Title：Multimode tactile sensing device based on heat discoloration ink material

Country：China

Patent No.：201811004928.1

Legal Status：Under review

Inventor：Fuchun Sun, Hongxiang Xue, Bin Fang, Chun Zhang, Huaping Liu, Ziwei Xia

Assignee：Tsinghua University

Address：Tsinghua University,Haidian District Beijing 100084, China

Filing Date：2018-08-30

Issue Date：

The invention provides a multimode tactile sensing device based on a heat discoloration ink material and belongs to the technical field of robot sensors. The device comprises a shell. An image acquisition camera, a transparent elastomer, a luminous device and a plurality of supporting structure components are arranged in the shell, and the upper portion of the transparent elastomer protrudes out of the top of the shell. The transparent elastomer comprises a transparent elastomer body made of the transparent material polydimethylsiloxane. The upper surface of the portion, protruding out of thetop of the shell, of the transparent elastomer body is coated with two layers of the heat discoloration ink material mixed with silica gel, a first heat discoloration layer and a second heat discoloration layer are formed, and therefore, the information of temperatures, textures and contact force is obtained. According to the multimode tactile sensing device, the heat discoloration ink material isapplied to robot hands for the first time, measurement of the multimode information of the temperatures, the three-dimensional contact force, the textures and the like is integrated into the same sensing device, and the device has the advantages of being simple and compact in structure, capable of being used repeatedly and wide in application range.

Patent Certificate： PDF/Jpg