has a cylindrical structure, and includes a surface layer 210 on the outer surface, two air cavities 201 and 202 and two flexible sensing layers 205 and 206, which are wrapped by the surface layer 210; the outer surface of the hair receptor 2 is insulated and protected by a surface layer 210.
As shown in fig. 2 and 3, the interior of the hair receptor 2 is provided with a first air cavity 201 and a second air cavity 202 which are vertically arranged close to each other, the first air cavity 201 and the second air cavity 202 are in the same cylindrical structure, the central axis of the whole hair receptor 2 is positioned on the plane formed by the central axes of the first air cavity 201 and the second air cavity 202, and the central axis of the whole hair receptor 2 is positioned between the central axes of the first air cavity 201 and the second air cavity 202; the bottoms of the first air inner cavity 201 and the second air inner cavity 202 are respectively led out through a first air inner cavity air pipe 203 and a second air inner cavity air pipe 204 and connected to an external air pressure controller; the hair receptor 2 is provided with a first flexible sensing layer 205 and a second flexible sensing layer 206 in cylindrical symmetry, the first flexible sensing layer 205 and the second flexible sensing layer 206 are in the same rectangle after being unfolded into a plane, and the first flexible sensing layer 205 and the second flexible sensing layer 206 are independent and non-overlapping; a power signal transmission lead wire 207 penetrates through the central axis inside the hair receptor 2, and the upper end of the power signal transmission lead wire 207 passes through the tops of the first air cavity 201 and the second air cavity 202 from the inside of the hair receptor 2 and is connected with the upper ends of the first flexible sensing layer 205 and the second flexible sensing layer 206 respectively; a first signal transmission lead 208 connected with the lower end of the first flexible sensing layer 205 and a second signal transmission lead 209 connected with the lower end of the second flexible sensing layer 206 are arranged on two sides of the bottom of the hair receptor 2 in a penetrating manner, and the first flexible sensing layer 205 and the second flexible sensing layer 206 are respectively led out through the first signal transmission lead 208 and the second signal transmission lead 209 and connected to an external circuit.
The hair sensing structure can simultaneously realize the following angle adjustable states:
in a normal state where the hair receptor 2 is not pressed after installation and the first air chamber 201 and the second air chamber 202 have the same internal air pressure, the hair receptor 2 is not bent;
in a state where the air pressure inside the first air chamber 201 is lower than the air pressure inside the second air chamber 202 without being pressed, as shown in fig. 5, the hair receptor 2 is bent in the direction of the first air chamber 201;
in a state where the air pressure inside the first air chamber 201 is greater than the air pressure inside the second air chamber 202 without being pressed, as shown in fig. 4, the hair receptor 2 is bent in the direction of the second air chamber 202;
the hair receptor 2 is elastically deformed by the pressing force, and is bent in the direction of the pressing force by the pressing force.
The bottom of the hair receptor 2 is connected with the flexible substrate 1 into a whole, and the power signal transmission lead 207, the first signal transmission lead 208 and the second signal transmission lead 209 in the hair receptor 2 are arranged in the flexible substrate 1 in a penetrating way and are connected to an external circuit after being led out from the flexible substrate 1.
The first air lumen air pipe 203 and the second air lumen air pipe 204 in the hair receptor 2 are arranged through the flexible substrate 1, and are connected to an external air pressure controller outside the device of the invention after being led out from the flexible substrate 1.
When the hair sensing structure is used, the lower surface of the flexible substrate 1 without the sensing function is attached to the area to be detected, and the hair sensor 2 is in contact with and senses the magnitude of external force.
The arrangement of the array of hair receptors 2 on the flexible substrate 1 includes, but is not limited to, a 5 x 5 array, and the structure form of the higher-order array is the same. In one embodiment, the number of air cavities per hair receptor 2 includes, but is not limited to, 2, and more air cavities can achieve hair receptors with higher degrees of freedom.
The invention is implemented as follows:
when the sensing device is used, one side of the lower surface of the flexible substrate 1 without the sensing function is tightly attached to the surface of the detection area, an analysis circuit outside the sensing device is connected to the flexible substrate through a lead, and an air pipe is connected to an air pressure controller outside the sensing device.
Example 1
In the process of obtaining the external force in the horizontal direction when the surface of the detection area is a plane, the air pressure is adjusted to make the air pressure in the first air cavity 201 and the second air cavity 202 of the hair receptor 2 equal, so that the hair receptor 2 is not bent before the external force acts on the hair receptor.
When a horizontal external force acts on the hair receptor 2, the hair receptor 2 is bent. The bending deformation may cause a contraction and an extension of the first flexible sensing layer 205 and the second flexible sensing layer 206. The resistance values of the first flexible sensing layer 205 and the second flexible sensing layer 206 will change, one increasing and one decreasing. The electric potentials of the contact ends of the power signal transmission lead 207 and the first flexible sensing layer 205 and the second flexible sensing layer 206 are high levels, so that the resistance values of the first flexible sensing layer 205 and the second flexible sensing layer 206 can be calculated according to the output voltages of the first signal transmission lead 208 and the second signal transmission lead 209, and the magnitude of the horizontal external force F can be judged according to the difference between the resistance values of the first flexible sensing layer 205 and the second flexible sensing layer 206. The reason that the magnitude of the external force F is judged according to the difference value of the resistance values is that on one hand, the influence of external interference such as temperature, humidity and the like on the resistance values can be counteracted, and on the other hand, the resistance values are increased and decreased, so that the difference value is larger than the change value of the resistance value of any flexible sensing layer, and the sensitivity is improved.
Example 2
In the process of acquiring external force in a non-horizontal direction when the surface of the detection area is a plane, the air pressure in the first air cavity 201 and the second air cavity 202 of the hair receptor 2 is adjusted, so that the hair receptor 2 is bent before the external force acts on the hair receptor, the bending direction is that the external force is perpendicular to the top end of the hair receptor 2, as shown in fig. 6, and F in the drawing indicates the acting external force. The bending deformation at this time may cause a contraction and an extension of the first flexible sensing layer 205 and the second flexible sensing layer 206, so that the resistance values of the first flexible sensing layer 205 and the second flexible sensing layer 206 are changed. The magnitude of the resistance value can be calculated from the magnitude of the output voltage of the first signal transmission conductor 208 and the second signal transmission conductor 209, and the corresponding difference in resistance value is recorded as the initial condition.
When a non-horizontal external force acts on the hair receptor 2, the hair sensor 2 is bent. The bending deformation may cause the first flexible sensing layer 205 and the second flexible sensing layer 206 to deform, so the resistances of the first flexible sensing layer 205 and the second flexible sensing layer 206 may change, one increasing and one decreasing. The electric potential of the contact end of the power signal transmission wire 207 and the first flexible sensing layer 205 and the second flexible sensing layer 206 is high level, so the resistance values of the first flexible sensing layer 205 and the second flexible sensing layer 206 can be calculated according to the output voltages of the first signal transmission wire 208 and the second signal transmission wire 209, and the magnitude of the horizontal external force F is judged according to the difference between the resistance values of the first flexible sensing layer 205 and the second flexible sensing layer.
Example 3
In the process that the surface of the detection area is a plane and a plurality of external forces in different directions are obtained, the air pressure in the first air cavity 201 and the second air cavity 202 of the hair receptor 2 is adjusted, so that the hair receptor 2 is bent before the external forces act on the hair receptor, and the bending direction is that each external force is perpendicular to the top end of the hair receptor 2 corresponding to the external force to be detected. At this time, the first flexible sensing layer 205 and the second flexible sensing layer 206 are contracted and extended due to the bending deformation, so that the resistance values of the first flexible sensing layer 205 and the second flexible sensing layer 206 are changed, the resistance values can be calculated according to the output voltages of the first signal transmission conducting wire 208 and the second signal transmission conducting wire 209, and the corresponding resistance value difference is recorded as the initial condition.
When a non-horizontal external force acts on the hair receptor 2, the hair sensor 2 is bent. The bending deformation may cause the first flexible sensing layer 205 and the second flexible sensing layer 206 to deform, so the resistance values of the first flexible sensing layer 205 and the second flexible sensing layer 206 may change. The electric potential of the contact end of the power signal transmission wire 207 and the first flexible sensing layer 205 and the second flexible sensing layer 206 is high level, so the resistance values of the first flexible sensing layer 205 and the second flexible sensing layer 206 can be calculated according to the output voltages of the first signal transmission wire 208 and the second signal transmission wire 209, and the magnitude of the horizontal external force F is judged according to the difference between the resistance values of the first flexible sensing layer 205 and the second flexible sensing layer.
Example 4
In the process of acquiring external force in the horizontal direction when the surface of the detection area is non-planar, the air pressure in the first air cavity 201 and the second air cavity 202 of the hair receptor 2 is adjusted, so that the hair receptor 2 is bent before the external force is applied, the bending direction is that the top end of the hair receptor 2 is vertical, as shown in fig. 8, and F in the figure represents the applied external force. At this time, the first flexible sensing layer 205 and the second flexible sensing layer 206 are contracted and extended due to the bending deformation, so that the resistance values of the first flexible sensing layer 205 and the second flexible sensing layer 206 are changed, the resistance values can be calculated according to the output voltages of the first signal transmission conducting wire 208 and the second signal transmission conducting wire 209, and the corresponding resistance value difference is recorded as the initial condition.
When a horizontal external force acts on the hair receptor 2, the hair receptor 2 is bent. The bending deformation may cause the first flexible sensing layer 205 and the second flexible sensing layer 206 to deform, so the resistance values of the first flexible sensing layer 205 and the second flexible sensing layer 206 may change. The electric potential of the contact end of the power signal transmission wire 207 and the first flexible sensing layer 205 and the second flexible sensing layer 206 is high level, so the resistance values of the first flexible sensing layer 205 and the second flexible sensing layer 206 can be calculated according to the output voltages of the first signal transmission wire 208 and the second signal transmission wire 209, and the magnitude of the horizontal external force F is judged according to the difference between the resistance values of the first flexible sensing layer 205 and the second flexible sensing layer.
Example 5
In the process of acquiring external force in a non-horizontal direction when the surface of the detection area is non-planar, the air pressure in the first air cavity 201 and the second air cavity 202 of the hair receptor 2 is adjusted, so that the hair receptor 2 is bent before the external force is applied, and the bending direction is that the external force is perpendicular to the top end of the hair receptor 2. At this time, the first flexible sensing layer 205 and the second flexible sensing layer 206 are contracted and extended due to the bending deformation, so that the resistance values of the first flexible sensing layer 205 and the second flexible sensing layer 206 are changed, the resistance values can be calculated according to the output voltages of the first signal transmission conducting wire 208 and the second signal transmission conducting wire 209, and the corresponding resistance value difference is recorded as the initial condition.
When a horizontal external force acts on the hair receptor 2, the hair receptor 2 is bent. The bending deformation may cause the first flexible sensing layer 205 and the second flexible sensing layer 206 to deform, so the resistance values of the first flexible sensing layer 205 and the second flexible sensing layer 206 may change. The electric potential of the contact end of the power signal transmission wire 207 and the first flexible sensing layer 205 and the second flexible sensing layer 206 is high level, so the resistance values of the first flexible sensing layer 205 and the second flexible sensing layer 206 can be calculated according to the output voltages of the first signal transmission wire 208 and the second signal transmission wire 209, and the magnitude of the horizontal external force F is judged according to the difference between the resistance values of the first flexible sensing layer 205 and the second flexible sensing layer.
Example 6
In the process that the surface of the detection area is non-planar and a plurality of external forces in different directions are acquired, the air pressure in the first air cavity 201 and the second air cavity 202 of the hair receptor 2 is adjusted, so that the hair receptor 2 is bent before the external force acts on the hair receptor, and the bending direction is that the external force in each different direction is perpendicular to the top end of the hair receptor 2 which correspondingly detects the external force. At this time, the first flexible sensing layer 205 and the second flexible sensing layer 206 are contracted and extended due to the bending deformation, so that the resistance values of the first flexible sensing layer 205 and the second flexible sensing layer 206 are changed, the resistance values can be calculated according to the output voltages of the first signal transmission conducting wire 208 and the second signal transmission conducting wire 209, and the corresponding resistance value difference is recorded as the initial condition.
When a non-horizontal external force acts on the hair receptor 2, the hair receptor 2 is bent. The bending deformation may cause the first flexible sensing layer 205 and the second flexible sensing layer 206 to deform, so the resistance values of the first flexible sensing layer 205 and the second flexible sensing layer 206 may change. The electric potential of the contact end of the power signal transmission wire 207 and the first flexible sensing layer 205 and the second flexible sensing layer 206 is high level, so the resistance values of the first flexible sensing layer 205 and the second flexible sensing layer 206 can be calculated according to the output voltages of the first signal transmission wire 208 and the second signal transmission wire 209, and the magnitude of the horizontal external force F is judged according to the difference between the resistance values of the first flexible sensing layer 205 and the second flexible sensing layer.
The angle of the hair sensor is changed by adjusting the air pressure in the air cavity when the hair receptor is placed on a flat working surface, as shown in fig. 6, wherein the force F represents an external force in a non-horizontal direction, in this case, the external force F is perpendicular to the top end of the hair receptor 2, which is beneficial to increase the bending deformation degree of the hair receptor 2 and increase the resistance change degree of the first flexible sensing layer 205 and the second flexible sensing layer 206, thereby further improving the sensitivity, for example, in example 2.
The normal condition that the air pressure of the air cavity is not adjusted when the hair receptor is placed on the circular arc-shaped working surface is shown in fig. 7, in this case, the air pressure of the air cavity is adjusted to make the hair sensor in the vertical state is shown in fig. 8, in this case, the external force F is perpendicular to the top end of the hair receptor 2, which is beneficial to increasing the bending deformation degree of the hair receptor 2, increasing the resistance value change degree of the first flexible sensing layer 205 and the second flexible sensing layer 206, and further improving the sensitivity, for example, embodiment 4.
The working conditions when the air pressure of the air cavity is not adjusted and when the air pressure of the air cavity is adjusted are shown in fig. 9, the left drawing of fig. 9 is the working condition when the air pressure of the air cavity is not adjusted, the right drawing is the working condition when the air pressure of the air cavity is adjusted to bend the hair sensor before the external force is detected, the solid line represents the shape of the hair sensor before the external force is applied, and the dotted line represents the shape of the hair sensor after the external force is applied. Under the condition, when the air pressure of the air cavity is not adjusted, the hair sensor can be axially compressed after being subjected to the action of an external force with the direction vertical to the working surface, at the moment, the deformation degrees of the first flexible sensing layer 205 and the second flexible sensing layer 206 are the same, the resistance value change is also the same, so that the resistance value difference is 0, and the external force cannot be detected. When the air pressure in the air inner cavity is adjusted to enable the hair sensor to be bent before external force is detected, the hair sensor can be further bent after being subjected to the action of the external force with the direction perpendicular to the working surface, the first flexible sensing layer 205 and the second flexible sensing layer 206 are compressed and extended, the resistance values are increased and decreased, and the external force can be detected according to the change of the resistance value difference.
In the whole implementation process, the signal transmission lead passes through the flexible substrate 1 and then is connected to an analysis circuit outside the flexible sensing device, and signals are input into the analysis circuit through the signal transmission lead, so that feedback and corresponding safety strategies are implemented.
Due to the hair structure on the outer surface of the device, when an object does not touch the flexible substrate, the object can also obtain touch perception, the time for the system to react is prolonged, and the safety performance is improved.
In addition, the device is of a flexible structure, and can effectively buffer the contact between an object (such as a human body) and the sensing device.
Claims (8)
1. The utility model provides a bionical hair sensing structure of adjustable type of angle which characterized in that: the bionic hair receptor array comprises a flexible substrate (1) and hair receptors (2) arranged on the flexible substrate (1), wherein the hair receptors (2) are arranged on the upper surface of the flexible substrate (1) in an equally-spaced array manner to form an angle-adjustable bionic hair receptor array;
the hair receptor (2) is in a cylindrical structure and comprises a surface layer (210) positioned on the outer surface, two air cavities (201, 202) and two flexible sensing layers (205, 206) which are wrapped by the surface layer (210); a first air inner cavity (201) and a second air inner cavity (202) which are vertically arranged are arranged in the hair receptor (2) in a close mode, the first air inner cavity (201) and the second air inner cavity (202) are in the same cylindrical structure, the central axis of the whole hair receptor (2) is located on a plane formed by the central axes of the first air inner cavity (201) and the second air inner cavity (202), and the central axis of the whole hair receptor (2) is located between the central axes of the first air inner cavity (201) and the second air inner cavity (202); the bottoms of the first air inner cavity (201) and the second air inner cavity (202) are respectively led out through a first air inner cavity air pipe (203) and a second air inner cavity air pipe (204) to be connected to an external air pressure controller; a first flexible sensing layer (205) and a second flexible sensing layer (206) are symmetrically arranged on the outer cylindrical surface of the hair receptor (2), a power signal transmission lead (207) penetrates through the central axis inside the hair receptor (2), and the upper end of the power signal transmission lead (207) passes through the tops of the first air inner cavity (201) and the second air inner cavity (202) from the inside of the hair receptor (2) and is connected with the upper ends of the first flexible sensing layer (205) and the second flexible sensing layer (206) respectively; a first signal transmission lead (208) connected with the lower end of the first flexible sensing layer (205) and a second signal transmission lead (209) connected with the lower end of the second flexible sensing layer (206) are arranged on two sides of the bottom of the hair receptor (2) in a penetrating mode, and the first flexible sensing layer (205) and the second flexible sensing layer (206) are respectively led out through the first signal transmission lead (208) and the second signal transmission lead (209) to be connected to an external circuit.
2. The angle-adjustable bionic hair sensing structure of claim 1, wherein:
the outer surface of the hair receptor (2) is insulated and protected by a surface layer (210).
3. The angle-adjustable bionic hair sensing structure of claim 1, wherein:
the hair sensing structure can simultaneously realize the following angle adjustable states:
the hair receptor (2) is not bent under the normal state that the hair receptor is not pressed after being installed and the first air cavity (201) and the second air cavity (202) have the same internal air pressure;
under the state that the air pressure in the first air cavity (201) is not pressed and the air pressure in the second air cavity (202) is less, the hair receptor (2) bends towards the direction of the first air cavity (201);
under the state that the air pressure in the first air cavity (201) is not pressed and is larger than the air pressure in the second air cavity (202), the hair receptor (2) bends towards the direction of the second air cavity (202);
under the pressing, the hair receptor (2) generates elastic deformation, and is bent in the direction of the pressing force under the action of the pressing force.
4. The angle-adjustable bionic hair sensing structure of claim 2, wherein:
the bottom of the hair receptor (2) is connected with the flexible substrate (1) into a whole, and a power signal transmission lead (207), a first signal transmission lead (208) and a second signal transmission lead (209) in the hair receptor (2) are arranged in the flexible substrate (1) in a penetrating way and are connected to an external circuit after being led out from the flexible substrate (1).
5. The angle-adjustable bionic hair sensing structure of claim 2, wherein:
a first air inner cavity air pipe (203) and a second air inner cavity air pipe (204) in the hair receptor (2) are arranged in the flexible substrate (1) in a penetrating mode, and are connected to an external air pressure controller after being led out from the flexible substrate (1).
6. The angle-adjustable bionic hair sensing structure of claim 1, wherein:
the lower surface of the flexible substrate (1) without the sensing function is attached to an area to be detected, and the hair receptor (2) is in contact with and senses the magnitude of external force.
7. The angle-adjustable bionic hair sensing structure of claim 1, wherein:
the arrangement mode of the hair receptor (2) array on the flexible substrate (1) comprises but is not limited to a 5 x 5 array, and the structure form of higher-order arrays is the same.
8. The angle-adjustable bionic hair sensing structure of claim 1, wherein:
the flexible substrate (1) and the hair receptor (2) are made of flexible materials, and the flexible materials include but are not limited to Polydimethylsiloxane (PDMS).
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| CN110850111B (en) * | 2019-10-09 | 2021-03-23 | 东南大学 | Rotary array device based on bionic resonance hair sensor |
| CN110850110A (en) * | 2019-10-09 | 2020-02-28 | 东南大学 | Pipeline side line array device based on bionic resonance hair sensor |
| CN111972360A (en) * | 2020-09-01 | 2020-11-24 | 中国水产科学研究院南海水产研究所 | Special catching and expanding net for acete chinensis |
| CN112903179B (en) * | 2021-01-21 | 2022-02-11 | 西安交通大学 | High-sensitivity bionic lateral-line water flow and water pressure sensing array structure |
| CN114459642B (en) * | 2022-01-26 | 2023-07-07 | 浙江大学 | Global rigidity controllable bionic flexible electronic skin of robot |
| CN114674216B (en) * | 2022-02-15 | 2023-12-05 | 中山大学 | Multi-dimensional mechanical sensing system and device |
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