High-resolution flexible tactile imager system based on floating comb electrode
First Claim
1. A flexible tactile imager for measuring normal force and shear force in a first and second direction comprising:
- a flexible printed circuit board;
a comb-like fingered sense electrode patterned on a layer of the flexible printed circuit board;
a comb-like fingered drive electrode patterned on the same layer of the flexible circuit board as the sense electrode;
a comb-like fingered floating electrode patterned above a deformable dielectric material;
a deformable dielectric material sandwiched between the comb-like fingered sense and drive electrodes, wherein the deformable dielectric material allows for lateral movement of the comb-like fingered floating electrode with respect to the comb-like fingered drive electrode and the comb-like fingered sense electrode;
a first capacitance formed between the comb-like fingered sense electrode and the comb-like fingered floating electrode; and
a second capacitance formed between the comb-like fingered drive electrode and the comb-like fingered floating electrode.
2 Assignments
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Accused Products
Abstract
A flexible tactile imager includes an array of sensing cells that measure shear force and normal force. The sensing cells include a first sub-cell and a second sub-cell. Each sub-cell includes multi-fingered capacitors configured to measure shear force in a first or second direction and to measure the normal force. The multi-fingered capacitors include a flexible printed circuit board, a comb-like fingered sense electrode and drive electrode patterned on a layer of the flexible printed circuit board, a deformable dielectric material positioned above the comb-like fingered sense and drive electrodes, the comb-like fingered floating electrode patterned above the deformable dielectric material, a first capacitance formed between the comb-like fingered sense electrode and the comb-like fingered floating electrode, and a second capacitance formed between the comb-like fingered drive electrode and the comb-like fingered floating electrode.
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Citations
18 Claims
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1. A flexible tactile imager for measuring normal force and shear force in a first and second direction comprising:
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a flexible printed circuit board; a comb-like fingered sense electrode patterned on a layer of the flexible printed circuit board; a comb-like fingered drive electrode patterned on the same layer of the flexible circuit board as the sense electrode; a comb-like fingered floating electrode patterned above a deformable dielectric material; a deformable dielectric material sandwiched between the comb-like fingered sense and drive electrodes, wherein the deformable dielectric material allows for lateral movement of the comb-like fingered floating electrode with respect to the comb-like fingered drive electrode and the comb-like fingered sense electrode; a first capacitance formed between the comb-like fingered sense electrode and the comb-like fingered floating electrode; and a second capacitance formed between the comb-like fingered drive electrode and the comb-like fingered floating electrode. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A flexible tactile imager comprising:
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an array of sensing cells configured to measure shear force and normal force substantially simultaneously, each sensing cell comprising; a first sub-cell including a plurality of multi-fingered capacitors configured to measure the shear force in a first direction and to measure the normal force, the first sub-cell; and a second sub-cell configured including a plurality of multi-fingered capacitors to measure the shear force in a second direction that is orthogonal to the first direction and to measure the normal force, wherein the multi-fingered capacitors include; a comb-like floating electrode for receiving the shear and normal force; a flexible printed circuit board; a comb-like fingered sense electrode patterned on a layer of the flexible printed circuit board; a comb-like fingered drive electrode patterned on the same layer of the flexible circuit board as the sense electrode; a deformable dielectric material positioned above the comb-like fingered sense and drive electrodes; the comb-like fingered floating electrode patterned above the deformable dielectric material; a first capacitance formed between the comb-like fingered sense electrode and the comb-like fingered floating electrode; a second capacitance formed between the comb-like fingered drive electrode and the comb-like fingered floating electrode; and wherein; a portion of the drive electrode that is not covered by the comb-like floating electrode forms an offset region, and a movement of the offset region indicates an application of a shear force in the same direction as the movement. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18)
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Specification