Composite, multifunctional tactile sensor
First Claim
1. A composite tactile sensing device, comprisinga superficial (epidermal) sensing layer, including a first ferroelectric polymer transducer,a deep (dermal) sensing layer, including a second ferroelectric polymer transducer, comprising a film of ferroelectric polymer material and a matrix-like array of electrodes connected to the face of said film which is opposite to the epidermal sensing layer, andan intermediate layer of compliant material, interposed between said epidermal and dermal sensing layers.
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Abstract
A device is provided through which a set of information concerning tactile interaction between a manipulator and an object to be recognized is provided to the user. Several configurations are described, based on the piezo- and pyro-electric (ferroelectric) properties of polymeric materials, such as the polymer polyvinylidene fluoride (PVF2 or PVDF), different polypeptides and copolymers of PVF2 and TrFE. By arraying in a proper way various sensing layers, each featured by different sensory capabilities, a laminated sensor structure is obtained, able to provide a set of tactile information. The multilayered structure of the proposed device is inspired to that of the human skin, which includes superficial (epidermal) and deep (dermal) sensors.
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Citations
27 Claims
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1. A composite tactile sensing device, comprising
a superficial (epidermal) sensing layer, including a first ferroelectric polymer transducer, a deep (dermal) sensing layer, including a second ferroelectric polymer transducer, comprising a film of ferroelectric polymer material and a matrix-like array of electrodes connected to the face of said film which is opposite to the epidermal sensing layer, and an intermediate layer of compliant material, interposed between said epidermal and dermal sensing layers.
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22. A composite tactile sensing device, comprising
a superficial (epidermal) sensing layer including a first ferroelectric polymer transducer, and a deep (dermal) sensing layer, including a plurality of ferroelectric polymer transducers adapted to detect difference force components and located according to a matrix-like array.
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25. A composite tactile sensing device, comprising
a superficial (epidermal) sensing layer, including a first ferroelectric polymer transducer, a deep (dermal) sensing layer, including a second ferroelectric polymer transducer, comprising a film of ferroelectric polymer material, an intermediate layer of compliant material, interposed between said epidermal and dermal sensing layers, and an integrated circuit structure backing said deep sensing layer and including a matrix-like array of FET input amplifiers.
Specification