Granted Patent B2

US 12,496,730 · App. 18/176,400 · Granted Dec 16, 2025

Inventors: Jung Kim (Daejeon, KR); Kyungseo Park (Daejeon, KR); Min Jin Yang (Daejeon, KR); Junhwi Cho (Daejeon, KR)

Assignee: KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY

B25J13/084B25J19/0075B25J19/02G01L1/18G01L5/228

Abstract

Claims (27)

1 . A biomimetic tactile sensor comprising:

a base layer on which a plurality of electrodes and a plurality of microphones are distributed;

a hydrogel layer disposed on the base layer covering the plurality of electrodes and the plurality of microphones; and

a stimulus receiving layer disposed on the hydrogel layer,

wherein the biomimetic tactile sensor senses a tactile stimulus accompanied by pressure, vibration, or both via the plurality of electrodes and the plurality of microphones.

2 . The biomimetic tactile sensor as set forth in claim 1 , wherein the hydrogel layer has piezoresistance and acts as a medium for transmitting vibration.

3 . The biomimetic tactile sensor as set forth in claim 1 , wherein the tactile sensor senses a pressure-based tactile stimulus using electrical impedance tomography (EIT).

4 . The biomimetic tactile sensor as set forth in claim 3 , wherein the tactile sensor reconstructs data measured by the electrical impedance tomography (EIT) using an artificial neural network.

5 . The biomimetic tactile sensor as set forth in claim 1 , wherein the tactile sensor senses a vibration-based dynamic tactile stimulus through the microphones using passive acoustic tomography (PAT).

6 . The biomimetic tactile sensor as set forth in claim 5 , wherein the tactile sensor analyzes at least one of an intensity and an arrival time of vibration received by the microphones to determine a position where the vibration occurs.

7 . The biomimetic tactile sensor as set forth in claim 5 , wherein the tactile sensor classifies dynamic tactile stimuli received through the microphones using an artificial neural network.

8 . The biomimetic tactile sensor as set forth in claim 5 , wherein the dynamic tactile stimulus includes tapping, rubbing, sweeping, scratching, and tickling.

9 . The biomimetic tactile sensor as set forth in claim 1 , wherein the stimulus receiving layer is a polymer film having elasticity.

10 . The biomimetic tactile sensor as set forth in claim 9 , wherein the stimulus receiving layer has a large Young's modulus as compared with the hydrogel layer.

11 . The biomimetic tactile sensor as set forth in claim 10 , wherein the stimulus receiving layer is a silicone polymer film.

12 . The biomimetic tactile sensor as set forth in claim 1 , wherein a structure and function of the stimulus receiving layer and the hydrogel layer are recoverable from physical damage.

13 . The biomimetic tactile sensor as set forth in claim 1 , wherein the microphone is a microphone in which a capsule film made of a polymer having elasticity is formed on an upper surface in contact with the hydrogel.

14 . The biomimetic tactile sensor as set forth in claim 13 , wherein the capsule film has an empty space therein.

15 . A preparation method for the the biomimetic tactile sensor as set forth in claim 1 , the preparation method comprising:

arranging a plurality of electrodes and a plurality of microphones to be distributed on a base layer;

forming a hydrogel layer on the base layer; and

forming a stimulus receiving layer on the hydrogel layer.

16 . The preparation method as set forth in claim 15 , wherein the microphone is a microphone in which a capsule film made of a polymer having elasticity is formed on an upper surface in contact with the hydrogel.

17 . The preparation method as set forth in claim 15 , wherein the forming of the hydrogel layer includes:

applying a hydrogel precursor solution on the base layer; and

photocuring the hydrogel precursor solution.

18 . A robotic skin comprising the biomimetic tactile sensor as set forth in claim 1 .

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (9)