Research on Flexible Tactile Sensor Based on Double Diagonal Uniform Planar Electric Field

Tactile perception is the necessary means for intelligent equipment to acquire external information, and improve its safety and the performance of human-machine interaction. Based on the uniqueness theorem of electrostatic field, a new flexible tactile sensor that can detect the contact position information is designed. A strong conductive line is arranged along the edge of a flexible rectangular plane with a layer of weak conductive film. A bias excitation is applied to the opposite angles of the conductive plane to construct a uniform electric field. The direction of the electric field is at a certain angle to the diagonal of the conductive plane.Furthermore, the bias excitation applied to two pairs of opposite angles alternately, so that two uniform electric fields in different direction can be alternately formed in the conductive plane. According to the linear relationship between position and potential in the uniform electric field, the coordinate of contact position can be determined by obtaining the po