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WO2000026627A1 - Capteur tactile - Google Patents

Capteur tactile Download PDF

Info

Publication number
WO2000026627A1
WO2000026627A1 PCT/GB1999/003600 GB9903600W WO0026627A1 WO 2000026627 A1 WO2000026627 A1 WO 2000026627A1 GB 9903600 W GB9903600 W GB 9903600W WO 0026627 A1 WO0026627 A1 WO 0026627A1
Authority
WO
WIPO (PCT)
Prior art keywords
conductive
strips
layers
pressure
sensor
Prior art date
Application number
PCT/GB1999/003600
Other languages
English (en)
Other versions
WO2000026627A8 (fr
Inventor
John Burkitt
Original Assignee
Brunel University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Brunel University filed Critical Brunel University
Publication of WO2000026627A1 publication Critical patent/WO2000026627A1/fr
Publication of WO2000026627A8 publication Critical patent/WO2000026627A8/fr

Links

Classifications

    • 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
    • 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

Definitions

  • the present invention relates to a pressure sensor, preferably formed from conductive fabric layers, for use, for example, in determining the type of pressure applied to an area.
  • a sensor capable of detecting applied pressure and providing information as to the area, location and/or extent of the pressure and including first and second conductive layers separated by an intermediate insulating layer, at least one of the first and second conductive layers including a plurality of conductive strips interdigitated with one or more insulating strips .
  • the conductive strips have a known resistance.
  • the preferred embodiment provides an electrical switch and/or sensor, largely of fabric construction which is capable of detecting applied pressure and providing information as to the area and location of the pressure.
  • one of the layers is divided into a plurality of alternating conductive and insulating strips.
  • the conductive strips have an electrical connection at either end.
  • the electrically conductive strips can be used to determine the area and position of any contact between the two outer layers through the intervening insulating layer due to pressure exerted upon the structure.
  • fabric layers incorporating conductive fibers or yarns, normally held apart by separator means can be brought into electrical contact by applying pressure across the layers, to act as an electrical switch.
  • a practical embodiment includes at least two sheets of woven or knitted textile formed from electrically conductive yarns, fibers or filaments.
  • the layers can be separated electrically by at least one separator layer.
  • the separator layer is of insulating material and can be in the form of raised bumps, a grid/mesh of any pattern, or stripes/bands.
  • the thickness and spacing of the elements of the separator layer is such that when a certain level of pressure is applied across the thickness of the sheet assembly, electrical contact is made between the normally separate layers.
  • the separator means allows maximum flexibility and elasticity of the assembly in at least two axes without causing accidental bridging.
  • the invention also provides a method of measuring and interpreting electrical voltages and resistance across layers in contact, in order to obtain some information relating to the area of contact and to the position and shape of that contact.
  • Figure 1 is an exploded view in perspective of an embodiment of a three-layer pressure sensor
  • Figure 2 is a cross-sectional view in side elevation of the conductive and insulating strip structure of the preferred embodiment of lower conductive layer;
  • Figure 3 is a cross-sectional view in side elevation of the three-layer pressure sensor of Figure 1;
  • Figures 4 and 5 are schematic diagrams of the pressure sensor showing an embodiment of a method of determining the area subjected to pressure, the pressure contour and/or determining the location of a single point of pressure without the need to use conductive strips on one of the conducting layers.
  • conductive fibers are incorporated into textile structures to form upper and lower conductive fabric layers. These layers are separated by an open mesh formed of a flexible insulating material. The three layers are assembled into a structure. The thickness of the separator layer, in combination with its scale of spacing and the flexibility of all the layers determine the pressure required to make contact between the conductive layers.
  • the embodiment of pressure sensor shown includes upper and lower conductive layers 1 and 3, separated by an intermediate insulating layer 2 which is formed as a separating mesh.
  • the upper conductive layer 1 is of negligible resistance .
  • the lower conductive layer 3 is formed of a plurality of conductive strips A to F separated by insulating strips. Each conductive strip A-F has a known resistance.
  • Figure 2 shows an example of structure for the lower layer 3, being formed in this example in its warp fibers of five strands of insulator per insulating strip and four strands of conductive material for each conductive strip.
  • the insulating strands are thicker than the conductive strands and can thus form the insulator layer between the two conductive layers 1 and 3, avoiding the need for a separate insulating layer.
  • the effect produced is that the conductive warp yarns are below the surface level of the fabric when taken as a whole in a section running parallel to the weft.
  • the conductive yarns When two lengths of this fabric are arranged at right angles to each other, the conductive yarns will be separated from one another by an air gap. This air gap collapses when pressure is applied to the structure, thereby making electrical contact.
  • the matrix of possible contact points or switches is determined by the size of the fabric sheet and the density of the conductive strips on each sheet. This in turn determines the definition of any area of contact.
  • the embodiment shown can act as a single stage pressure switch indicating when a certain level of pressure is applied to the assembly. In embodiments which may have more than two conductive layers, different levels of pressure can be sensed.
  • the measured resistance between one end of a conducting strip on layer 3 and its point of contact with the upper conducting layer 1 will be directly proportional to the free unconnected length of the conducting strip.
  • Figure 3 shows this mechanism more clearly.
  • the insulating layer 2 is bridged such that there is electrical contact between the two conductive layers 1 and 3.
  • parts of the upper conductive layer 1 will touch one or more of the conductive strips of the lower conductive layer 3.
  • An electrical path is thus created between the upper conductive layer, a part of one or more of the lower conductive strips and an electrical connection between the upper and lower layers 1 and 3.
  • Figure 3 in which at the left-hand side of the Figure there can be seen an electrical circuit formed by a portion Dl of one of the lower conductive strips and part of the upper layer.
  • the resistance Rl of the circuit thus formed is representative of the distance Dl .
  • Similar considerations apply to the right-hand side of the conductive strip A-F as shown in Figure 3, in which the resistance R2 of that circuit is representative of the distance D2 of unbridged portion of the conductive strip A-F.
  • the area of pressure applied to this conductive strip A-F can be determined, the same being possible for all the other conductive strips A-F of the lower conductive layer 3 to produce a contour of the pressure applied to the structure. Approximations result from the depth of the separation layer and elasticity of the upper conductive layer and from the mark to space ratio of the conductive strips A-F.
  • the specific structure of the lower conductive strip can be chosen for the particular application in dependence upon the resolution required.
  • Figures 4 and 5 show in better detail a mechanism for determining the pressure contour and/or its center.
  • Fig. 4 shows a plan view of the assembly with an indicated point, X, denoting the location at which the two outer layers have been brought into electrical contact.
  • the resistance between G and H will give the distance RG .
  • the same process used for the other points will give the distances RI, RE and RF. These will give an approximation of the area.
  • connection points will improve the definition of an area of contact by establishing extra vector distances to its periphery.
  • Testing of a prototype sensor has given an indication of the shape of the region which is subjected to pressure above the threshold pressure to cause contact of the two conductive layers .
  • Assemblies may also include at least two of the described layers largely created in a single pass during the weaving or knitting process.
  • the separator layers may be in the form of raised lumps of insulating fabric or other material, which may also be incorporated into the structure of one or both of the conductive sheets. Alternatively or additionally, they may be in the form of raised bars or stripes of insulating fabric or other material, which may also be incorporated into the structure of one or both of the conductive sheets.
  • separator layers could be in the form or could include a * honeycomb" or other grid of insulating fabric or other material, which may also be incorporated into the structure of one or both of the conductive sheets; or of * drop-threads" of insulating fabric or other material, incorporated into the structure of one or both of the conductive sheets.
  • the assembly may have a waterproof coating or casing, or the fibers may be hydrophobic.
  • the fabric version of the sensor can be used where hard or sharp objects are undesirable, for example in toys, clothing or bedding; it is lightweight, low cost, comfortable, will conform to surfaces with compound curves (curves in up to three dimensions), versatile, may be incorporated into other fabric structures and can be made to be unobtrusive.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Measuring Fluid Pressure (AREA)

Abstract

L'invention concerne un capteur de pression comprenant des couches conductrices supérieure et inférieure (1, 3) séparées par une couche isolante intermédiaire (2) qui est formée d'un treillis de séparation. La couche conductrice supérieure (1) est d'une résistance négligeable. La couche conductrice inférieure (3) est formée d'une pluralité de bandes conductrices (A-F) séparées par des bandes isolantes. Chaque bande conductrice (A-F) présente une certaine résistance. On applique un signal électrique aux couches conductrices (A-F) tour à tour et on détermine le trajet électrique entre les couches conductrices supérieure et inférieure (1, 3). La résistance électrique du trajet conducteur permet d'établir la position du point de pression au niveau duquel le pont se produit. La position et la taille de la zone de pression peuvent ainsi être définies.
PCT/GB1999/003600 1998-11-03 1999-11-02 Capteur tactile WO2000026627A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB9824037A GB2343516A (en) 1998-11-03 1998-11-03 Fabric pressure sensor comprising conductive layers or strips and an insulating separator
GB9824037.7 1998-11-03

Publications (2)

Publication Number Publication Date
WO2000026627A1 true WO2000026627A1 (fr) 2000-05-11
WO2000026627A8 WO2000026627A8 (fr) 2000-08-03

Family

ID=10841752

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB1999/003600 WO2000026627A1 (fr) 1998-11-03 1999-11-02 Capteur tactile

Country Status (2)

Country Link
GB (1) GB2343516A (fr)
WO (1) WO2000026627A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004109589A1 (fr) * 2003-06-05 2004-12-16 Chasco Perez De Arenaza Juan C Surface de pression laminee intelligente
US8298968B2 (en) 2004-02-27 2012-10-30 Intelligent Textiles Limited Electrical components and circuits constructed as textiles
KR101326796B1 (ko) 2012-01-10 2013-11-11 상명대학교서울산학협력단 텍스타일 터치 센서
WO2014075068A1 (fr) * 2012-11-12 2014-05-15 Paul Lecat Capteur à tissu conducteur
US10519575B2 (en) 2015-12-18 2019-12-31 Intelligent Textiles Limited Conductive fabric, method of manufacturing a conductive fabric and apparatus therefor
US10824282B2 (en) 2015-11-30 2020-11-03 Drexel University Fabric touch sensor

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB9911081D0 (en) * 1999-05-12 1999-07-14 Univ Brunel Switch
GB2350681A (en) * 1999-05-27 2000-12-06 John Bell Pressure sensing devices for pressure or bed sore prevention
NZ521993A (en) 2000-04-03 2003-03-28 Univ Brunel Single layer pressure sensitive textile with air separated conductive warp and weft threads
GB0011829D0 (en) * 2000-05-18 2000-07-05 Lussey David Flexible switching devices
GB0113905D0 (en) 2001-06-07 2001-08-01 Peratech Ltd Analytical device
GB2437997B (en) * 2006-04-27 2011-07-27 Eleksen Ltd Manually operable position sensor
GB2508626B (en) * 2012-12-05 2014-10-29 R & D Core Ltd Contact sensor
GB2511356B (en) * 2013-03-01 2016-02-17 Isensol Ltd Pressure mat
CN107144379A (zh) * 2017-04-28 2017-09-08 东华大学 一种电阻式压力分布织物传感器
CN110123344A (zh) * 2019-04-22 2019-08-16 杭州市第一人民医院 一种握力评定球
DE102019114185B4 (de) * 2019-05-27 2022-08-11 Tacterion Gmbh Taktiles Sensorelement
DE102019120191B3 (de) 2019-07-25 2020-12-24 Deutsche Institute Für Textil- Und Faserforschung Denkendorf Gestickter Sensor

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0161895A2 (fr) * 1984-05-04 1985-11-21 Raychem Limited Rangée de transducteurs
US4555954A (en) * 1984-12-21 1985-12-03 At&T Technologies, Inc. Method and apparatus for sensing tactile forces
WO1986005678A1 (fr) * 1985-03-29 1986-10-09 Sentek, Incorporated Detecteur de contact pour mesurer l'occlusion dentaire
DE3830604A1 (de) * 1988-09-08 1990-03-15 Kokoku Rubber Tech Druckmessender elektrischer leiter und seine herstellungsmethode
US5014224A (en) * 1988-07-14 1991-05-07 Blomberg Robotertecknik Gmbh Tactile sensor

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4336529A (en) * 1980-02-19 1982-06-22 Pitney Bowes Inc. Postage meter having shielded keyboard to protect against electromagnetic radiation
US4659873A (en) * 1985-07-19 1987-04-21 Elographics, Inc. Fabric touch sensor and method of manufacture
US4914416A (en) * 1988-09-01 1990-04-03 Takahiro Kunikane Pressure sensing electric conductor and its manufacturing method
US5060527A (en) * 1990-02-14 1991-10-29 Burgess Lester E Tactile sensing transducer
US5253656A (en) * 1991-05-23 1993-10-19 Rincoe Richard G Apparatus and method for monitoring contact pressure between body parts and contact surfaces
US5878620A (en) * 1997-01-23 1999-03-09 Schlege Systems, Inc. Conductive fabric sensor for vehicle seats
GB2339495B (en) * 1998-05-21 2000-11-15 Univ Brunel Pressure sensor

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0161895A2 (fr) * 1984-05-04 1985-11-21 Raychem Limited Rangée de transducteurs
US4555954A (en) * 1984-12-21 1985-12-03 At&T Technologies, Inc. Method and apparatus for sensing tactile forces
WO1986005678A1 (fr) * 1985-03-29 1986-10-09 Sentek, Incorporated Detecteur de contact pour mesurer l'occlusion dentaire
US5014224A (en) * 1988-07-14 1991-05-07 Blomberg Robotertecknik Gmbh Tactile sensor
DE3830604A1 (de) * 1988-09-08 1990-03-15 Kokoku Rubber Tech Druckmessender elektrischer leiter und seine herstellungsmethode

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004109589A1 (fr) * 2003-06-05 2004-12-16 Chasco Perez De Arenaza Juan C Surface de pression laminee intelligente
ES2221577A1 (es) * 2003-06-05 2004-12-16 Juan Carlos Chasco Perez De Arenaza Superficie presora laminada inteligente.
US8298968B2 (en) 2004-02-27 2012-10-30 Intelligent Textiles Limited Electrical components and circuits constructed as textiles
US8669195B2 (en) 2004-02-27 2014-03-11 Intelligent Textiles Limited Electrical components and circuits constructed as textiles
KR101326796B1 (ko) 2012-01-10 2013-11-11 상명대학교서울산학협력단 텍스타일 터치 센서
WO2014075068A1 (fr) * 2012-11-12 2014-05-15 Paul Lecat Capteur à tissu conducteur
US9140614B2 (en) 2012-11-12 2015-09-22 Paul Lecat Conductive cloth sensor
US10824282B2 (en) 2015-11-30 2020-11-03 Drexel University Fabric touch sensor
US11269425B2 (en) 2015-11-30 2022-03-08 Drexel University Fabric touch sensor
US10519575B2 (en) 2015-12-18 2019-12-31 Intelligent Textiles Limited Conductive fabric, method of manufacturing a conductive fabric and apparatus therefor

Also Published As

Publication number Publication date
WO2000026627A8 (fr) 2000-08-03
GB9824037D0 (en) 1998-12-30
GB2343516A (en) 2000-05-10

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