公开(公告)号：US4634917A

公开(公告)日：1987-01-06

申请号：US686124

申请日：1984-12-26

申请人： James E. Dvorsky ,  Brian A. Kelley ,  Robert B. McCown ,  G. Frederick Renner

发明人： James E. Dvorsky ,  Brian A. Kelley ,  Robert B. McCown ,  G. Frederick Renner

IPC分类号： A61F2/76 ,  G01B7/004 ,  G01L1/16 ,  G01L5/22 ,  G06F3/033 ,  G06F3/041 ,  H01L41/113 ,  H01L41/08

CPC分类号： G06F3/0414 ,  G01B7/004 ,  G01L1/16 ,  G01L5/228 ,  H01L41/1132 ,  A61F2002/7635 ,  Y10S310/80

摘要： A tactile sensing apparatus having a piezoelectric energizing layer with a plurality of conductors disposed on one surface of a piezoelectric material and a plurality of conductors disposed on the opposite surface of the piezoelectric material, the plurality of conductors having electrical connections connected to electrical energizing means. An electrical insulating layer disposed adjacent the piezoelectric energizing layer. A second piezoelectric sensing layer is disposed adjacent the insulating layer, and has conducting surfaces disposed on opposite surfaces thereof. The conductors in the piezoelectric energizing layer provide N.times.M energizing areas with N+M electrical connections to the energizing layer. Further apparatus may include an oscillator, an optional amplifier and a switching means or multiplexer for the input signal.The apparatus may optionally have more than one piezoelectric energizing layer as well as more than one piezoelectric sensing layer. PVF.sub.2 is the preferred piezoelectric material. An optional base material and protective layer may be used.A method of operating the tactile sensor includes providing a variable frequency electrical signal at a frequency and amplitude adapted to energize the energizing areas. The signal is switched to the conductors to energize selected energizing areas of the energizing layer in a predetermined sequence. The signal generated in the sensing layer that varies in frequency and amplitude in response to an object in contact with the tactile sensor is processed for frequency and amplitude information to determine the characteristics of the object such as shape, force or weight.

摘要翻译： 一种具有压电激励层的触觉感测装置，其具有设置在压电材料的一个表面上的多个导体和设置在压电材料的相对表面上的多个导体，所述多个导体具有连接到电激励装置的电连接。 设置在压电激励层附近的电绝缘层。 第二压电感测层设置在绝缘层附近，并且具有设置在其相对表面上的导电表面。 压电激励层中的导体提供具有N + M电连接到激励层的N×M激励区域。 另外的装置可以包括振荡器，可选放大器以及用于输入信号的开关装置或多路复用器。 该装置可以可选地具有多于一个的压电激励层以及多于一个的压电感测层。 PVF2是优选的压电材料。 可以使用可选的基材和保护层。 操作触觉传感器的方法包括提供适于激励通电区域的频率和幅度的可变频率电信号。 信号切换到导体，以预定的顺序激励激励层的选定的激励区域。 对感测层中产生的响应于与触觉传感器接触的物体的频率和幅度变化的信号被处理以用于频率和幅度信息以确定物体的特征，例如形状，力或重量。