Sensor with time-sharing regional shielding function, electronic skin and robot

A robot, comprising an electronic skin the electronic skin comprising a sensor with a time-sharing regional shielding function, the sensor comprises a plurality of sensor units, each of which comprises regions contained in four multifunctional layers;

• at least one parallel-plate capacitor is contained in each of the multifunctional layers;
• and, the multifunctional layers are connected to a processer through a first plurality of analog switches, and the processor is connected to an external circuit:
• wherein a part of the plurality of sensor units are configured to operate in a measurement state in a measurement period T, and the rest of the plurality of sensor units are configured to operate in a shielded state in the same measurement period T;
• wherein the measurement period T consists of two sub periods T1 and T2;
• wherein the multifunctional layers in each of the sensor units are configured to regionally shield the sensor through the time-sharing switching of the first plurality of analog switches and the control of a bus, in the period T1, the first multifunctional layer (1) of the sensor unit in the measurement state is configured to connect to an excitation signal for the multifunctional layers, the third multifunctional layer (3) of the sensor unit in the measurement state is configured to connect to an analog-to-digital conversion circuit, and the second multifunctional layer (2) and the fourth multifunctional layer (4) of the sensor unit in the measurement state are both grounded or the second multifunctional layer (2) and the fourth multifunctional layer (4) of the sensor unit in the measurement state are both configured to connect to excitation signals for common electrodes of the parallel-plate capacitors in the two multifunctional layers;
• and, a second plurality of analog switches that control the parallel-plate capacitors in the first multifunctional layer (1) and the third multifunctional layer (3) of the sensor unit in the measurement state are configured to be turned off, and a third plurality of analog switches that control the parallel-plate capacitors in the second multifunctional layer (2) and the fourth multifunctional layer (4) of the sensor unit in the measurement state are configured to connect to excitation signals for common electrodes of the parallel-plate capacitors in the two multifunctional layers;
• in the period T2, the second multifunctional layer (2) of the sensor unit in the measurement state is configured to connect to the excitation signal for the multifunctional layers, the fourth multifunctional layer (4) of the sensor unit in the measurement state is configured to connect to the analog-to-digital conversion circuit, and the first multifunctional layer (1) and the third multifunctional layer (3) of the sensor unit in the measurement state are both grounded or the first multifunctional layer (1) and the third multifunctional layer (3) of the sensor unit in the measurement state are both configured to connect to excitation signals for common electrodes of the parallel-plate capacitors in the two multifunctional layers;
• and, the third plurality of analog switches that control the parallel-plate capacitors in the second multifunctional layer (2) and the fourth multifunctional layer (4) of the sensor unit in the measurement state are configured to be turned off, and the second plurality of analog switches that control the parallel-plate capacitors in the first multifunctional layer (1) and the third multifunctional layer (3) of the sensor unit in the measurement state are configured to connect to excitation signals for common electrodes of the parallel-plate capacitors in the two multifunctional layers;
• and
• in the measurement period T, the four multifunctional layers of the sensor unit in the shielded state are all grounded or configured to connect to excitation signals for common electrodes of the parallel-plate capacitors in the four multifunctional layers, and the common electrodes of the parallel-plate capacitors in the four multifunctional layers are configured to connect to corresponding excitation signals for the common electrodes, so that the sensor unit in the shielded state can measure the change in three-dimensional force.

An artificial prosthesis, comprising an electronic skin, the electronic skin comprising a sensor with a time-sharing regional shielding function, the sensor comprises a plurality of sensor units, each of which comprises regions contained in four multifunctional layers;

• at least one parallel-plate capacitor is contained in each of the multifunctional layers;
• and, the multifunctional layers are connected to a processer through a first plurality of analog switches, and the processor is connected to an external circuit;
• wherein a part of the plurality of sensor units are configured to operate in a measurement state in a measurement period T, and the rest of the plurality of sensor units are configured to operate in a shielded state in the same measurement period T;
• wherein the measurement period T is consisted of two sub periods T1 and T2;
• wherein the multifunctional layers in each of the sensor units are configured to regionally shield the sensor through the time-sharing switching of the first plurality of analog switches and the control of a bus, in the period T1, the first multifunctional layer (1) of the sensor unit in the measurement state is configured to connect to an excitation signal for the multifunctional layers, the third multifunctional layer (3) of the sensor unit in the measurement state is configured to connect to an analog-to-digital conversion circuit, and the second multifunctional layer (2) and the fourth multifunctional layer (4) of the sensor unit in the measurement state are both grounded or the second multifunctional layer (2) and the fourth multifunctional layer (4) of the sensor unit in the measurement state are both configured to connect to excitation signals for common electrodes of the parallel-plate capacitors in the two multifunctional layers;
• and, a second plurality of analog switches that control the parallel-plate capacitors in the first multifunctional layer (1) and the third multifunctional layer (3) of the sensor unit in the measurement state are configured to be turned off, and a third plurality of analog switches that control the parallel-plate capacitors in the second multifunctional layer (2) and the fourth multifunctional layer (4) of the sensor unit in the measurement state are configured to connect to excitation signals for common electrodes of the parallel-plate capacitors in the two multifunctional layers;
• in the period T2, the second multifunctional layer (2) of the sensor unit in the measurement state is configured to connect to the excitation signal for the multifunctional layers, the fourth multifunctional layer (4) of the sensor unit in the measurement state is configured to connect to the analog-to-digital conversion circuit, and the first multifunctional layer (1) and the third multifunctional layer (3) of the sensor unit in the measurement state are both grounded or the first multifunctional layer (1) and the third multifunctional layer (3) of the sensor unit in the measurement state are both configured to connect to excitation signals for common electrodes of the parallel-plate capacitors in the two multifunctional layers;
• and, the third plurality of analog switches that control the parallel-plate capacitors in the second multifunctional layer (2) and the fourth multifunctional layer (4) of the sensor unit in the measurement state are configured to be turned off, and the second plurality of analog switches that control the parallel-plate capacitors in the first multifunctional layer (1) and the third multifunctional layer (3) of the sensor unit in the measurement state are configured to connect to excitation signals for common electrodes of the parallel-plate capacitors in the two multifunctional layers;
• and
• in the measurement period T, the four multifunctional layers of the sensor unit in the shielded state are all grounded or configured to connect to excitation signals for common electrodes of the parallel-plate capacitors in the four multifunctional layers, and the common electrodes of the parallel-plate capacitors in the four multifunctional layers are configured to connect to corresponding excitation signals for the common electrodes, so that the sensor unit in the shielded state can measure the change in three-dimensional force.