# US 12,111,152 B2 · Magnetic flexible tactile sensing structure and application based on folding magnetization method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,111,152 B2 - Document ID: US12111152B2 - Status: Granted - Kind: B2 - Application number: 17/656,036 - Filed: 2022-03-23 - Published: 2022-10-13 - Granted: 2024-10-08 - Earliest claimed: 2021-04-09 - Assignees: Zhejiang University - Applicants: Zhejiang University - Inventors: Peng Zhao; Hao Hu; Xuechun Zhang; Chengqian Zhang; Tingyu Wang; Jianzhong Fu - Web page: https://patentgrep.com/patent/US12111152B2 ## CPC - G01B 7/24: using change in magnetic properties - B25J 13/084: {Tactile sensors (in general G01L5/16, G01L5/22)} - G01D 5/145: {influenced by the relative movement between the Hall device and magnetic fields (see G01R33/06)} - G01L 1/12: by measuring variations in the magnetic properties of materials resulting from the application of stress - G01L 1/122: {by using permanent magnets} - G01L 5/228: {using tactile array force sensors} - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G01D: MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR - G01L: MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE (weighing G01G) ## Abstract The present disclosure discloses a magnetic flexible tactile sensor structure based on a folding magnetization method, which comprises a flexible body containing a permanent magnetic material; the flexible body has a negative Poisson's ratio structure, and its set area has undergone folding magnetization treatment. The present disclosure also discloses a sensor composed of the above-mentioned sensing structure. The sensor provided by the present disclosure can be applied in sealed and wireless scenarios. The present disclosure can detect the size and position of force. The flexible sensor has broad prospects in the application of the touch skin of robots. The function between the magnetic field-based sensing magnet and the Hall element is contactless. In some cases where it is difficult to establish isolation of the connection lines, it can also be used as an unfettered tactile sensor. ## Claims ### Claim 1 A magnetic flexible tactile sensing structure based on a folding magnetization method, the magnetic flexible tactile sensing structure comprising: a flexible body comprising a permanent magnetic material, the flexible body having a negative Poisson's ratio structure, and a set area having undergone folding magnetization treatment. ### Claim 2 (depends on 1) The magnetic flexible tactile sensing structure according to claim 1, wherein the set area is an area where a crease is located during a folding magnetization process. ### Claim 3 (depends on 1) The magnetic flexible tactile sensing structure according to claim 1, wherein the folding magnetization adopts longitudinal magnetization. ### Claim 4 (depends on 1) The magnetic flexible tactile sensing structure according to claim 1, wherein the negative Poisson's ratio structure is formed by horizontally interlacing and splicing plural sets of triangular hourglass structure chains. ### Claim 5 (depends on 4) The magnetic flexible tactile sensing structure according to claim 4, wherein each set of triangular hourglass structure chain is formed by butting a plurality of triangular hourglass structures longitudinally two-by-two, and each triangular hourglass structure is formed by butting two isosceles triangle frames at vertices, and the two triangle frames are connected at the butting place; two adjacent triangle hourglass structures are butted and connected by a bottom side of the corresponding isosceles triangle frame. ### Claim 6 (depends on 5) The magnetic flexible tactile sensing structure based on a folding magnetizing method according to claim 5, wherein the size of each isosceles triangle frame is: the bottom side is 2-5 mm, the height is 1-2.5 mm; the thickness of the magnetic sheet is 1-3 mm. ### Claim 7 (depends on 1) The magnetic flexible tactile sensing structure according to claim 1, wherein the flexible body is obtained by 3D printing. ### Claim 8 (depends on 1) The magnetic flexible tactile sensing structure according to claim 1, wherein the flexible body is made from silicone adhesive, silicone rubber, fumed silica nanoparticles, and permanent magnet materials. ### Claim 9 (depends on 7) The magnetic flexible tactile sensing structure according to claim 7, wherein the flexible body is made from silicone adhesive, silicone rubber, fumed silica nanoparticles, and permanent magnet materials. ### Claim 10 A flexible tactile sensor comprising: a flexible body containing a permanent magnetic material, the flexible body comprising a negative Poisson's ratio structure, and a set area having undergone folding magnetization treatment; and a magnetic induction sensor for collecting changes in magnetic field intensity. ### Claim 11 (depends on 10) The flexible tactile sensor according to claim 10, wherein the set area is an area where a crease is located during a folding magnetization process. ### Claim 12 (depends on 10) The flexible tactile sensor according to claim 10, wherein the folding magnetization adopts longitudinal magnetization. ### Claim 13 (depends on 10) The flexible tactile sensor according to claim 10, wherein the negative Poisson's ratio structure is formed by horizontally interlacing and splicing plural sets of triangular hourglass structure chains. ### Claim 14 (depends on 13) The flexible tactile sensor according to claim 13, wherein each set of triangular hourglass structure chain is formed by butting a plurality of triangular hourglass structures longitudinally two-by-two, and each triangular hourglass structure is formed by butting two isosceles triangle frames at vertices, and the two triangle frames are connected at the butting place; two adjacent triangle hourglass structures are butted and connected by a bottom side of the corresponding isosceles triangle frame. ### Claim 15 (depends on 14) The flexible tactile sensor according to claim 14, wherein the size of each isosceles triangle frame is: the bottom side is 2-5 mm, the height is 1-2.5 mm; the thickness of the magnetic sheet is 1-3 mm. ### Claim 16 (depends on 10) The flexible tactile sensor according to claim 10, wherein the flexible body is obtained by 3D printing. ### Claim 17 (depends on 10) The flexible tactile sensor according to claim 10, wherein the flexible body is made from silicone adhesive, silicone rubber, fumed silica nanoparticles, and permanent magnet materials. ### Claim 18 (depends on 16) The flexible tactile sensor according to claim 16, wherein the flexible body is made from silicone adhesive, silicone rubber, fumed silica nanoparticles, and permanent magnet materials. ### Claim 19 (depends on 10) The flexible tactile sensor according to claim 10, wherein the magnetic induction sensor is a three-axis Hall sensor which determines force applied to a force point by detecting a magnitude of Bz; or determines coordinate relative position of y-axis of the force applying point by detecting a magnitude of By; the z-axis direction is parallel to the force-receiving direction, and the x-axis direction is consistent with the direction of the set area. ### Claim 20 (depends on 11) The flexible tactile sensor according to claim 11, wherein the magnetic induction sensor is a three-axis Hall sensor which determines force applied to a force point by detecting a magnitude of Bz; or determines coordinate relative position of y-axis of the force applying point by detecting a magnitude of By; the z-axis direction is parallel to the force-receiving direction, and the x-axis direction is consistent with the direction of the set area.