CN110531863B - Flexible touch glove based on super-capacitor sensing principle and preparation method thereof - Google Patents
Flexible touch glove based on super-capacitor sensing principle and preparation method thereof Download PDFInfo
- Publication number
- CN110531863B CN110531863B CN201910876138.0A CN201910876138A CN110531863B CN 110531863 B CN110531863 B CN 110531863B CN 201910876138 A CN201910876138 A CN 201910876138A CN 110531863 B CN110531863 B CN 110531863B
- Authority
- CN
- China
- Prior art keywords
- electrode layer
- finger
- layer
- electrodes
- lower electrode
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000003990 capacitor Substances 0.000 title claims abstract description 21
- 238000002360 preparation method Methods 0.000 title claims abstract description 16
- 239000000835 fiber Substances 0.000 claims abstract description 46
- 210000001015 abdomen Anatomy 0.000 claims abstract description 6
- 210000003811 finger Anatomy 0.000 claims description 119
- 210000004932 little finger Anatomy 0.000 claims description 27
- 210000003813 thumb Anatomy 0.000 claims description 23
- 239000002390 adhesive tape Substances 0.000 claims description 19
- 238000007650 screen-printing Methods 0.000 claims description 12
- 229920001971 elastomer Polymers 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 9
- 238000004519 manufacturing process Methods 0.000 claims description 7
- 238000005520 cutting process Methods 0.000 claims description 6
- 238000004806 packaging method and process Methods 0.000 claims description 6
- 239000013305 flexible fiber Substances 0.000 claims description 5
- 229920000642 polymer Polymers 0.000 claims description 5
- 238000007639 printing Methods 0.000 claims description 5
- 238000002791 soaking Methods 0.000 claims description 5
- 239000000853 adhesive Substances 0.000 claims description 4
- 239000007788 liquid Substances 0.000 claims description 4
- 238000005538 encapsulation Methods 0.000 claims description 3
- 210000000707 wrist Anatomy 0.000 claims description 3
- 238000009826 distribution Methods 0.000 abstract description 6
- 150000002500 ions Chemical class 0.000 description 25
- 230000000875 corresponding effect Effects 0.000 description 8
- 210000003491 skin Anatomy 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 230000035945 sensitivity Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 239000003792 electrolyte Substances 0.000 description 4
- 238000011160 research Methods 0.000 description 4
- 239000004372 Polyvinyl alcohol Substances 0.000 description 3
- 239000007772 electrode material Substances 0.000 description 3
- 239000011259 mixed solution Substances 0.000 description 3
- NBIIXXVUZAFLBC-UHFFFAOYSA-N phosphoric acid Substances OP(O)(O)=O NBIIXXVUZAFLBC-UHFFFAOYSA-N 0.000 description 3
- 229920002451 polyvinyl alcohol Polymers 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 229910000147 aluminium phosphate Inorganic materials 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000004814 polyurethane Substances 0.000 description 2
- 239000011148 porous material Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000000638 stimulation Effects 0.000 description 2
- 239000011550 stock solution Substances 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 241000282412 Homo Species 0.000 description 1
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 239000002041 carbon nanotube Substances 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 210000004207 dermis Anatomy 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005857 detection of stimulus Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000002615 epidermis Anatomy 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- -1 for example Polymers 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 229910021389 graphene Inorganic materials 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000002156 mixing Methods 0.000 description 1
- 239000002121 nanofiber Substances 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 239000004745 nonwoven fabric Substances 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 231100000614 poison Toxicity 0.000 description 1
- 229920006254 polymer film Polymers 0.000 description 1
- 229920006264 polyurethane film Polymers 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 229910052709 silver Inorganic materials 0.000 description 1
- 239000004332 silver Substances 0.000 description 1
- 230000004215 skin function Effects 0.000 description 1
- 239000007784 solid electrolyte Substances 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 239000003440 toxic substance Substances 0.000 description 1
- 229920002554 vinyl polymer Polymers 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
Abstract
The invention discloses a flexible touch glove based on a super-capacitor sensing principle and a preparation method thereof, wherein the touch glove comprises a glove body and flexible sensor layers arranged at the positions of the palm of the glove body and the abdomen of each finger; the flexible sensor layer comprises an upper electrode layer, a lower electrode layer and an ion fiber layer arranged between the upper electrode layer and the lower electrode layer, wherein the upper surface and the lower surface of the ion fiber layer are respectively tightly adhered to the lower surface of the upper electrode layer and the upper surface of the lower electrode layer, and the edges of the upper electrode layer, the lower electrode layer and the ion fiber layer are fixed together. The whole palm surface of the touch glove is covered with the array type sensor units, the distribution density of the sensor units is higher, and the pressure distribution of the whole palm and fingers of the touch glove can be accurately perceived.
Description
Technical Field
The invention relates to the technical field of flexible electronics, in particular to a flexible touch glove based on a super-capacitor sensing principle and a preparation method thereof, which can be used for pressure touch sensing of man-machine interaction.
Background
The human can operate the object and tool by applying accurate control force without effort, because the human has accurate touch sense and perfect touch feedback system, the human skin is the largest organ of the human body, and the human skin is composed of an integrated and telescopic sensor network which can transmit signals related to touch sense and thermal stimulation to the brain, and the human touch sense can sense continuous pressure, transverse skin stretching, skin sliding and other external stimulation, so that the human skin can easily realize the sensing functions of finger position, stable grasping, tangential force, movement direction and the like. The extreme complexity of the human stimulus sensing unit largely prevents bionic study of human skin functions, and is a challenging task for modern robotic research. In robot applications, robot gripping based on computer vision is mature, but at present, the research on the tactile information relied on when a human body grips an object is very little, and the research on the tactile mechanism of the human body gripping the object is complementary to the vision robot. Accurate tactile sensations and feedback can allow the robot to better perceive that future robots will need to perform tasks that are not trivial to humans, such as holding a glass or inserting a key in a lock.
In recent years, a certain effort has been made in the research on the tactile interaction between a person and a robot, and patent publication number CN105242788A discloses a wireless data glove circuit wiring and sensor configuration method based on a bending sensor, wherein a change signal of resistance value generated according to different bending degrees of fingers is transmitted to a microprocessor for processing and then transmitted to a wireless transmission module, and the wireless transmission module transmits the change signal to a PC device through a wireless receiving module.
Bouthy C.M 1 et al propose a glove made of electronic skin, simulating human skin epidermis and dermis, and propose a biomimetic electronic skin concept with interlocking microstructure, formed by embedding a group of capacitors, i.e. top and bottom electrodes of Carbon Nanotubes (CNTs), in Polyurethane (PU) matrix positioned perpendicular to each other, for making large area sensors, the process is complex, only the sensor is attached to the fingertips of two gloves for experiments, the distribution design of palms and fingertips with respect to tactile perception is not considered, and the structure is complex and the processing is complex.
The flexible touch glove can be applied to various occasions, such as industrial operation sites needing precise and flexible control, high-risk environments (anti-terrorism explosion-proof, toxic substances and other dangerous goods), medical operations, medical nursing (supporting, massaging and the like). Therefore, it is of great significance to provide a tactile glove which can simultaneously satisfy high sensitivity, high resolution covering the whole hand, light weight, softness, a certain elasticity, flexible folding and stable structure.
[1]Boutry.C.M,Negre M,Jorda M,et al.A hierarchically patterned,bioinspired e-skin able to detect the direction of applied pressure for robotics[J].Science Robotics,2018,3(24):6914-6922.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide the flexible touch glove based on the super-capacitor sensing principle and the preparation method thereof.
The technical scheme for solving the technical problems is as follows:
a flexible touch glove based on a super-capacitor sensing principle comprises a glove body and flexible sensor layers arranged at the positions of the palm and the abdomen of each finger of the glove body; the flexible sensor layer comprises an upper electrode layer, a lower electrode layer and an ion fiber layer arranged between the upper electrode layer and the lower electrode layer, wherein the upper surface and the lower surface of the ion fiber layer are respectively tightly adhered to the lower surface of the upper electrode layer and the upper surface of the lower electrode layer, and the edges of the upper electrode layer, the lower electrode layer and the ion fiber layer are fixed together;
the palm and thumb of the upper electrode layer are respectively provided with A and B strip-shaped parallel longitudinal electrodes, wherein a longitudinal electrodes at the crossing positions of the palm and the index finger, the middle finger, the ring finger and the little finger respectively extend to fingertips of the corresponding fingers, the A strip-shaped parallel longitudinal electrodes lead out a first circuit connection end from the upper electrode layer towards the wrist part, the B strip-shaped parallel longitudinal electrodes lead out a second circuit connection end from the upper electrode layer, and A, B and a are both positive integers; the palm of the lower electrode layer is provided with N parallel transverse electrodes in a strip shape, wherein the N parallel transverse electrodes at the crossing position of the palm and the thumb extend to the fingertips of the thumb; m transverse electrodes parallel to the transverse electrodes at the palm position of the lower electrode layer are respectively arranged on the index finger, the middle finger, the ring finger and the little finger of the lower electrode layer, the M transverse electrodes on the four fingers are electrically connected in a one-to-one correspondence manner, and connecting lines of the transverse electrodes on the fingers are not staggered; the N parallel electrodes lead out a third circuit connection end on the lower electrode layer, the M transverse electrodes on the four fingers lead out a fourth circuit connection end on the lower electrode layer, and N, M and N are positive integers; thus, the electrodes on the upper electrode layer and the lower electrode layer vertically intersect in space, each intersection part forms a capacitance unit, each capacitance unit forms a small sensor unit, namely, the palm and the thumb of the flexible sensor layer are respectively provided with N. A, N.B array capacitance units, and the index finger, the middle finger, the ring finger and the little finger are respectively provided with M.a array capacitance units; the four circuit connecting ends are respectively connected with soft flat cables with the same width as the corresponding connecting ends, and each soft flat cable is fixed with the corresponding circuit connecting end by overlapping with a double-sided adhesive tape conducted by a Z axis.
A preparation method of a flexible touch glove based on a super-capacitor sensing principle comprises the following steps:
s1, preparation of flexible sensor layer
The flexible sensor layer comprises an upper electrode layer, a lower electrode layer and an ion fiber layer in the middle, wherein the upper electrode layer and the lower electrode layer are vertically opposite to each other, and the preparation process comprises the following steps:
1) And manufacturing an upper electrode layer and a lower electrode layer: respectively customizing silk screen printing screen plates of upper and lower electrode patterns, and manufacturing upper and lower electrode layers by adopting a silk screen printing mode;
2) Preparation of an ion fiber layer: preparing an ionic fiber layer by adopting a method of soaking high polymer flexible fibers in ionic gel liquid;
3) Encapsulation of the flexible sensor layer: printing self-adhesive on the gap between every two electrodes of each electrode layer in a screen printing mode, then placing the electrodes of the upper electrode layer and the lower electrode layer mutually vertically and respectively attaching the electrodes to two sides of the ion fiber layer, so that the electrodes of the upper electrode layer, the palm and thumb of the lower electrode layer are in full contact with the ion fiber, the middle parts of the electrodes of the index finger, the middle finger, the ring finger and the little finger of the lower electrode layer are in contact with the ion fiber, but the two ends of each finger are not in contact with the ion fiber, and packaging of the flexible sensor layer is completed;
s2, packaging of flexible sensor layer and glove body
Cutting the packaged flexible sensor layer along the outer contour of the glove body and cutting off the index finger, the middle finger, the ring finger and the little finger of the flexible sensor layer, wherein the electrode is not damaged; then the cut flexible sensor layer and the glove body are stuck together through double-sided adhesive tapes, and the correspondence of the hand positions of the two is to be noted;
s3, connection of finger parts of flexible sensor layers
The electrodes of the index finger, the middle finger, the ring finger and the little finger of the lower electrode layer of the flexible sensor layer are connected in a one-to-one correspondence manner by adopting connecting wires or conductive adhesive tapes, and the lengths of the connecting wires or the conductive adhesive tapes are used for completing the connection of the finger parts of the flexible sensor layer under the condition that the movement of the fingers is not influenced;
s4, flexible sensor layer wiring
The flexible sensor layer has 4 electrode circuit connecting ends, and the flexible flat cable with the same width as the corresponding circuit connecting ends is fixed together with the electrode terminal end via Z-axis conducting double faced adhesive tape.
Compared with the prior art, the invention has the beneficial effects that:
1. the measured pressure profile has high resolution. The whole palm surface of the touch glove is covered with the array type sensor units, the distribution density of the sensor units is higher, and the pressure distribution of the whole palm and fingers of the touch glove can be accurately perceived.
2. The sensitivity is higher. The ionic fiber layer in the middle of the flexible sensor layer adopts an electric double layer capacitor, which is at least 1000 times higher than that of the traditional parallel plate equipment, so that the signal to noise ratio is improved, the anti-interference performance is high, the sensitivity of the sensor can be effectively improved due to the characteristics of the sensor, the pressure is converted into the capacitor to the maximum extent, the capacitance measurement is more accurate, and the pressure applied or perceived by the touch glove can be more accurately detected.
3. Better flexibility and thinner thickness. The electrode layer of the flexible sensor layer adopts a screen printing process, so that the thickness of the electrode layer is small, the material selected by the buffer layer adopts a flexible high polymer film, and a polyurethane film with the thickness of 0.05mm to 0.3mm can be selected, so that the thickness and the flexibility are small. The rubber glove is selected as a substrate, so that the flexibility and the thinness of the touch glove can be ensured.
4. The process is simple and can be manufactured in a large area. The electrode material is made of conductive paint, such as silver paste/graphene composite ink, and the resistance is small, the conductive ink is directly printed on the buffer layer, and then the upper electrode layer and the ionic fiber layer are packaged by printing self-adhesive. And then the flexible sensor layer is directly attached to the rubber glove by the double-sided tape, so that the process is simple and the large-area manufacturing and application can be realized.
5. The touch glove has stable structure and can meet the requirement of flexible operation of fingers. The electrode manufactured by the screen printing process is not easy to fall off, the screen printing glue and the double faced adhesive tape enable the sensor unit to be packaged well, the touch glove structure can be ensured to be stable, and fingers can move freely without affecting the performance of the sensor unit.
6. Is customizable for specific needs. The touch glove can be customized according to the size of hands of different users, different resolutions can be set according to the requirements of the use scene on precision, and the application range is wide and customizable.
Drawings
Fig. 1 is a schematic structural view of the upper electrode layer of the flexible sensor layers of embodiments 1 and 2 of the present invention;
fig. 2 is a schematic view showing the structure of the lower electrode layer of embodiment 1 of the present invention;
FIG. 3 is a schematic overall structure of embodiment 1 of the present invention;
fig. 4 is a schematic view showing the structure of the lower electrode layer of embodiment 2 of the present invention;
FIG. 5 is a schematic overall structure of embodiment 2 of the present invention;
FIG. 6 is a schematic representation of the capacitance of a single sensor on a flexible sensor layer according to the present invention as a function of pressure;
FIG. 7 is an enlarged view of a portion of the abscissa interval 0-50kPa of FIG. 6;
FIG. 8 is a graph of the dynamics of a single sensor on a flexible sensor layer of the present invention;
in the figure: 1. an upper electrode layer; 2. a lower electrode layer; 3. a first circuit connection terminal; 4. a second circuit connection terminal; 5. a third circuit connection terminal; 6. a fourth circuit connection terminal; 7. and (5) conducting wires.
Detailed Description
Specific examples of the present invention are given below. The specific examples are only for further detailed description of the present invention and do not limit the scope of the present application.
The invention provides a flexible touch glove (referred to as touch glove for short, see fig. 1-8) based on a super-capacitor sensing principle, which comprises a glove body and flexible sensor layers arranged at the positions of the palm of the glove body and the abdomen of each finger; the flexible sensor layer comprises an upper electrode layer 1, a lower electrode layer 2 and an ion fiber layer arranged between the upper electrode layer and the lower electrode layer, wherein the upper surface and the lower surface of the ion fiber layer are respectively tightly adhered to the lower surface of the upper electrode layer 1 and the upper surface of the lower electrode layer 2, and the edges of the upper electrode layer 1, the lower electrode layer 2 and the ion fiber layer are fixed together;
the palm and thumb of the upper electrode layer 1 are respectively provided with A and B strip-shaped parallel longitudinal electrodes, wherein a longitudinal electrodes at the crossing positions of the palm and the index finger, the middle finger, the ring finger and the little finger respectively extend to fingertips of the corresponding fingers, the A strip-shaped parallel longitudinal electrodes lead out a first circuit connecting end 3 towards the wrist part of the upper electrode layer 1, the B strip-shaped parallel longitudinal electrodes lead out a second circuit connecting end 4 at the upper electrode layer 1, and A, B and a are all positive integers; the palm of the lower electrode layer 2 is provided with N parallel transverse electrodes in a strip shape, wherein the N parallel transverse electrodes at the crossing position of the palm and the thumb extend to the fingertips of the thumb; m transverse electrodes parallel to the transverse electrodes at the palm position of the lower electrode layer are respectively arranged on the index finger, the middle finger, the ring finger and the little finger of the lower electrode layer, the M transverse electrodes on the four fingers are electrically connected in a one-to-one correspondence manner, and connecting lines of the transverse electrodes on the fingers are not staggered; the third circuit connecting end 5 is led out of the N parallel electrodes on the lower electrode layer, the fourth circuit connecting end 6 is led out of the M transverse electrodes on the four fingers on the lower electrode layer, and N, M and N are positive integers; thus, the electrodes on the upper electrode layer 1 and the lower electrode layer 2 vertically intersect in space, each intersection part forms a capacitance unit, and each capacitance unit forms a small sensor unit, namely, the palm and the thumb of the flexible sensor layer respectively have N x A, N x B array capacitance units, and the index finger, the middle finger, the ring finger and the little finger are all provided with M x a array capacitance units; the four circuit connecting ends are respectively connected with soft flat cables with the same width as the corresponding connecting ends, and each soft flat cable is fixed with the corresponding circuit connecting end by overlapping with a double-sided adhesive tape conducted by a Z axis.
The glove body is a commercially available glove, preferably a rubber glove; the number of the electrodes and the spacing between the electrodes at each part of the upper electrode layer and the lower electrode layer can be flexibly designed according to practice.
The working principle and the working flow of the invention are as follows:
the principle of the super capacitor is that when electrode materials are respectively contacted with two ends of solid electrolyte, the internal surface charges of the electrode adsorb ions from the electrolyte under the action of an external power supply, the ions form an interface layer with the same charge quantity as the charge quantity of the internal surface of the electrode on one side of the electrolyte of the electrode/electrolyte interface and opposite sign, and the charges of the upper electrode layer and the lower electrode layer can not cross the boundary and are neutralized by each other due to the potential difference on the electrode/electrolyte interface, so that an electric double layer with stable structure is formed, and the super capacitor is generated;
preparing ion gel mixed solution (such as polyvinyl alcohol-phosphoric acid ion gel), soaking high polymer flexible fiber (such as non-woven fabric) in the mixed solution, and draining to form solid ion fiber, i.e. ion gel wrapping fiber, wherein certain pores exist in the fiber. The ionic fiber layer is clamped between two layers of electrode materials, the ionic fiber layer is compressed and deformed under the action of external pressure, and the contact area between the nanofiber layer and the conductive fabric (upper electrode layer and lower electrode layer) is increased due to structural deformation predicted by a classical fiber aggregate compression model, so that the capacitance is increased. The change of the capacitance can be converted into an electric signal to be transmitted to a subsequent processing circuit, so that the pressure is obtained.
The invention also provides a preparation method of the flexible touch glove based on the super-capacitor sensing principle, which comprises the following specific steps:
s1, preparation of flexible sensor layer
The flexible sensor layer comprises an upper electrode layer, a lower electrode layer and an ion fiber layer in the middle, wherein the upper electrode layer and the lower electrode layer are vertically opposite to each other, and the preparation process comprises the following steps:
1) Manufacture of upper and lower electrode layers
Respectively customizing silk screen printing screen plates of upper and lower electrode patterns, and printing conductive ink on a flexible Polyurethane (PU) film in a silk screen printing mode to respectively form an upper electrode layer and a lower electrode layer;
2) Preparation of ion fiber layer
Preparing ionic gel liquid, soaking the high polymer flexible fiber into the mixed liquid, and draining to form solid ionic fiber, namely, wrapping the fiber by the ionic gel, wherein pores exist in the fiber; by H 3 PO 4 As PVA, for example, polyvinyl alcohol (PVA), water and phosphoric acid (H 3 PO 4 ) Mixing according to the mass ratio of 1:9:1 (the actual ratio can be finely adjusted according to mechanical and electrical characteristics), heating to 90 ℃, magnetically stirring until the mixed solution becomes clear and transparent, and naturally cooling to room temperature to obtain a stock solution; fully soaking the high polymer flexible fiber in the stock solution for 30 seconds, taking out and draining to obtain an ionic fiber layer;
3) Encapsulation of flexible sensor layers
Printing adhesive on the gap between every two electrodes of each electrode layer in a screen printing mode, then placing the electrodes of the upper electrode layer and the lower electrode layer mutually vertically and respectively attaching the electrodes to two sides of the ion fiber layer, so that the electrodes of the upper electrode layer, the palm and thumb of the lower electrode layer are in full contact with the ion fiber, the middle parts of the electrodes of the index finger, the middle finger, the ring finger and the little finger of the lower electrode layer are in contact with the ion fiber layer, but the two ends of the transverse electrodes of each finger are not in contact with the ion fiber layer, namely, the margin for electrode connection is reserved at the two ends of the transverse electrodes of each finger, and the packaging of the flexible sensor layer is completed;
s2, packaging of flexible sensor layer and glove body
Cutting the packaged flexible sensor layer along the outer contour of the glove body and cutting off the index finger, the middle finger, the ring finger and the little finger of the flexible sensor layer, wherein the electrode is not damaged; then the cut flexible sensor layer and the glove body are stuck together through double-sided adhesive tapes, and the correspondence of the hand positions of the two is to be noted;
s3, connection of finger parts of flexible sensor layers
The electrodes of the index finger, the middle finger, the ring finger and the little finger of the lower electrode layer of the flexible sensor layer are connected in a one-to-one correspondence manner by adopting connecting wires or conductive adhesive tapes, and the lengths of the connecting wires or the conductive adhesive tapes are used for completing the connection of the finger parts of the flexible sensor layer under the condition that the movement of the fingers is not influenced;
s4, flexible sensor wiring
The flexible sensor layer has 4 electrode circuit connecting ends, and the flexible flat cable with the same width as the corresponding circuit connecting ends is fixed together with the electrode terminal end via Z-axis conducting double faced adhesive tape.
Example 1
The flexible touch glove based on the super-capacitor sensing principle (see fig. 1-3) comprises a rubber glove and a flexible sensor layer, wherein the flexible sensor layer is attached to the palm of the rubber glove and the abdomen of each finger through double faced adhesive tape; the flexible sensor layer comprises an upper electrode layer 1, a lower electrode layer 2 and an ion fiber layer arranged between the upper electrode layer and the lower electrode layer; the palm of the upper electrode layer 1 is provided with 17 longitudinally parallel electrodes, wherein 3 electrodes are respectively arranged on the index finger, the middle finger, the ring finger and the little finger, and 11 longitudinally parallel electrodes are respectively arranged on the thumb; the palm of the lower electrode layer 2 is provided with 15 electrodes which are transversely parallel, wherein 3 electrodes are arranged on the thumb, 15 electrodes which are transversely parallel are arranged on the index finger, the middle finger, the ring finger and the little finger, and the electrodes on the four fingers are connected in a one-to-one correspondence manner on the palm surface through leads; thus, the electrodes on the upper electrode layer 1 and the lower electrode layer 2 vertically intersect in space, each intersection part forms a capacitor unit, each capacitor unit forms a small sensor unit, namely, the palm and the thumb of the flexible sensor layer respectively have 255 array sensor units and 33 array sensor units, and the index finger, the middle finger, the ring finger and the little finger are respectively provided with 45 array sensor units;
the rubber glove is L-shaped, namely the palm width is 10cm; the width of each electrode is 1mm;
the touch glove of the embodiment is distributed with more sensor units, the resolution is higher, and the measurement effect is better; however, the process of connecting the electrodes at the finger part through the lead wires is complex, and the flexibility of the finger part can be affected to a certain extent by the lead wires positioned on the palm surface; the hand force sensing glove is suitable for massaging, and force applied to different positions of the hand during massaging can be accurately sensed through the touch glove, so that the force of each part of the hand can be accurately controlled, excessive force is prevented, and the massaging is more comfortable.
Example 2
The flexible touch glove based on the super-capacitor sensing principle (see fig. 1, 4 and 5) comprises a rubber glove and a flexible sensor layer, wherein the flexible sensor layer is attached to the palm of the rubber glove and the abdomen positions of all fingers through double faced adhesive tape; the flexible sensor layer comprises an upper electrode layer 1, a lower electrode layer 2 and an ion fiber layer arranged between the upper electrode layer and the lower electrode layer; the structure of the upper electrode layer 1 is the same as that of embodiment 1; the palm of the lower electrode layer 2 is provided with 15 parallel transverse electrodes, wherein 3 electrodes are arranged on the thumb; the index finger, the middle finger, the ring finger and the little finger are respectively provided with 9 parallel transverse electrodes, the two ends of each electrode are provided with larger allowance (the wrinkled part at the end part of the electrode in figure 4) for connecting with the adjacent electrodes, and the electrodes on the index finger, the middle finger, the ring finger and the little finger are respectively connected with one another through conductive adhesive tapes with the width of 2mm on the back of the hand; thus, the electrodes on the upper electrode layer 1 and the lower electrode layer 2 vertically intersect in space, each intersection part forms a capacitor unit, each capacitor unit forms a small sensor unit, namely, the palm and the thumb of the flexible sensor layer respectively have 255 array sensor units and 33 array sensor units, and the index finger, the middle finger, the ring finger and the little finger are respectively provided with 27 array sensor units;
the rubber glove is L-shaped, namely the palm width is 10cm; the width of each electrode is 1mm;
the distribution of sensor units in the haptic glove of the embodiment is less than that in embodiment 1, and the accuracy of the haptic glove is reduced; the hand feeling glove is suitable for supporting, and the force applied to different positions of the hand during massage can be accurately perceived through the touch feeling glove, so that the force of each part of the hand can be accurately controlled, and discomfort caused by excessive force to a person to be supported is prevented.
As can be seen from fig. 6, there is a good linear relationship between the capacitance of the individual sensors on the flexible sensor layer of the present invention and the applied pressure, with a linearity error of 5.07%; the sensitivity of the sensor is high, namely the slope of the curve is large and can reach 3.97nF/kPa; the pressure is circularly applied to the sensor by using a press, the pressure application frequency is 2.5Hz, the sensor is subjected to dynamic response test by using an impedance meter, the experimental result is shown in figure 8, when the pressure is applied to the sensor, the capacitance value is immediately increased, and the change of the capacitance is positively correlated with the pressure applied to the sensor; when the pressure is released, the capacitance value is quickly restored to the initial state; the sensor can respond dynamically with external pressure stimulus, which shows that the sensor has high sensitivity and good flexibility.
The invention is applicable to the prior art where it is not described.
Claims (3)
1. The flexible touch glove based on the super-capacitor sensing principle is characterized by comprising a glove body and flexible sensor layers arranged at the positions of the palm and the abdomen of each finger of the glove body; the flexible sensor layer comprises an upper electrode layer, a lower electrode layer and an ion fiber layer arranged between the upper electrode layer and the lower electrode layer, wherein the upper surface and the lower surface of the ion fiber layer are respectively tightly adhered to the lower surface of the upper electrode layer and the upper surface of the lower electrode layer, and the edges of the upper electrode layer, the lower electrode layer and the ion fiber layer are fixed together;
the palm and thumb of the upper electrode layer are respectively provided with A and B strip-shaped parallel longitudinal electrodes, wherein a longitudinal electrodes at the crossing positions of the palm and the index finger, the middle finger, the ring finger and the little finger respectively extend to fingertips of the corresponding fingers, the A strip-shaped parallel longitudinal electrodes lead out a first circuit connection end from the upper electrode layer towards the wrist part, the B strip-shaped parallel longitudinal electrodes lead out a second circuit connection end from the upper electrode layer, and A, B and a are both positive integers; the palm of the lower electrode layer is provided with N parallel transverse electrodes in a strip shape, wherein the N parallel transverse electrodes at the crossing position of the palm and the thumb extend to the fingertips of the thumb; m transverse electrodes parallel to the transverse electrodes at the palm position of the lower electrode layer are respectively arranged on the index finger, the middle finger, the ring finger and the little finger of the lower electrode layer, the M transverse electrodes on the four fingers are electrically connected in a one-to-one correspondence manner, and connecting lines of the transverse electrodes on the fingers are not staggered; the N parallel electrodes lead out a third circuit connection end on the lower electrode layer, the M transverse electrodes on the four fingers lead out a fourth circuit connection end on the lower electrode layer, and N, M and N are positive integers; thus, the electrodes on the upper electrode layer and the lower electrode layer vertically intersect in space, each intersection part forms a capacitance unit, each capacitance unit forms a small sensor unit, namely, the palm and the thumb of the flexible sensor layer are respectively provided with N. A, N.B array capacitance units, and the index finger, the middle finger, the ring finger and the little finger are respectively provided with M.a array capacitance units; the four circuit connecting ends are respectively connected with soft flat cables with the same width as the corresponding connecting ends, and each soft flat cable is fixed with the corresponding circuit connecting end by overlapping with a double-sided adhesive tape conducted by a Z axis;
the glove body adopts rubber gloves, and when rubber gloves were L number, the palm was wide for 10cm, and the width of every electrode was 1mm.
2. A tactile glove according to claim 1, wherein the palm of the upper electrode layer is provided with 17 longitudinally parallel electrodes, wherein the index finger, middle finger, ring finger and little finger are each provided with a strip, and the thumb is provided with 11 longitudinally parallel electrodes; the palm of the lower electrode layer is provided with 15 electrodes which are transversely parallel, wherein 3 electrodes are arranged on the thumb; the index finger, the middle finger, the ring finger and the little finger are respectively provided with 15 electrodes which are transversely parallel, namely, the palm and the thumb of the flexible sensor layer are respectively provided with 255 array sensor units and 33 array sensor units, and the index finger, the middle finger, the ring finger and the little finger are respectively provided with 45 array sensor units.
3. A tactile glove according to claim 1 or 2, characterized in that the method for producing the tactile glove comprises the steps of:
s1, preparation of flexible sensor layer
The flexible sensor layer comprises an upper electrode layer, a lower electrode layer and an ion fiber layer in the middle, wherein the upper electrode layer and the lower electrode layer are vertically opposite to each other, and the preparation process comprises the following steps:
1) And manufacturing an upper electrode layer and a lower electrode layer: respectively customizing silk screen printing screen plates of upper and lower electrode patterns, and manufacturing upper and lower electrode layers by adopting a silk screen printing mode;
2) Preparation of an ion fiber layer: preparing an ionic fiber layer by adopting a method of soaking high polymer flexible fibers in ionic gel liquid;
3) Encapsulation of the flexible sensor layer: printing self-adhesive on the gap between every two electrodes of each electrode layer in a screen printing mode, then placing the electrodes of the upper electrode layer and the lower electrode layer mutually vertically and respectively attaching the electrodes to two sides of the ion fiber layer, so that the electrodes of the upper electrode layer, the palm and thumb of the lower electrode layer are in full contact with the ion fiber, the middle parts of the electrodes of the index finger, the middle finger, the ring finger and the little finger of the lower electrode layer are in contact with the ion fiber, but the two ends of each finger are not in contact with the ion fiber, and packaging of the flexible sensor layer is completed;
s2, packaging of flexible sensor layer and glove body
Cutting the packaged flexible sensor layer along the outer contour of the glove body and cutting off the index finger, the middle finger, the ring finger and the little finger of the flexible sensor layer, wherein the electrode is not damaged; then the cut flexible sensor layer and the glove body are stuck together through double-sided adhesive tapes, and the correspondence of the hand positions of the two is to be noted;
s3, connection of finger parts of flexible sensor layers
The electrodes of the index finger, the middle finger, the ring finger and the little finger of the lower electrode layer of the flexible sensor layer are connected in a one-to-one correspondence manner by adopting connecting wires or conductive adhesive tapes, and the lengths of the connecting wires or the conductive adhesive tapes are used for completing the connection of the finger parts of the flexible sensor layer under the condition that the movement of the fingers is not influenced;
s4, flexible sensor layer wiring
The flexible sensor layer has 4 electrode circuit connecting ends, and the flexible flat cable with the same width as the corresponding circuit connecting ends is fixed together with the electrode terminal end via Z-axis conducting double faced adhesive tape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910876138.0A CN110531863B (en) | 2019-09-17 | 2019-09-17 | Flexible touch glove based on super-capacitor sensing principle and preparation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910876138.0A CN110531863B (en) | 2019-09-17 | 2019-09-17 | Flexible touch glove based on super-capacitor sensing principle and preparation method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110531863A CN110531863A (en) | 2019-12-03 |
| CN110531863B true CN110531863B (en) | 2024-02-06 |
Family
ID=68668856
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910876138.0A Active CN110531863B (en) | 2019-09-17 | 2019-09-17 | Flexible touch glove based on super-capacitor sensing principle and preparation method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110531863B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111624238A (en) * | 2020-03-03 | 2020-09-04 | 红塔烟草(集团)有限责任公司 | Moisture detection gloves for grading tobacco leaves |
| CN112577651B (en) * | 2020-11-02 | 2023-05-16 | 中南大学 | Finger sensor of mechanical hand sensor |
| CN112244788A (en) * | 2020-11-12 | 2021-01-22 | 河北工业大学 | Pulse feeling instrument based on super-capacitor principle and manufacturing method thereof |
| CN113946215A (en) * | 2021-10-18 | 2022-01-18 | 北京中电智博科技有限公司 | Finger motion recognition method, device, medium and electronic equipment |
| CN116114949A (en) * | 2023-02-27 | 2023-05-16 | 联纲光电科技股份有限公司 | VR glove preparation method and breathable intelligent VR glove |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105739698A (en) * | 2016-01-29 | 2016-07-06 | 清华大学 | Touch sensing data glove |
| CN107044891A (en) * | 2016-08-28 | 2017-08-15 | 美国钛晟科技股份有限公司 | Capacitance pressure transducer, based on ionic membrane |
| KR20180038757A (en) * | 2016-10-07 | 2018-04-17 | 엘지이노텍 주식회사 | Apparatus of sensing pressure |
| CN108444436A (en) * | 2018-02-28 | 2018-08-24 | 西安交通大学 | A kind of hand gestures measuring system and method based on flexible large deformation sensor |
| CN108874154A (en) * | 2018-08-29 | 2018-11-23 | 韩思清 | A kind of data glove |
| CN109642833A (en) * | 2017-06-14 | 2019-04-16 | 苹果公司 | The equipment based on fabric that band effectively senses |
| CN109990927A (en) * | 2019-05-07 | 2019-07-09 | 河北工业大学 | A kind of electric double layer capacitance formula flexible touch sensation sensor and preparation method thereof |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8132468B2 (en) * | 2008-05-29 | 2012-03-13 | Zoran Radivojevic | Flexural deformation sensing device and a user interface using the same |
| US9301563B2 (en) * | 2013-02-07 | 2016-04-05 | Nova Diagnostics, Llc | Pressure sensing glove |
| US9983744B2 (en) * | 2015-07-07 | 2018-05-29 | Pressure Profile Corp. | Capacitive tactile sensor with nested matrix electrodes |
-
2019
- 2019-09-17 CN CN201910876138.0A patent/CN110531863B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105739698A (en) * | 2016-01-29 | 2016-07-06 | 清华大学 | Touch sensing data glove |
| CN107044891A (en) * | 2016-08-28 | 2017-08-15 | 美国钛晟科技股份有限公司 | Capacitance pressure transducer, based on ionic membrane |
| KR20180038757A (en) * | 2016-10-07 | 2018-04-17 | 엘지이노텍 주식회사 | Apparatus of sensing pressure |
| CN109642833A (en) * | 2017-06-14 | 2019-04-16 | 苹果公司 | The equipment based on fabric that band effectively senses |
| CN108444436A (en) * | 2018-02-28 | 2018-08-24 | 西安交通大学 | A kind of hand gestures measuring system and method based on flexible large deformation sensor |
| CN108874154A (en) * | 2018-08-29 | 2018-11-23 | 韩思清 | A kind of data glove |
| CN109990927A (en) * | 2019-05-07 | 2019-07-09 | 河北工业大学 | A kind of electric double layer capacitance formula flexible touch sensation sensor and preparation method thereof |
Non-Patent Citations (2)
| Title |
|---|
| 压阻式柔性压力传感器的研究进展;于江涛等;电子元件及材料;第38 卷(第 6 期);1-11 * |
| 电容阵列柔性压力传感器设计与分析;郭士杰等;仪器仪表学报;第第39卷卷(第第7期期);49-55 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110531863A (en) | 2019-12-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110531863B (en) | Flexible touch glove based on super-capacitor sensing principle and preparation method thereof | |
| Pyo et al. | Recent progress in flexible tactile sensors for human‐interactive systems: from sensors to advanced applications | |
| CN107588872B (en) | Three-dimensional force flexible touch sensor based on conductive fabric | |
| CN102207415B (en) | Conductive-rubber-based flexible array clip pressure sensor and manufacturing method | |
| US9415517B2 (en) | Tactile array sensor | |
| CN107677296A (en) | A kind of Grazing condition is close to touch-pressure sensation sensor | |
| CN106706176A (en) | Capacitive touch sensor having patterned microstructure array | |
| CN104897317B (en) | Flexible contact pressing based on biomimetic features feels sensor | |
| CN206192550U (en) | Capacitanc tactile sensor with patterning micro -structure array | |
| CN206291983U (en) | A kind of electronic skin for touch detection | |
| CN113386158B (en) | Full-printing bionic super-sensing flexible robot skin | |
| CN111467781A (en) | Capacitive touch handle based on multi-sensing system and manufacturing method thereof | |
| CN107015656B (en) | Large-area grid type epidermis electronic system for closed-loop human-computer interaction | |
| CN111283690B (en) | Elastic bionic villus type electronic skin for human-computer interaction safety | |
| CN110987031B (en) | Flexible touch sensor | |
| Chen et al. | Multifunctional iontronic sensor based on liquid metal-filled ho llow ionogel fibers in detecting pressure, temperature, and proximity | |
| He et al. | A multi-layered touch-pressure sensing ionogel material suitable for sensing integrated actuations of soft robots | |
| Wang et al. | Highly sensitive and flexible three-dimensional force tactile sensor based on inverted pyramidal structure | |
| CN210783050U (en) | Intelligent glove | |
| CN110916621A (en) | Flexible sensor for detecting multiple physiological signals | |
| Wang et al. | Recent progress in high-resolution tactile sensor array: From sensor fabrication to advanced applications | |
| CN210199703U (en) | Flexible touch glove based on super capacitor perception principle | |
| KR20100131349A (en) | Active skin for conformable tactile interace | |
| Sicotte-Brisson et al. | Capacitive tactile sensor using mutual capacitance sensing method for increased resolution | |
| CN107351090A (en) | A kind of robot control system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |