CN1940513A - Touch sensing costume for intelligent robot - Google Patents

Abstract

Translated fromChinese

一种智能机器人的触觉传感服装。它由穿戴在智能机器人身上的服装本身和安置在该服装上的触觉传感装置构成。其触觉传感装置包括各电极触点一一对应的、其中一个的电极触点为行排列阵列而另一个为列排列阵列的上下两块薄膜电极板。在下薄膜电极板的每一电极触点上通过导电粘接剂粘贴有一块厚度相等的具有压阻特性的导电橡胶；在两块薄膜电极板之间衬垫有一块其上有与导电橡胶对应的孔眼、该孔眼把各导电橡胶套住并把相邻的分隔开的、具厚度比导电橡胶的厚度厚0.05mm～0.10mm的绝缘薄膜隔衬。进一步讲，该触觉传感装置还有同时也可作机器人服装材料的保护层。本发明具有成本低廉、检测面积大、测试灵敏度高；很好的柔韧性、受冲击时不易损坏的优越性。

A tactile sensing clothing for intelligent robots. It consists of the clothing itself worn on the intelligent robot and the tactile sensing device placed on the clothing. The tactile sensing device includes two upper and lower thin-film electrode plates corresponding to one-to-one electrode contacts, one of which is arranged in a row array and the other is arranged in a column array. A piece of conductive rubber with equal thickness and piezoresistive properties is pasted on each electrode contact of the lower film electrode plate through a conductive adhesive; between the two film electrode plates, there is a piece of padding corresponding to the conductive rubber. The hole, the hole covers each conductive rubber and separates the adjacent ones, and has an insulating film spacer whose thickness is 0.05mm to 0.10mm thicker than that of the conductive rubber. Furthermore, the tactile sensing device also has a protective layer that can also be used as a robot clothing material. The invention has the advantages of low cost, large detection area, high detection sensitivity, good flexibility, and not easily damaged when impacted.

Description

The touch sensing costume of intelligent robot

Technical field

The present invention relates to the touch sensing device of intelligent robot, be specifically related to be worn on intelligent robot touch sensing device on one's body.

Background technology

In some bump tests that relate to human body (for example, the bump test of manned automobile) in or in other tests that contact pressure is arranged that may damage human body, for the health of avoiding true man comes to harm, people tend to utilize the intelligent robot with corresponding perception to replace human body to test.For this reason, if people will install on the region of interest of intelligent robot in the touch sensing device of induction pressure size.By these touch sensing devices, detect position that human body may be collided and to the size of the impulsive contact force at these positions, thereby provide foundation for the design that improves product (for example, manned automobile).In intelligent robot tactile sensing method that proposes up to now and device thereof, have utilize the pvdf membrane piezoelectric effect obtain electric signal, have utilize ultrasound wave or pressure to cause capacitance variations and obtain electric signal, utilize mechanical switch, optical waveguide to wait in addition to obtain electric signal.In existing these method for sensing and device thereof, two common deficiencies are arranged: the one, the cost of the tactile sensing unit in these sensing devices is higher, if will all install tactile sensing unit in these sensing devices accordingly, just must increase a lot of identical or different tactile sensing unit to all positions that need be concerned about of human body.So, its experimentation cost has just increased significantly.So the area of the sense of touch sensing part of existing touch sensing device is all too little.If cost is placed on backseat, increases corresponding sense of touch sensing part area with the quantity of increase existing tactile sensing unit, the pliability that second deficiency is this larger area sense of touch sensing part is poor again.

Summary of the invention

The objective of the invention is, at the deficiencies in the prior art, provide a kind of area of with low cost, sense of touch sensing part big, have good flexible and can be worn on intelligent robot touch sensing device on one's body.

That realizes described goal of the invention is a kind of touch sensing costume of intelligent robot.This touch sensing costume is made of the touch sensing device that can be worn on intelligent robot clothes on one's body itself and be placed on these clothes.Touch sensing device wherein comprise each electrode contacts one to one, one of them electrode contacts for the row arranged array another be two thin-film electro pole plates up and down of row arranged array; Being pasted with the conductive rubber with pressure drag characteristic that a thickness equates by electrically conducting adhesive on each electrode contacts near the following thin-film electro pole plate of robot health, is that core constitutes a tactile sensing unit with this conductive rubber promptly; Liner between two thin-film electro pole plates have one have the eyelet corresponding and this eyelet that each conductive rubber is entangled on it with conductive rubber and adjacent conductive rubber is separated, its thickness than the insulation film of the thick 0.05mm～0.10mm of thickness of conductive rubber every lining.After the extension line of two thin-film electro pole plates is drawn via connector lug, link with the back-end processing system again.

Further feature is, in the described outside of two thin-film electro pole plates up and down its material being arranged respectively is the protective seam of waterproof cloth, plastic sheeting or rubber skin; Lower protective layer, down thin-film electro pole plate, insulation film be every lining, upper film battery lead plate with go up to protect and expand layer and be pasted together by flexible glue successively; Described conductive rubber is to stick on down on each electrode contacts that membrane electrode pulls by epoxy conducting.

Further feature is, described protective seam also is simultaneously a material of making the robot clothes.Wherein, last protective seam is that lining, the lower protective layer of these clothes are the back boxing of these clothes; At least in the margin to seam width range of each cut-parts of these clothes, the lower protective layer and the last protective seam that overlap are only arranged.

When carrying out contact pressure (or collision) test, at first be two thin-film electro pole plates at its pressurized place compression clip insulation film between them every lining, after continuing this insulation film of compression and making that every lining the electrode contacts of upper film battery lead plate touches corresponding conductive rubber, this conductive rubber is just two electrode contacts conductings up and down.Like this, the position and the area of this intelligent robot pressurized measured in the some position of determinant array electrode contact that just can be by conducting and counting; Pressure drag characteristic by conductive rubber (when the suffered pressure of conductive rubber slowly became big, its volume slowly diminished thereupon, and the concentration that is equivalent to the inner conductive particle increases, thus the resistance decreasing of conductive rubber.This characteristic is the curve that changes according to certain rules in logarithmic coordinate, and for a certain the conductive rubber of specifying conductive particle is arranged, and its pressure drag family curve is also determined thereupon), just can measure the size that this intelligent robot is stressed in each pressurized place.Thereby obtain whole tactile datas of this intelligent robot pressurized.

Compare with existing touch sensing device, cost as the conductive rubber of tactile sensing unit core is a cheap relatively class, again because the used material of each layer of the present invention all is films that the different flexibilities of degree are arranged, so, not only the cost because of material therefor cheaper, only consider also to allow to do the total area of the touch sensing device on the clothes greatlyyer from the cost aspect, and, can also do this touch sensing costume to such an extent that extremely fit with intelligent robot curve on one's body.Therefore, the present invention has the advantage that with low cost, area of detection (being the area that tactile feel is answered) is big, measurement sensitivity is high, good flexible is arranged.In conjunction with described further feature, the person's character invention is wear-resistant in addition, not fragile when being hit, can cut out and make (or bonding) processing according to the body of intelligent robot as making the human clothing, being worn on intelligent robot on one's body can perception external force and advantage such as contactant appearance profile; Match with corresponding back-end processing system, the tactile discrimination rate of this intelligent robot clothes can also be regulated as required.

The present invention is further illustrated below in conjunction with accompanying drawing.

Description of drawings

Fig. 1---the diagrammatic cross-section of a tactile sensing unit of the present invention

Fig. 2---the upper film battery lead plate among the present invention of a kind of 8 * 8 arrays

Fig. 3---the following thin-film electro pole plate corresponding with Fig. 2

The decomposing schematic representation of the present invention of Fig. 4---a kind of 3 * 4 arrays

Fig. 5---the synoptic diagram of an intelligent robot clothes slitting of the present invention

Embodiment

A kind of touch sensing costume of intelligent robot (with reference to figure 1,2,3,4).This touch sensing costume is made of the touch sensing device that can be worn on intelligent robot clothes on one's body itself and be placed on these clothes.This touch sensing device comprise each electrode contacts one to one, one of them electrode contacts for the row arranged array another be two thin-film electro pole plates (2,3) up and down of row arranged array; These two thin-film electro pole plates (2,3) can be made of existing various materials and technology.On each electrode contacts, be pasted with the conductive rubber withpressure drag characteristic 20 that a thickness equates by electrically conducting adhesive near the following thin-filmelectro pole plate 2 of robot health (this case claim far away for thin-filmelectro pole plate 2 down, the device person of disembarking be upper film battery lead plate 3) near the thin-film electro pole plate of robot health; Liner between two thin-film electro pole plates (2,3) have one have 20 eyelets 231 corresponding and this eyelet 231 that eachconductive rubber 20 is entangled on it with conductive rubber and, itsthickness 20 that separate adjacent conductive rubber than the insulation film of the thick 0.05mm～0.10mm of thickness ofconductive rubber 20 every lining 23.Obviously, said conductive adhesive sharp available existing, also satisfy the electrically conducting adhesive of other requirements of the person of selecting for use simultaneously.The quantity of described determinant array electrode contact and density degree can be according to the requirement of test result, the factors such as performance of corresponding back-end processing system are determined.Both the touch sensing device on the clothes can have been made more relatively, the bigger touch sensing costume of each piece touch sensing device area of array quantity of tactile sensing unit (promptly including only a conductive rubber 20); Can make also that tactile sensing cellular array quantity is less relatively, the less touch sensing costume of each piece touch sensing device area, more can make the touch sensing costume that each piece touch sensing device area differs in size as required.

Those skilled in the art can correctly realize the present invention after having seen the content and corresponding explanation that a last paragragh discloses.So as following each routine summation, the content identical with this summation do not given unnecessary details in following each example the embodiment of last paragragh disclosure.

Embodiment 1:

This example is on the basis of embodiment summation, at the making of thin-film electro pole plate and further give an example (with reference to the figure 2,3,4) ofconductive rubber 20 materials.In this example, the thin-film electro pole plate is printed on one side the silver slurry and constitutes corresponding determinant array electrode contact (the concrete technology of starching in view of printed silver has been public technology, so further do not introduce in this example) on the PB plastic sheeting.Conductive particle in this routineconductive rubber 20 is that glass bead is silver-plated.Obviously, the conductive particle in theconductive rubber 20 also can be the silver-plated or carbon black formula of aluminium---select for use according to material source and/or other requirement.

Embodiment 2:

This part is on the basis of embodiment summation orembodiment 1, atconductive rubber 20 and insulation film every the geometric configuration oflining 23 and the further introduction (with reference to figure 1,4) of feature thereof.Specifically be, each piececonductive rubber 20 is a round pie, insulation film is circular hole every the eyelet 231 that lining entangles them on 23, between thisconductive rubber 20 and the eyelet 231 the rarest whenconductive rubber 20 and insulation film every serving as acontrast 23 gaps that all are depressed into when the thinnest, still can not swipe between the two.That is to say, under the state ofconductive rubber 20, cause that the decrement of its resistance change can not be subjected to the interference of insulation film everylining 23, improved accuracy of the present invention and reliability at pressurized.Have at each electrode contacts place of upper filmbattery lead plate 3 and to concave and bubbling 31 (adopting known hot pressing bubbling technology) that its opposing face outwards protrudes, this electrode contacts is 0.05mm～0.10mm in the center of female parts, the degree of depth of this center, and the edge diameter of this female parts is not less than the eyelet 231 of corresponding insulation film on lining 23.Obviously, these bubbling 31 structures have been arranged after, the appearance that more can thoroughly stop pseudo-haptic signal has improved accuracy of the present invention and reliability further.

As instantiation, the diameter of each piececonductive rubber 20 is got 7mm, thickness is got 0.7mm; The mean gap that corresponding insulation film is got 0.8mm, this insulation film each eyelet 231 onlining 23 and 20 of corresponding conductive rubbers every the thickness oflining 23 is 0.1mm (promptly the diameter of this eyelet 231 is 7.2mm).In the central depths of the recessed within it side of bubbling 31 of upper filmbattery lead plate 3 is that the edge diameter of 0.05mm, this female parts is 7.2mm～8.0mm (mean diameter is got 7.5mm).

Certainly, take all factors into consideration the relation of (or saying balance) sensitivity and accuracy, reliability, perhaps consider some special stress requirement after, those skilled in the art is only by conventional experiment or test, can reselect out theconductive rubber 20 that satisfies related request and insulation film fully every the thickness difference oflining 23 and bubbling 31 indent central depths values.So give an example for this reason with in this embodiment, exceeding.

Embodiment 3:

This example is on the basis of embodiment summation,embodiment 1 orembodiment 2, for improving durability of the present invention and further improving the additional improvement (with reference to figure 1,4) that reliability is done.In the outside of two thin-film electro pole plates (2,3) up and down its material being arranged respectively is the protective seam (this example waterproof cloth) of waterproof cloth, plastic sheeting or rubber skin.Lowerprotective layer 1, following thin-filmelectro pole plate 2, insulation film are pasted together by flexible glue successively everylining 23, upper filmbattery lead plate 3 and last protective seam 4.Said flexible glue is meant, the viscose glue (for example viscose glue of neoprene one class) that this viscose glue still has certain flexibility after solidifying, condensing.So, the touch sensing costume of also having guaranteed this intelligent robot aspect adhesives has had certain flexibility.

In this example,conductive rubber 20 is to stick on down on each electrode contacts of thin-filmelectro pole plate 2 by epoxy conducting.

Embodiment 4:

This example is on the basis ofembodiment 3, the further improvement of doing for simplified design (with reference to figure 1,4,5).In this example, protective seam also is simultaneously a material of making the robot clothes.Wherein, last protective seam 4 is these clothes lining, lowerprotective layer 1 are the back boxing of these clothes; At least in margin to seam 14 width ranges of each cut-parts of these clothes, the lowerprotective layer 1 and the last protective seam 4 that overlap are only arranged---that is to say do not have touch sensing device between lowerprotective layer 1 in the width range of cut-parts margin to seam 14 and the last protective seam 4.In other words; the touch sensing costume of the intelligent robot that this is routine has: with lowerprotective layer 1 is back boxing, to go up protective seam 4 be lining, the centre accompanies the electrode layer of two thin-film electro pole plates (2,3) up and down and is clipped in its eyelet 231 between this two electrode layer the sandwich construction of the insulation film of conductive rubber 20 (tactile sensing unit) every lining 23 (separation layers).

In above-mentioned summation part or each embodiment, when making the intelligent robot clothes, with cutting out the identical method of human clothing of making, earlier the clothes material being cut into the cut-parts that are fit to the corresponding intelligence machine person---Fig. 5 is that example is drawn with the clothes slitting, the double dot dash line frame table shows that touch sensing device is arranged in the zone 141 in the clothes among the figure, in the joint everywhere of intelligent robot, available existing touch sensing device, also available the present invention---just need the tactile sensing cellular array quantity of corresponding sensing device is got few; Determine that according to the size (in conjunction with corresponding back-end processing system) of each cut-parts (Fig. 2, Fig. 3 are example with 8 * 8 arrays, draw relatively accurately for the piece number of touch sensing device and the tactile sensing cellular array quantity of each piece touch sensing device then; Fig. 4 is that example is illustrated to draw with 3 * 4 arrays); Then be clipped in the respective regions 141 that the cut-parts margin to seam surrounded each equal and opposite in direction or unequal touch sensing device are sticking again; Again each cut-parts are put together, made at last or bonding for clothes.If adopt the way of making, when making, need SC, because the distance between the wiring on each tactile sensing unit and the battery lead plate is all very near, pay special attention to not occur short circuit and breaking phenomena.Also to consider the distribution of drawing joint of each piece in addition, make it to be convenient to gather line and non-frangibility.

The Virtual Instruments Test System that described " the back-end processing system " that connects in this case embodiment is made up of the PCI-6259 high-accuracy data collection card and the LabVIEW7.0 development platform of the production of America NI company; The pinout connector of two thin-film electro pole plates is drawn with the connector lug of commercially available 543-10, connects with this back-end processing system again.

Claims (10)

Translated fromChinese

1、智能机器人的触觉传感服装，该触觉传感服装由可以穿戴在智能机器人身上的服装本身和安置在该服装上的触觉传感装置构成，其特征在于，所述触觉传感装置包括各电极触点一一对应的、其中一个的电极触点为行排列阵列而另一个为列排列阵列的上下两块薄膜电极板(2、3)；在靠近机器人身体的下薄膜电极板(2)的每一电极触点上通过导电粘接剂粘贴有一块厚度相等的具有压阻特性的导电橡胶(20)，在两块薄膜电极板(2、3)之间衬垫有一块其上有与导电橡胶对应的(20)孔眼(231)、且该孔眼(231)把各导电橡胶(20)套住并把相邻的导电橡胶(20)隔开的、其厚度比导电橡胶(20)的厚度厚0.05mm～0.10mm的绝缘薄膜隔衬(23)。1. The tactile sensing clothing of the intelligent robot, the tactile sensing clothing is composed of the clothing itself which can be worn on the intelligent robot and the tactile sensing device arranged on the clothing, it is characterized in that the tactile sensing device includes various The electrode contacts are one-to-one correspondence, and one of the electrode contacts is arranged in a row array and the other is an upper and lower film electrode plate (2, 3) arranged in a column array; the lower film electrode plate (2) close to the robot body A piece of conductive rubber (20) with equal thickness and piezoresistive properties is pasted on each electrode contact with a conductive adhesive, and there is a pad between the two film electrode plates (2, 3). The corresponding (20) eyelets (231) of the conductive rubber, and the eyelets (231) cover each conductive rubber (20) and separate adjacent conductive rubbers (20), whose thickness is smaller than that of the conductive rubber (20). An insulating film spacer (23) with a thickness of 0.05 mm to 0.10 mm.2、根据权利要求1所述的智能机器人的触觉传感服装，其特征在于，所述薄膜电极板是在PB塑料薄膜上单面印刷银浆而构成相应的行列式阵列电极触点的；所述导电橡胶(20)内的导电颗粒可以是玻璃球镀银的、铝镀银的或者炭黑式的。2. The tactile sensing garment for an intelligent robot according to claim 1, wherein the film electrode plate is printed with silver paste on one side of the PB plastic film to form a corresponding determinant array electrode contact; The conductive particles in the conductive rubber (20) can be silver-plated glass balls, silver-plated aluminum or carbon black.3、根据权利要求1或2所述的智能机器人的触觉传感服装，其特征在于，所述的各块导电橡胶(20)为圆饼状，绝缘薄膜隔衬(23)上套住它们的孔眼(231)为圆孔，在该导电橡胶(20)与孔眼(231)之间起码有当导电橡胶(20)与绝缘薄膜隔衬(23)均被压至最薄时、两者间仍不会发生刮擦的间隙；在所述的上薄膜电极板(3)的各电极触点处有向内凹而其相反面向外凸出的鼓泡(31)，该电极触点在内凹部分的中心、该中心处的深度为0.05mm～0.10mm，该内凹部分的边沿直径不小于对应的绝缘薄膜隔衬(23)上的孔眼(231)。3. The tactile sensing clothing for intelligent robots according to claim 1 or 2, characterized in that each piece of conductive rubber (20) is in the shape of a round cake, and their insulating film lining (23) covers them Eyelet (231) is a circular hole, between this conductive rubber (20) and eyelet (231), there is at least when conductive rubber (20) and insulating film interlining (23) are all pressed to the thinnest, still between the two. No scratching gap will occur; each electrode contact of the upper film electrode plate (3) has a bubble (31) that is concave inward and protrudes outward on the opposite side, and the electrode contact is concave inward. The center of the part and the depth at the center are 0.05 mm to 0.10 mm, and the edge diameter of the concave part is not smaller than the hole (231) on the corresponding insulating film spacer (23).4、根据权利要求3所述的智能机器人的触觉传感服装，其特征在于，所述的各块导电橡胶(20)的直径为7mm、厚度为0.7mm；所述绝缘薄膜隔衬(23)的厚度为0.8mm、该绝缘薄膜隔衬(23)上的每一孔眼(231)与对应的导电橡胶(20)间的平均间隙为0.1mm；所述鼓泡(31)在内凹一侧的中心深度为0.05mm、该内凹部分的边沿直径为7.2mm～8.0mm。4. The tactile sensing garment of an intelligent robot according to claim 3, characterized in that, each piece of conductive rubber (20) has a diameter of 7mm and a thickness of 0.7mm; the insulating film lining (23) The thickness is 0.8mm, and the average gap between each hole (231) on the insulating film spacer (23) and the corresponding conductive rubber (20) is 0.1mm; the bubble (31) is on the concave side The center depth of the inner concave part is 0.05 mm, and the edge diameter of the concave part is 7.2 mm to 8.0 mm.5、根据权利要求1或2所述的智能机器人的触觉传感服装，其特征在于，在所述上下两块薄膜电极板(2、3)的外侧分别有其材料为防水布、塑料薄膜或橡胶皮的保护层；下保护层(1)、下薄膜电极板(2)、绝缘薄膜隔衬(23)、上薄膜电极板(3)和上保护层(4)依次由柔性胶粘贴在一起；所述的导电橡胶(20)是通过环氧导电胶粘贴在下薄膜电极板(2)的各个电极触点上的。5. The tactile sensing garment for an intelligent robot according to claim 1 or 2, characterized in that the outer sides of the upper and lower thin film electrode plates (2, 3) are respectively made of waterproof cloth, plastic film or The protective layer of the rubber skin; the lower protective layer (1), the lower film electrode plate (2), the insulating film spacer (23), the upper film electrode plate (3) and the upper protective layer (4) are pasted on by flexible glue in turn together; the conductive rubber (20) is pasted on each electrode contact of the lower film electrode plate (2) through epoxy conductive glue.6、根据权利要求3所述的智能机器人的触觉传感服装，其特征在于，在所述上下两块薄膜电极板(2、3)的外侧分别有其材料为防水布、塑料薄膜或橡胶皮的保护层；下保护层(1)、下薄膜电极板(2)、绝缘薄膜隔衬(23)、上薄膜电极板(3)和上保护层(4)依次由柔性胶粘贴在一起；所述的导电橡胶(20)是通过环氧导电胶粘贴在下薄膜电极板(2)的各个电极触点上的。6. The tactile sensing garment of an intelligent robot according to claim 3, characterized in that, the outer sides of the upper and lower thin film electrode plates (2, 3) are respectively made of waterproof cloth, plastic film or rubber skin The protective layer; the lower protective layer (1), the lower film electrode plate (2), the insulating film spacer (23), the upper film electrode plate (3) and the upper protective layer (4) are pasted together by flexible glue in sequence; The conductive rubber (20) is pasted on each electrode contact of the lower film electrode plate (2) through epoxy conductive glue.7、根据权利要求4所述的智能机器人的触觉传感服装，其特征在于，在所述上下两块薄膜电极板(2、3)的外侧分别有其材料为防水布、塑料薄膜或橡胶皮的保护层；下保护层(1)、下薄膜电极板(2)、绝缘薄膜隔衬(23)、上薄膜电极板(3)和上保护层(4)依次由柔性胶粘贴在一起；所述的导电橡胶(20)是通过环氧导电胶粘贴在下薄膜电极板(2)的各个电极触点上的。7. The tactile sensing garment of an intelligent robot according to claim 4, characterized in that, the outer sides of the two upper and lower film electrode plates (2, 3) are respectively made of tarpaulin, plastic film or rubber skin The protective layer; the lower protective layer (1), the lower film electrode plate (2), the insulating film spacer (23), the upper film electrode plate (3) and the upper protective layer (4) are pasted together by flexible glue in sequence; The conductive rubber (20) is pasted on each electrode contact of the lower film electrode plate (2) through epoxy conductive glue.8、根据权利要求5所述的智能机器人的触觉传感服装，其特征在于，所述的保护层同时也是制作机器人服装的材料；所述上保护层(4)为该服装的面料、所述下保护层(1)为该服装的里衬，起码在该服装的各裁片的缝头(14)宽度范围内，仅有重叠在一起的下保护层(1)和上保护层(4)。8. The tactile sensing clothing for intelligent robots according to claim 5, characterized in that, the protective layer is also a material for making robot clothing; the upper protective layer (4) is the fabric of the clothing, the The lower protective layer (1) is the lining of the garment, at least within the width of the seam (14) of each cut piece of the garment, there are only the lower protective layer (1) and the upper protective layer (4) overlapping together .9、根据权利要求6所述的智能机器人的触觉传感服装，其特征在于，所述的保护层同时也是制作机器人服装的材料；所述上保护层(4)为该服装的面料、所述下保护层(1)为该服装的里衬，起码在该服装的各裁片的缝头(14)宽度范围内，仅有重叠在一起的下保护层(1)和上保护层(4)。9. The tactile sensing clothing for intelligent robots according to claim 6, characterized in that, the protective layer is also a material for making robot clothing; the upper protective layer (4) is the fabric of the clothing, the The lower protective layer (1) is the lining of the garment, at least within the width of the seam (14) of each cut piece of the garment, there are only the lower protective layer (1) and the upper protective layer (4) overlapping together .10、根据权利要求7所述的智能机器人的触觉传感服装，其特征在于，所述的保护层同时也是制作机器人服装的材料；所述上保护层(4)为该服装的面料、所述下保护层(1)为该服装的里衬，起码在该服装的各裁片的缝头(14)宽度范围内，仅有重叠在一起的下保护层(1)和上保护层(4)。10. The tactile sensing clothing for intelligent robots according to claim 7, characterized in that, the protective layer is also a material for making robot clothing; the upper protective layer (4) is the fabric of the clothing, the The lower protective layer (1) is the lining of the garment, at least within the width of the seam (14) of each cut piece of the garment, there are only the lower protective layer (1) and the upper protective layer (4) overlapping together .

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