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CN-122018413-A - Multi-mode self-adaptive electrochemical electric shock skin and closed-loop anti-skid control system thereof

CN122018413ACN 122018413 ACN122018413 ACN 122018413ACN-122018413-A

Abstract

The invention discloses a multi-mode self-adaptive electrochemical electric skin with a protruding shape and a closed loop anti-skid control system thereof, which relates to the technical field of flexible electronic skin, and comprises a multi-mode electrochemical electronic skin which consists of a sensing unit, a signal processing unit and a basal layer unit, the sensing unit is used for acquiring stimulation signals through the multi-mode electrochemical electronic skin, the signal processing unit is used for converting and transmitting the acquired signals, and the basal layer unit is used for integrating the sensing unit and the signal processing unit and forming the electronic skin. According to the invention, the multi-mode sensing layer is used for carrying out multi-mode sensing on the stimulus received by the electronic skin, predicting the critical condition of the early occurrence of slippage, dynamically generating the control strategy according to the object characteristics, carrying out feedback adjustment on the actuator, carrying out real-time adjustment on the actuator, and improving the accuracy and efficiency of the system in the complex scene judgment.

Inventors

  • ZHAO CHUN
  • ZHAO ZISHEN

Assignees

  • 深圳市华芯邦科技有限公司

Dates

Publication Date
20260512
Application Date
20260410

Claims (10)

  1. 1. The multi-mode self-adaptive electrochemical synaptic electronic skin is characterized by comprising a multi-mode electrochemical electronic skin, wherein the multi-mode electrochemical electronic skin consists of a sensing unit, a signal processing unit and a basal layer unit, the sensing unit is used for acquiring a stimulation signal by the multi-mode electrochemical electronic skin, the signal processing unit is used for converting and transmitting the acquired signal, and the basal layer unit is used for integrating the sensing unit and the signal processing unit and forming the electronic skin; The sensing unit comprises a shearing electrode plate (2), an ionic gel (3), a friction electrode layer (4) and a photosensitive OECT channel (5), wherein the shearing electrode plate (2), the ionic gel (3), the friction electrode layer (4) and the photosensitive OECT channel (5) are all arranged on a basal layer unit, the shearing electrode plate (2), the friction electrode layer (4) and the photosensitive OECT channel (5) are arranged in the ionic gel (3) in a laminated mode, the friction electrode layer (4) is arranged below the shearing electrode plate (2), and the photosensitive OECT channel (5) is arranged below the friction electrode layer (4).
  2. 2. The multi-modal adaptive electrochemical synaptic electric skin as claimed in claim 1, characterized in that the signal processing unit comprises a micro-dome PDMS array (1) and electrochemical synaptic transistors (6), the micro-dome PDMS array (1) is arranged above the shear electrode plate (2), the micro-dome PDMS array (1) forms a plurality of regularly arranged micro-dome-shaped protrusions on the ionic gel (3) by micro-processing technology, and the electrochemical synaptic transistors (6) are arranged in the photo-sensitive OECT channels (5).
  3. 3. The multi-modal adaptive electrochemical protruding electric skin according to claim 2, characterized in that the base layer unit comprises an insulating film (7) and a flexible substrate (8), the insulating film (7) is arranged below the photosensitive OECT channel (5), the flexible substrate (8) is arranged below the insulating film (7), and the flexible substrate (8) is used for supporting the sensing unit and the signal processing unit.
  4. 4. A multi-modal adaptive electrochemical synaptic electric skin as claimed in claim 3, characterized in that the upper and lower electrodes of the shearing electrode sheet (2) are arranged in an interdigital manner, the ionic gel (3) is used as an electrolyte of the electrochemical synaptic transistor (6), the ionic gel (3) is used for sensing the pressure and strain force applied to the multi-modal electrochemical electronic skin and converting the pressure and strain force into an electric signal, the triboelectric layer (4) is used for detecting dynamic stimulus by using a nanofiber membrane based on the coupling effect of contact electrification and electrostatic induction, and the photosensitive OECT channel (5) is used for fusing photoelectrochemically coupled optical synapses with tactilely sheared triggered electric synapses in the same channel.
  5. 5. A closed loop anti-slip control system for a multi-modal adaptive electrochemical bud electric skin, characterized in that the use of the one multi-modal adaptive electrochemical bud electric skin of any one of claims 1-4, comprises: The multi-mode sensing layer captures a stimulation signal through contact with the external environment and converts the stimulation signal into an electric signal; The shared grid OECT synaptic array is electrically connected with the multi-mode sensing layer, is used for sharing a plurality of OECT channels with a common grid electrode and electrolyte layer, inputs signals generated by the multi-mode sensing layer as grid voltage to the shared grid and regulates synaptic weight distribution of the array; the space-time coding and weight memory is electrically connected with the shared gate OECT synaptic array, generates a pulse sequence carrying time information by receiving signals of the shared gate OECT synaptic array and stores the synaptic connection weight information; The controller is electrically connected with the space-time coding, the weight memory and the shared gate OECT synaptic array, and adopts a mode of combining threshold judgment with a lightweight time sequence network to realize the closed-loop control of early-stage early-warning and self-adaptive re-grabbing of slippage; And the actuator is electrically connected with the controller and realizes mechanical movement by receiving signals of the controller.
  6. 6. The closed loop anti-slip control system of a multi-modal adaptive electrochemical synapse skin according to claim 5, characterized in that the multi-modal sensing layer enables differential readout of shear force by shearing electrode pads (2), uses triboelectric layer (4) to detect vibration signals, enables fusion of optical synapses with electrical synapses in the same channel with photosensitive OECT channels (5) and provides additional optical features at low illumination, and converts and transmits pressure and strain signals by ionogel (3).
  7. 7. The closed loop antiskid control system of multi-mode adaptive electrochemical synapse skin according to claim 6, characterized in that the shared gate OECT synapse array adopts a cross array structure of row shared gate-column source-drain, the synapse units in the shared gate OECT synapse array are composed of source electrode, drain electrode, organic semiconductor channel, electrolyte layer and shared gate electrode, multiple synapse units share one gate electrode, gate signals regulate channel conductance through ion transmission in the electrolyte layer, source-drain electrodes are used for reading synapse weights of the synapse units, and near zero static power consumption is realized in a non-stimulated state through OECT structure and ion dynamics regulation.
  8. 8. The closed-loop anti-skid control system for multi-modal adaptive electrochemical synapse skin according to claim 7, wherein the space-time coding in the space-time coding and weight memory encodes information in both time dimension and space dimension by simulating information processing modes of brain neurons, and by applying continuous gate voltage pulses, simulating short-time plasticity of synapses, dynamic caching and time sequence processing of information are achieved, and by activating different shared gate groups at different times, spatially distributed modulation of synapse weights is achieved, and then combining time pulse sequences with spatially activated modes, forming efficient space-time joint coding.
  9. 9. The closed-loop anti-slip control system for multi-modal adaptive electrochemical synapse skin according to claim 8, wherein the weight memory in the space-time coding and weight memory changes the flow direction of ions in the OECT channel by applying positive and negative grid voltages, realizes the adjustment of conductivity, maintains the doping state of the channel after the grid voltages are removed, realizes the non-volatile storage of the weight, and realizes continuous conductivity modulation by controlling the amplitude and time of the grid voltages, simulating the polymorphic weight of a biological synapse.
  10. 10. The closed-loop anti-skid control system of the multi-modal adaptive electrochemical synaptic electronic skin according to claim 9, wherein the controller performs light feature extraction and feature encoding on parameters of the multi-modal sensing layer, and fine-tunes a strategy network using a light PPO algorithm, constructs a three-dimensional threshold space of object characteristics according to the parameters of the multi-modal sensing layer, and dynamically generates a control strategy according to the object characteristics to achieve compliant grabbing.

Description

Multi-mode self-adaptive electrochemical electric shock skin and closed-loop anti-skid control system thereof Technical Field The invention relates to the technical field of flexible electronic skins, in particular to a multi-mode self-adaptive electrochemical contact skin and a closed-loop anti-slip control system thereof. Background The electronic skin is formed by simulating mechanoreceptors and nerve synapses in human skin, the electronic skin is enabled to form sensing touch sense, and the sensing sense is stored, memorized and processed, the core technology is that the integration of sensing and processing is realized by utilizing an electromechanical chemistry synapse transistor, the touch receptors and the electromechanical chemistry synapse transistor are integrated into an artificial afferent nerve, the slip recognition is realized under low working voltage, the recognition precision is improved by combining with a time sequence algorithm, and the closed-loop grabbing and anti-slip flow is displayed. The existing electronic skin and the closed-loop anti-skid control system thereof usually take normal pressure as a main part, emphasize dendritic integration, space-time pulse coding and closed-loop action, and verify the feasibility of carrying out tactile mode distinction and anti-skid control on a hardware level, however, the existing scheme mainly focuses positive pressure, the direct measurement of shearing/slipping vector components and the parallel fusion of low-illumination optical information are still limited, and multiple links of sensing, storing and identifying mostly depend on single-mode input, when the system is in a low-illumination grabbing and hiding scene, the sensing input capacity of the single mode is extremely limited, the data reliability of the single mode is low, and the misjudgment and delay of the system in a complex scene are easy to cause. Disclosure of Invention The invention aims to provide a multi-mode self-adaptive electrochemical contact skin and a closed-loop anti-skid control system thereof, which are used for solving the problems in the background technology. The multi-mode self-adaptive electrochemical electronic skin comprises a multi-mode electrochemical electronic skin, wherein the multi-mode electrochemical electronic skin consists of a sensing unit, a signal processing unit and a substrate layer unit, the sensing unit is used for acquiring a stimulation signal by the multi-mode electrochemical electronic skin, the signal processing unit is used for converting and transmitting the acquired signal, and the substrate layer unit is used for integrating the sensing unit and the signal processing unit and forming the electronic skin; The sensing unit comprises a shearing electrode plate, an ionic gel, a friction electrode layer and a photosensitive OECT channel, wherein the shearing electrode plate, the ionic gel, the friction electrode layer and the photosensitive OECT channel are all arranged on the basal layer unit, the shearing electrode plate, the friction electrode layer and the photosensitive OECT channel are arranged in the ionic gel in a lamination mode, the friction electrode layer is arranged below the shearing electrode plate, and the photosensitive OECT channel is arranged below the friction electrode layer. Preferably, the signal processing unit comprises a micro dome PDMS array and an electrochemical synaptic transistor, the micro dome PDMS array is arranged above the shearing electrode plate, the micro dome PDMS array forms a plurality of micro dome-shaped bulges which are regularly arranged on the ion gel through a micro processing technology, and the electrochemical synaptic transistor is arranged in the photosensitive OECT channel. Preferably, the substrate layer unit comprises an insulating film and a flexible substrate, the insulating film is arranged below the photosensitive OECT channel, the flexible substrate is arranged below the insulating film, and the flexible substrate is used for supporting the sensing unit and the signal processing unit. Preferably, the upper electrode and the lower electrode of the shearing electrode sheet are arranged in an interdigital mode, the ionic gel is used as an electrolyte of an electrochemical synaptic transistor, the ionic gel is used for sensing pressure and stress applied to multi-mode electrochemical electronic skin and converting the pressure and stress into an electric signal, the triboelectric layer detects dynamic stimulation by utilizing a nanofiber membrane based on the coupling effect of contact electrification and electrostatic induction, and the photosensitive OECT channel is used for fusing photoelectrochemical coupling optical synapses and touch shearing triggering electric synapses in the same channel. A closed loop anti-slip control system for a multi-modal adaptive electrochemical synapse contact skin comprising: The multi-mode sensing layer captures a stimulation signal through contac