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    • 专利摘要:
    The present invention relates to a system and method for manufacturing a sensor network system comprising a sheet of dielectric material elastically deformable in compression and shear, each cell (20) of the network comprising a first capacitive sensor of normal pressure (10). ) in a first direction (Z), a second capacitive shear sensor (30) in a second direction (X) and a third capacitive shear sensor (50) in a third direction (Y). According to the invention, each capacitive sensor (10, 30, 50) comprises a first electrode (1, 3, 5) fixed on the first face of the sheet of dielectric material and a second electrode (2, 4, 6) fixed on the second face of the sheet of dielectric material, said first electrodes (1, 3, 5) capacitive sensors of the same cell (20) being connected in series to a first electrically conductive track (11) connecting a line of cells of the sensor network.
    公开号:FR3023914A1
    申请号:FR1456955
    申请日:2014-07-18
    公开日:2016-01-22
    发明作者:Alexis Mathieu；Julien Mercier
    申请人:Feetme；
    IPC主号:
    专利说明:

    [0001] Technical Field The present invention relates to a sensor array system for measuring pressure forces with high spatial resolution. A pressure force generally decomposes on the one hand into a compressive force which is applied perpendicularly to the surface of the pressure sensor and on the other hand a shear force which applies in one direction oblique to the surface of the pressure sensor. More specifically, the invention relates to a pressure sensor soleplate for measuring compression and shear forces with high spatial resolution. The invention also relates to various methods for manufacturing a system with a network of pressure sensors. BACKGROUND ART In the medical or sports field, it is desirable to know the distribution of the pressure forces exerted by the feet of a person, in a static or dynamic position. In the medical field, a pressure sensor sole finds applications as a diagnostic insole in chiropody or orthopedics. As a diabetic patient with neuropathy, a pressure sensor sole can be used to improve the prevention of foot injuries. In sports, a pressure sensor sole worn by an athlete and connected to a smartphone allows the athlete to quantify his race. The analysis of the distribution of pressure forces applying especially to the level of the sole of the foot during walking, running or jumping may allow the athlete to consciously correct a postural imbalance in order to avoid the appearance of pain or injuries. There are pressure sensor devices based on optical, magnetic or electrical technologies and in particular with resistive sensors, with inductive sensors (see EP 20607876) or with capacitive sensors. An advantage of capacitive pressure sensors is to be insensitive to temperature variations. A capacitive pressure sensor has at least two electrodes separated by a dielectric material. The capacitance of a capacitive sensor is given by the formula of a capacitor between two plates: S e. C = (I) L where C represents the electrical capacitance of the capacitive capacitor type sensor, S the surface of the electrodes facing each other, L the distance between the two electrodes and E the dielectric constant of the material between the electrodes.
    [0002] Under the effect of a normal pressure force, the thickness variation L of the dielectric material produces an inversely proportional variation of the capacitance C of the sensor.
    [0003] Document US 5449002 discloses a capacitive pressure sensor based on a resilient polyurethane dielectric sandwiched between two electrical conductors. The variation of the electrical capacitance of this sensor is almost linear according to the applied weight, which allows an easy detection. This sensor can be used in the form of shoe sole, gripping handle or support for measuring the compression forces in different medical devices such as crutch, wheelchair, treadmill. However, such a sensor does not provide spatially resolved pressure measurements on the surface of the sensor. In addition, this capacitive pressure sensor does not discriminate a normal pressure and a pressure induced by a shear force.
    [0004] However, by applying the formula (I), under the effect of a shearing force, a variation of the surface S of the electrodes opposite, produces a proportional variation of the electrical capacitance of the sensor. In the case of an elastically deformable dielectric material, the surface variation S induced by the shearing force is generally accompanied by a variation of the thickness L. It is therefore necessary to independently measure the variation in thickness to extract of the capacitance variation measurement, a measure of the surface variation S, in order to deduce therefrom a measurement of the shear force. Recently, various examples of capacitive multi-sensors have discriminated normal pressure measurement from shear force measurement (see US 2013/0093437, US 8250926). Capacitive pressure and shear sensors are used in particular in the field of touch screens, haptic interfaces, textiles incorporating sensors. However, the integration of a large number of capacitive pressure sensors to manufacture a high spatial resolution sensor array, has the disadvantage of requiring an even greater number of electrical connections connecting the sensor array to the measurement system. R. Supraneni, Q. Guo, Y. Xie, DJ Young and CH Mastrangelo "A three-axis high-resolution capacitive tactile imager system based on floating compounds electrodes", Journal of Micromechanis and Microengineering, 23 (2013) 075004, describes the design and manufacture of a high spatial resolution tactile imager for the measurement of compressive and shear forces. The tactile imager comprises a dielectric formed of a silicone polymer sheet and a flexible printed circuit (FPCB). Each cell of the tactile imager comprises two capacitances sensitive to displacements in a direction X and two capacitances sensitive to displacements in a direction Y. The four capacitances of a cell comprise, on a face of the dielectric, floating electrodes, and on the other side of the dielectric, a FPCB supporting comb-shaped electrodes connected to two vertical electric tracks and two horizontal electrical tracks. The electrical measurement of the four capacitances of a cell requires the multiplexed addressing of the vertical and horizontal electric tracks, to provide measurements of normal pressure, in the Z direction, and shear, along the X and Y directions. Nevertheless, the tracks horizontal and vertical electrical power being deposited on the same printed circuit, the printed circuit manufacturing process requires the superposition of at least two levels of electrical tracks connected by interconnections or vias. A disadvantage of the dual-level printed circuit fabrication process is to require a larger number of manufacturing steps. In addition, this method requires a rigid printed circuit substrate, which may be suitable for tactile applications, but is generally not suitable for application to a pressure sensor base. Finally, the interconnections between two electrode levels deposited on a deformable substrate are fragile and can create electrical faults.
    [0005] Unlike tactile applications where the substrate is generally rigid and can be thick, a pressure sensor sole must have both a small thickness, less than a few millimeters, and a very high flexibility. A pressure sensor base must withstand a pressure range of 0 to 15 kg / cm2. On the other hand, a disadvantage of capacitive sensors based on deformable dielectric materials is that their deformation generally has hysteresis, likely to induce measurement errors. In addition, capacitive shear force sensors have a lower sensitivity than normal pressure sensors. A capacitive shear force sensor must generally extend over a larger area than a capacitive sensor of normal pressure.
    [0006] There is therefore a need for a system and method for manufacturing a sensor array system for measuring pressure forces with high spatial resolution, while having a small thickness and flexibility, particularly for application to a soleplate with pressure sensors. One of the aims of the invention is to propose a sensor array system for measuring pressure forces with a high spatial resolution, having a small thickness and a limited number of electrical connections. Another object of the invention is to provide not only compression force measurements, but also measurements of shear forces. Another object of the invention is to provide a sensor array system which is suitable for insoles in the medical, sports or recreational field. Another object of the invention is to provide a simple, fast and inexpensive manufacturing method, allowing the manufacture of a system of high resolution capacitive sensor network.
    [0007] OBJECT OF THE INVENTION The object of the present invention is to overcome the drawbacks of the prior art and concerns a pressure and shear sensor network system comprising a sheet of dielectric material that is elastically deformable in compression and in shear, the sheet of dielectric material having a first face and a second face, a network comprising a plurality of pressure sensor and shear cells, the cells being arranged along at least one line and at least one column, each cell comprising a first normal capacitive pressure sensor next a first direction, a second capacitive shear sensor in a second direction (X) and a third capacitive shear sensor in a third direction (Y). According to the invention, each capacitive sensor comprises a first electrode fixed on the first face of the sheet of dielectric material and a second electrode fixed on the second face of the sheet of dielectric material, said first and second electrodes of the capacitive shear sensors being comb-shaped, said first electrodes of the capacitive sensors of the same cell being connected in series to a first electrically conductive track connecting a line of cells of the sensor array; the second electrode of the capacitive sensor of normal pressure of a cell being connected to a second electrically conductive track connecting a column of capacitive sensors of normal pressure of the sensor network; the second electrode of the capacitive shear sensor along the second direction (X) being connected to a third electrically conductive track connecting a line of capacitive shear sensors in the second direction (X) of the sensor array; and the second electrode of the shear capacitive sensor in the third direction being connected to a fourth electrically conductive track connecting a column of capacitive shear sensors in the third direction of the sensor array. The sensor network system thus makes it possible to measure the spatial distribution of the force vectors applied to the sensor array with a high spatial resolution. The architecture of the system makes it possible to provide measurements of a large number of sensors via an extremely small number of electrical connections.
    [0008] The advantages of this sensor array system are its small thickness, the spatial density of the measurements and the ability of the system to measure frictional forces. In addition, the capacitive sensors are insensitive to temperature variations and essentially sensitive to mechanical effects. Advantageously, the network system of pressure and shear sensors comprises addressing means adapted to measure the capacitance of a capacitive sensor located at the intersection of a line and a column, said corresponding line. a first track connected to said first electrode and said column corresponding to another track connected to one of said second electrodes. In a particular and advantageous embodiment, the sheet of elastic material that is elastically deformable in compression and in shear is made of a material chosen from: a natural material such as a cork, or an elastomer of natural origin, such as for example a rubber or synthetic elastomer, in particular a urethane, a silicone, a butyl rubber, a polymer, a neoprene, a polyurethane or a polyisoprene. Advantageously, the sheet of dielectric material is in the form of foam (for example elastomer foam, in particular urethane foam) or micro-architectural material (for example cork). In a particular embodiment, said first electrode and said first electrically conductive track are printed on a sheet of electrically insulating and flexible material, and, respectively, said second electrode and said other electrically conductive tracks are printed on another sheet of electrically conductive material. insulating and flexible. According to a preferred embodiment, the first electrically conductive track and the second electrically conductive track of a cell are connected to an electronic system adapted to measure a variation of the capacitance of the capacitive sensor of normal pressure, the electronic system being adapted to derive a normal pressure force applied to said capacitive sensor of normal pressure along the first direction. In a complementary manner, the first electrically conductive track and the third electrically conductive track of a cell are connected to said electronic system, which is adapted to measure a variation of the capacitance of the second capacitive shear force sensor in the second direction, the electronic system being adapted to derive the magnitude and direction of a shear force applied to said capacitive shear force sensor along the second direction. Advantageously, the first electrically conductive track and the fourth electrically conductive track of a cell are connected to said electronic system, which is adapted to measure a variation of the electrical capacitance of the third capacitive shear sensor in the third direction, the electronic system being adapted to derive the magnitude and direction of a shear force applied to said third capacitive shear sensor along the third direction.
    [0009] In a particularly advantageous embodiment, said electrically conductive tracks are connected to means for measuring a variation of the capacitive capacitance capacitance by wired or wireless links. Advantageously, the pressure and shear sensor array system comprises a shear pressure force measurement display device in which the display device is configured to graphically represent, depending on the arrangement of the sensor array, the normal pressure measured by each cell of the sensor array and simultaneously the amplitude and direction of the shear force measured by each cell of the sensor array. The invention will find a particularly advantageous application in the manufacture of a shoe sole comprising a pressure sensor network system according to one of the embodiments described. The invention also relates to a method for manufacturing a network system of capacitive pressure sensor and shear cells comprising the following steps: Printing a first pattern of conductive electrodes on a first surface of a first material to means of a metal ink printer, preferably copper or silver, the first conductive electrode pattern comprising a first track connecting a line of cells of the sensor array, and the first electrode pattern connecting in series the capacitive pressure and shear sensors of the same cell; Printing a second pattern of conductive electrodes on another surface of the first material or other material by means of said metal ink printer; Attaching the first surface carrying the first pattern of conductive electrodes on one side of a sheet of dielectric material elastically deformable in compression and shear; Aligning the other surface carrying the second conductive electrode pattern with respect to the first conductive electrode pattern and attaching the other surface bearing the second conductive electrode pattern to the other side of said sheet of dielectric material, in order to form a network of capacitive sensor cells of pressure and shear. This manufacturing method makes it possible to integrate a large number of pressure sensors on an elastically deformable dielectric material, with a low manufacturing cost. This process is performed in a very small number of steps, and does not require as high accuracy as a printed circuit fabrication method based on conventional metallization techniques. The metal ink printing process avoids the use of chemical components in the liquid phase. In a particular embodiment, the first pattern of conductive electrodes comprises a first track connecting a line of cells, the first electrode pattern connecting in series the capacitive pressure and shear sensors of the same cell, and the second conductive electrode pattern comprises a second electrically conductive track connecting a column of capacitive sensors of normal pressure, a third electrically conductive track connecting a column of second capacitive shear sensors in the second direction and a fourth electrically conductive track connecting a column of thirds. capacitive shear sensors in the third direction to form an array of capacitive pressure and shear sensor cells having four electrically conductive tracks connected to each capacitive pressure and shear sensor cell.
    [0010] The invention will find a particularly advantageous application in a pressure sensor sole for applications in the medical, sports or recreational field. DETAILED DESCRIPTION OF AN EMBODIMENT The present invention also relates to the features which will emerge during the following description and which must be considered in isolation or in all their technically possible combinations. This description given by way of nonlimiting example will better understand how the invention can be made with reference to the accompanying drawings in which: - Figure 1 schematically shows a top view of a capacitive pressure sensor cell according to a mode. embodiment of the invention; - Figure 2 shows schematically a sectional view along the line AA of the capacitive pressure sensor cell of Figure 1; FIG. 3 illustrates the capacitive pressure sensor cell of FIG. 2 subjected to a shear force applied in the direction of the X axis; - Figure 4 schematically shows a top view of a capacitive pressure sensor according to a variant of the invention; FIG. 5 represents a measurement of normal pressure force by applying an increasing and then decreasing pressure force, and illustrates the hysteresis effect of the sensor; FIG. 6 illustrates a view from above of a network of capacitive sensors of normal pressure and shear force; FIGS. 7-8 schematically represent a top view of the electrodes of a matrix array of capacitive sensors of normal pressure, FIG. 7 corresponding to the electrodes fixed on one face of the dielectric and FIG. 8 corresponding to the electrodes fixed on the other. dielectric face; - Figure 9 schematically shows a top view of a shoe sole comprising a network of capacitive pressure sensors; FIG. 10 illustrates a graphical representation of measurements of normal pressure and shear force obtained with a soleplate with capacitive pressure sensors as represented in FIG. 9; FIG. 11 illustrates another graphical representation of measurements of normal pressure and shear force obtained with a soleplate with capacitive pressure sensors. Device In Figure 1, there is shown, in top view, a capacitive pressure sensor cell according to one embodiment of the invention. More precisely, FIG. 1 superimposes the design of the electrodes of a cell 20 with capacitive sensors. The electrodes are disposed on opposite sides of a sheet of dielectric material elastically deformable in compression and shear. There is also shown an orthonormal reference XYZ, the Z axis being perpendicular to the plane of Figure 1. In Figures 2-3, there is shown a partial sectional view along the line AA of the capacitive sensor cell of Figure 1. The Y axis of the XYZ orthonormal coordinate system is perpendicular to the plane of Figures 2-3. In Figure 2, the cell 20 is at rest. FIG. 3 shows the cell 20 under the effect of a force F having, in general, a component along the Z axis, also called the normal force, and two components along the X and Y axes, also called shear forces. The cell 20 comprises a capacitive sensor 10 of normal pressure in the Z direction, a capacitive shear sensor 30 in the X direction and another capacitive shear sensor 50 in the Y direction. The capacitive sensor cell comprises a sheet of dielectric material 7 elastically deformable in compression and shear. Advantageously, the sheet of dielectric material 7 is formed of a sheet of elastomeric material. Among the elastomeric materials, there is mentioned in particular an elastomer of natural origin, rubber, and synthetic elastomers, silicones. The mechanical resilience of an elastomeric material is defined as being the ratio, often expressed in%, of the energy restored after deformation to the energy supplied to deform the elastomer under cyclic loading. The hysteresis corresponding to the dissipated energy rate, the hysteresis is the complement of the mechanical resilience. High resilience corresponds to low hysteresis. Most elastomeric materials have a fairly high mechanical resilience. However, the elastomer that has the highest resilience, and thus the lowest hysteresis, is natural rubber. In addition, natural rubber is inexpensive and has good abrasion resistance. There is also a very low hysteresis of pure soft silicones, that is to say, not reinforced with particles.
    [0011] For example, the sheet of dielectric material 7 is formed of a sheet of natural rubber, silicone or urethane. For example, the sheet of dielectric material 7 is in the form of a closed cell foam. Preferably, the sheet of dielectric material 7 has a Young's modulus of between 1 and 5 MPa adapted for compression measurements.
    [0012] Advantageously, for shear measurements, the sheet of dielectric material 7 has a Poisson modulus, defining its compressibility, between 0 and 0.5 and preferably less than 0.1. The determination of the value of the Poisson's modulus results from a compromise: a value of 0.5 is ideal for a shear measurement but in this case, the material being incompressible, the sensitivity in normal pressure is very low. An intermediate value of the Poisson's modulus around 0.2 allows good sensitivity both in normal pressure measurement and in shear force measurement. Among the materials having a Poisson's modulus of the order of 0.5 are in particular the following materials: butyl rubber, polymer foams, neoprene, silicones, polyurethane and polyisoprene. To obtain a Poisson modulus of less than 0.5, we turn to micro-architecturized materials. In particular, there is a material which has in the natural state a null Poisson module (V = 0): cork. The foams may also have a Poisson modulus of between 0.1 and 0.4. However, most moss packs in compression. Advantageously, the dielectric material has a dielectric constant of between 3 and 10 kV / mm.
    [0013] Preferably, the thickness of the sheet of dielectric material 7 is between 0.2 and 1mm. In the exemplary embodiment illustrated in FIG. 1, the cell 20 is approximately 1 cm apart. The cell 20 comprises electrodes 1, 2, 3, 4 disposed on the opposite sides of the sheet of dielectric material 7 to form capacitive sensors. Electrical tracks 11, 12, 13, 14, 15, 16 are connected to the different electrodes as detailed below. In the example illustrated in FIGS. 2-3, a sheet 8, 9 of electrically insulating and flexible material is placed respectively on each of the faces of the sheet of dielectric material 7 in order to protect the electrodes 1, 2, 3, 4 and the conductive tracks 11, 12, 13, 14, 15, 16. The sheets 8, 9 are for example kapton sheets with a thickness of between 50 and 100 microns. Kapton has a dielectric constant of 110 kV / mm. The first capacitive sensor 10 comprises a first electrode 1 fixed on the first face of the sheet of dielectric material 7 and a second electrode 2 fixed on the second face of the sheet of dielectric material 7. In the example illustrated in FIG. the first electrode 1 and the second electrode 2 are square. Other forms of electrodes are conceivable, as described for example in connection with FIG. 4. Here, the surface of the first electrode 1 is larger than the surface of the second electrode 2. In FIGS. 1 and 2, in absence of shear forces in the X or Y direction, the extent of the surface of the first electrode 1 completely covers the extent of the surface of the second electrode 2.
    [0014] For example, the electrode 1 is a square of 5 mm side and the electrode 2 is a square of 4 mm side, centered on the electrode 1. In the absence of compression force and shear force, the first electrode 1 is separated from the second electrode 2 by the sheet of dielectric material 7 of thickness L. Preferably, the thickness L is less than 2 mm, for example the thickness L is equal to between 0.2 mm and 1.5 mm. The first electrode 1 is connected to an electrically conducting track 11 deposited on the first face of the dielectric material. Similarly, the second electrode 2 is connected to another electrically conductive track 12 deposited on the second face of the dielectric material. The first electrode 1 and the second electrode 2, separated by the dielectric material 7, define a capacitor whose surface S12 is determined by the surfaces vis-à-vis the first electrode 1 and the second electrode 2. embodiment, at rest, the surface S12 is equal to the smallest of the surfaces of the two electrodes 1, 2 square. In Figures 2 and 3, the dashed vertical lines between the electrodes 1 and 2 delimit the extent of the capacitor formed between these electrodes. The conductive tracks 11 and 12 are shifted in the XY plane so as not to contribute to the value of the measurement of the capacitor formed between the electrodes 1 and 2. In the absence of pressure or shearing force, the value of the capacitance of the first Capacitive sensor 10 is determined by the thickness L of the dielectric 7 and the surface S12, by application of equation (I). When a compressive force is applied to the pressure sensor 10 along the Z direction, the thickness of the dielectric 7 varies from AL while the surface S12 remains constant. The capacity of the capacitive sensor 10 thus varies as a function of the thickness variation AL of the dielectric 7. The capacitive sensor 10 thus makes it possible to measure the compression force in the Z direction. In FIG. 3, a sectional view is shown. of the pressure sensor along the cutting line AA following the application of a shear force F applied in the X direction on the first face of the dielectric 7. The shear force F induces a relative lateral displacement AX between the first face the dielectric 7 and the second face of the dielectric 7 in the direction X. Simultaneously, the shear force F induces a compression AL of the thickness of the dielectric in the direction Z. However, the first electrode 1 is larger than the second electrode 2, the surface S12 facing the electrodes 1 and 2 remains constant. Therefore, the first capacitive sensor 10 is responsive only to the variation AL of dielectric thickness. A calibration of the value of the capacitance of the first capacitive sensor 10 thus makes it possible to deduce therefrom a measurement of the variation AL of the dielectric thickness. This measurement is taken between the conductive tracks 11 and 12.
    [0015] The second capacitive sensor 30 comprises a first electrode 3 fixed on the first face of the sheet of dielectric material 7 and a second electrode 4 fixed on the second face of the sheet of dielectric material 7. In the example illustrated in FIG. the first electrode 3 and the second electrode 4 are comb-shaped, the comb teeth being arranged equidistantly along the X direction and extending along the Y direction.
    [0016] For example, the first electrode 3 and the second electrode 4 each comprise three teeth of increasing length in the Y direction. In FIG. 1, at rest, the teeth of the first electrode 3 are offset with respect to the teeth of the second electrode 4. following the X direction and overlap partially. The first electrode 3 is connected to an electrically conductive track 13 deposited on the first face of the dielectric material. The track 13 is connected to the first electrode 1 of the first pressure sensor 10. The second electrode 4 is connected to another electrically conductive track 14 deposited on the second face of the dielectric material. The first electrode 3 and the second electrode 4, separated by the dielectric material 7, define a capacitor whose surface S34 is determined by the surfaces vis-à-vis the first electrode 3 and the second electrode 4. The surface S34, defined by the intersection of the projection of the first electrode 3 on the second electrode 4, determines the surface of the capacitor formed by the electrodes 3 and 4 separated by the dielectric 7. In FIGS. 2 and 3, the dashed lines vertical lines between the electrodes 3 and 4 define the extent of the capacitor formed between these electrodes. The conductive tracks 13 and 14 are shifted in the XY plane so as not to contribute to the capacitance capacitance measurement measurement formed between the electrodes 3 and 4. In the Y direction, the electrode 3 extends beyond the shape and arrangement of the electrodes 3 and 4 in comb with the teeth of increasing length make it possible to maximize the surface S34 for a minimum space requirement of the sensor cell 20. The increase in the number of teeth makes it possible to to increase the accuracy of the measurements by increasing the value of the AS34 surface variation for the same shear force value and to relatively reduce the effect of the parasitic capacitances. The parasitic capacitances can have several origins. First, the sensor itself has parasitic capacitances formed between parallel conductive tracks. Indeed, two copper conductive tracks, printed side by side, form a capacity where the surface facing is equal to the length of the conductive track multiplied by the thickness of the copper layer. Secondly, parasitic capacitances are introduced by the electronic circuit. Finally, another parasite is introduced during an external contact, for example with a finger of the user, on the surface of the kapton. To remedy this, a shield, consisting of a copper or aluminum plate, is disposed on each outer face of the sensor. In the absence of pressure or shear force, the capacitance value of the second capacitive sensor 30 is determined by the thickness L of the dielectric 7 and the surface S34, by application of equation (I). When a compressive force is applied to the pressure sensor 30 along the Z direction, the thickness of the dielectric 7 varies from AL while the surface S34 remains constant. The capacity of the capacitive sensor 30 thus varies as a function of the thickness variation AL of the dielectric 7. As illustrated in FIG. 3, when a shearing force is applied in the X direction on the first face of the dielectric 7, the sensor pressure 30 undergoes a relative lateral shift AX between the first electrode 3 and the second electrode 4 in the direction X.
    [0017] The lateral shift AX induces a variation of the surface S34, which decreases when the shear force is applied in the direction of the positive X's and which increases when the shear force is applied in the direction of the negative X's. However, even in the absence of a compression force component, a shearing force induces, simultaneously with the lateral offset AX, a deformation in thickness AL of the elastically deformable dielectric material 7. The measurement of the capacitance variation of the second capacitive pressure sensor 30 is therefore sensitive to both a compressive force along the Z axis and a shear force applied along the X axis. Nevertheless, the combination of the measurement of the first sensor 10 and the measurement of the sensor 30 makes it possible to discriminate a normal pressure force from a shear force applied along the X axis. On the other hand, when a shearing force is applied along the Y axis, the surface S34 of the capacitive pressure sensor 30 remains invariable, because the electrode 3 extends over a longer length than the electrode 4. Thus, the second capacitive pressure sensor 30 is responsive to an X-axis relative lateral shift between the electrodes 3 and 4 and insensitive to a Y-axis relative lateral shift between the electrodes 3 and 4. The capacitive pressure sensor 30 is also responsive to a variation in temperature. AL thickness su along the Z axis between the electrodes 3 and 4. The measurement of the variations in the value of the capacitance of the second capacitive sensor 30 is taken between the conductive track 11 and the conductive track 14. Indeed, the conductive track 11 is connected to the first electrode 1 of the first sensor 10, itself connected via the conductive track 13 to the electrode 3 of the second sensor 30. Similarly and complementary, the third capacitive sensor 50 comprises a first electrode 5 fixed on the first face of the sheet of dielectric material 7 and a second electrode 6 fixed on the second face of the sheet of dielectric material 7. In the example illustrated in FIG. 1, the first electrode 5 and the second electrode 6 are in the form of combs, the teeth of the comb being arranged equidistantly along the direction Y and extending along the direction X. By way of illustrative and in no way limiting example, the first electrode 5 and the second electrode 6 each comprise three teeth of increasing length in the Y direction. In FIG. 1, at rest, the teeth of the first electrode 5 are offset with respect to the teeth of the second electrode 6 in the Y direction so as to be cover partially. The first electrode 5 is connected to an electrically conductive track 15 deposited on the first face of the dielectric material. The track 15 is connected to the first electrode 1 of the first pressure sensor 10. The second electrode 6 is connected to another electrically conductive track 16 deposited on the second face of the dielectric material. The first electrode 5 and the second electrode 6, separated by the dielectric material 7, define a capacitor whose surface S56 is determined by the surfaces vis-à-vis the first electrode 5 and the second electrode 6. More precisely , the surface S56 is defined by the intersection of the projection of the first electrode 5 on the second electrode 6. This surface S56 determines the surface of the capacitor formed by the electrodes 5 and 6 separated by the dielectric 7. The conductive tracks 15 and 16 are shifted so as not to contribute to the capacitance capacitance measurement measurement formed between the electrodes 5 and 6. In the X direction, the electrode 5 extends beyond the ends of the electrode 6. shape and arrangement of the electrodes 5 and 6 comb teeth increasing length maximize the S56 surface for a minimum footprint of the sensor cell 20. In the absence of for In the case of pressure or shear, the capacitance value of the third capacitive sensor 50 is determined by the thickness L of the dielectric 7 and the surface S56, by application of equation (I). When a compressive force is applied to the pressure sensor 50 along the Z direction, the thickness of the dielectric 7 varies from AL while the surface S56 remains constant. The capacity of the capacitive sensor 50 thus varies as a function of the thickness variation AL of the dielectric 7. When a shear force F is applied in the Y direction on the first face of the dielectric 7, the pressure sensor 50 undergoes a deformation in thickness AL and a relative lateral offset AY between the first electrode 5 and the second electrode 6 in the Y direction. The lateral offset AY induces a variation of the surface S56, which decreases when the shear force is applied in the direction of the Y positive and increasing when the shear force is applied in the direction of the Y negative. The displacement 3, Y along the Y axis depends directly on the thickness L of the dielectric, the Poisson's ratio V, the Young's modulus E, the force F applied along Y and the area A on which this force is applied according to the following formula: 4Y = 2 (1+ V) F * L / (E * A) (II) For example, with a silicone sheet, a surface variation AS of the order of 10% is measured for a shear force F of the order of 50 Newtons applied in the Y direction on a surface of 1 cm 2. The measurement of the capacitance variation of the third capacitive pressure sensor 50 is therefore sensitive to both a compressive force along the Z axis and a shear force applied along the Y axis. Nevertheless, the combination of the measurement of the first sensor 10 and the measurement of the third sensor 50 of the same cell makes it possible to discriminate a normal pressure force from a shear force applied along the Y axis. On the other hand, when a shearing force is applied along the X axis, the surface S56 of the capacitive pressure sensor 50 remains invariable, since the electrode 5 extends over a longer length than the electrode 6. Thus, the third capacitive pressure sensor 50 is responsive to a Y-axis relative lateral offset between the electrodes 5 and 6 and insensitive to a X-axis relative lateral offset between the electrodes 5 and 6. The capacitive pressure sensor 50 is also sensitive to a thickness variation 4L along the Z axis between the electrodes 5 and 6.
    [0018] The measurement of the variations in the value of the capacitance of the third capacitive pressure sensor 50 is taken between the conductive track 11 and the conductive track 16. In fact, the conductive track 11 is connected to the first electrode 1 of the first sensor 10, itself even connected via the conductive track 15 to the electrode 5 of the third sensor 50. The three sensors 10, 30 and 50 being arranged close to each other, it is approximated that the variation of thickness 4L is identical for the three sensors 10, 30, 50 of the same cell 20. The measurement of the three electrical capacitances respectively of the first capacitive pressure sensor 10, the second capacitive pressure sensor 30 and the third capacitive pressure sensor 50 makes it possible to derive the intensity and direction of a compressive force applied along the Z axis, a shear force applied along the X axis and a shear force applied along the Y axis. llule 20 thus provides 6 information. For example, to measure the shear, one measures the value which is interesting is C [X or Y] / C [normal], the component L being regarded as identical for adjacent capacities, it is eliminated. Let C [X] be the capacity of the sensor 30, A [X] the effective area of the sensor 30, C [Y] the capacitance of the sensor 50, A [Y] the effective area of the sensor 50, and C [Normal] the capacitance of the sensor 10 and A [Normal] the effective surface of the sensor 10. By application of the formula (I) we have: C [X] = E * A [X] / L [X] C [Normal] = E * A [Normal] / L [Normal] Where E represents the dielectric constant of the dielectric material 7. Consider L [X] = L [Normal] because the sensors 10 and 30 are very close to each other, and the Normal pressure sensor surface 10, A [Normal], is constant. It can be deduced that: C [X] / C [Normal] = A [X] / A The measurement of the variations of the ratio between the capacity of the shearing sensor 30 along the X axis and the capacity of the normal pressure sensor 10 between an initial state and when applying a force, allows to deduce the value of AX. By applying the formula (II), the measurement of the shear force F along the X axis is deduced therefrom.
    [0019] The cell 20 of three capacitive sensors is connected to a measuring system by only four electrically conductive tracks tracks 11, 12, 13 and 14. The track 11 is deposited on the first face of the dielectric 7 while the tracks 12, 14 and 16 are deposited on the second face of the dielectric 7. The opposing electrodes being on separate faces, a design of electrodes in a single plane can be used. This arrangement of the conductive tracks simplifies the manufacturing process compared to multi-level electrode designs, which require more manufacturing steps. In the systems of the prior art, two independent electrical paths are generally used for each capacitive sensor, that is to say six tracks for three sensors. The arrangement of the cell 20 reduces the number of electrical tracks to and from an electronic measurement system.
    [0020] The cell is connected to an electronic measurement system via the conductive tracks 11, 12, 13, 14. The electrical capacitances of the first sensor 10, the second sensor 30 and the third sensor 50 are sequentially measured. Particularly advantageously, the sensor is measured each track with a frequency of 100 Hz. A disadvantage of the configuration of the cell 20 is that the potential applied to the electrode 1 may not be uniform over the entire surface of the electrodes 1, 3 and 5 connected in series, which potentially affects the accuracy of the measurements. For a normal pressure force of 100 Newtons, a variation of the capacitance of the sensor 10 is measured on the order of 50%, compared with the measurement of the same capacity at rest.
    [0021] For a shear force of 50 Newtons along the X axis, a variation in the capacitance of the sensor 30 is measured on the order of 10%, compared with the measurement of the same capacity at rest. The dielectric material is chosen according to the applications. The sheet of dielectric material must remain in its zone of elasticity for applied pressures of between 0 and 10 kg / cm 2 (corresponding to the averages of the plantar pressure) and the maximum crushing must be less than 50% when the pressure applied is of 10kg / cm2. Thus, when the capacitance at the output of the electrodes is measured respectively before and after the application of a pressure force, it is possible to calculate the thickness variation of the dielectric material, for example silicone. By application of the Hook law, in the elasticity zone of the material, a measurement of the pressure applied is deduced from the thickness variation L. Indeed, Hook's law indicates that the normal pressure applied on the surface of the material is equal to the product of the Young's modulus E of the material by the percentage AUL of deformation in thickness of the material: 6 = E.AVL (III) Preferably a dielectric material which is elastically deformable in compression and in shear and which remains in its zone of elasticity for a normal pressure of between 0 and 10 kg / cm 2 is used. At the maximum pressure of 10 kg / cm 2, the crushing of the material is preferably limited to 10% to 50% of the thickness. A range of theoretical values of Young's modulus between 30 kg / cm 2 and 100 kg / cm 2 are defined. Concerning the empirically determined characteristics, the dielectric material must have a tensile strength defined by the maximum applied pressure before rupture, between 20 and 100 MPa. In another embodiment, dielectric 7 is a 1 mm thick urethane sheet supplied by Grainger (https://www.a rainber.com/product/Foam-Sheet-13C455 fu nctionCode = P2 I DP2 PCP). Urethane foam is particularly suitable for the measurement of normal pressure. Urethane has the advantage of having a good crush so to allow a good spatial resolution of measurement. In addition, the urethane has a low hysteresis. In another exemplary embodiment, a polyurethane sheet of the Sylomer SR110 brand supplied by the company LX4 is chosen as dielectric 7. This material has the advantage of having a very low hysteresis, around 6%. This material is particularly suitable for applications that measure essentially normal pressure. In FIG. 5, a capacitance variation measurement C (in pF) is represented as a function of a normal pressure force P (in N / cm 2) applied to a pressure sensor according to an exemplary embodiment of the invention. invention, by applying an increasing and decreasing pressure force. The dielectric material is urethane here. These measurements clearly illustrate the hysteresis effect of the sensor, which nevertheless remains limited to less than 7% for urethane. This hysteresis effect can produce significant uncertainties in the measurements, since information is generally not available to determine whether one is on the increasing or decreasing pressure curve. In another example, the dielectric 7 is made of 1 mm thick polyurethane foam, of the Sylomer brand supplied by the company LX4. Polyurethane foam is particularly suitable for applications that measure normal pressure forces. In an exemplary embodiment, an elastomer is chosen for dielectric 7, for example a 1 mm thick silicone sheet having a hardness of between 10 and 20 of the Nusil mark. The hardness is related to the Young's modulus E by an empirical relation. In another exemplary embodiment, the dielectric material used is a 0.5 mm thick silicone sheet, for example from the company Nusil, reference MED 4901. The silicone is particularly suitable for applications in the measurement of shear forces. . The disadvantage of silicone is that it has a high hysteresis, which is around 30%.
    [0022] In another embodiment, a cork sheet is chosen for dielectric 7, which has the advantage of having an extremely small Poisson module (V = 0). The electrodes and the conductive tracks are for example deposited or printed on two sheets 8, 9 ultrathin kapton. A kapton sheet 9 carrying the electrodes 1, 3, 5 and the conductive tracks 11, 13, 15 is bonded to one side of the dielectric sheet 7. Another kapton sheet 8 carrying the electrodes 2, 4, 6 and Conductive tracks 12, 14, 16 are bonded to the other face of the dielectric sheet 7. In FIG. 4, a variant of a pressure sensor cell 20 is shown. The same reference signs designate elements identical to those of FIG. 1. In particular, the structure and operation of the sensors 30 and 50 are identical to those of the sensors described with reference to FIG. 1. In the variant of FIG. the shape and the dimensions of the electrodes 1, 2 of the first pressure sensor 10 are different from those of the sensor 10 of the cell illustrated in FIG. 1. In the variant of FIG. 4, the first electrode 1 is formed of a square whose side length is smaller than the dimensions of the electrode 2. The electrode 2 is formed of two electrode portions connected in series. For example, the electrode 2 is formed of two rectangles separated by a trench extending along the direction X and connected in series by a conductive track. The surface of the first electrode 1 does not completely cover the surface of the second electrode 2. Here, the surface of the first electrode is smaller than the surface of the second electrode 2. The surface S12 of the capacitor formed by the dielectric between the electrodes 1 and 2, here consists of two rectangles and not a square. On the other hand, the conductive track 16 is not in the extension of a rectangle of the comb of the electrodes 6. Nevertheless, the operation of the sensor 10 of FIG. 4 is similar to that of the sensor 10 of FIG. In general, the electrodes 1 and 2 of the first sensor are configured so that, when the sensor 10 is subjected to a shearing force along the X or Y direction, within the limit of the elastic deformation of the dielectric material 7 , the surface S12 remains constant. Obviously for the skilled person, the structure and shape of the electrodes 1 and 2 are interchangeable. Similarly, the electrodes 3 and 4 are interchangeable, as well as the electrodes 5 and 6. In an exemplary embodiment, a sensor cell 20 occupies a square surface of 1 cm side. It is possible to integrate a large number of sensor cells 20 on the same sheet of dielectric material to form a high spatial resolution sensor array. The smaller the area of a cell, the greater the spatial resolution (number of sensors per cm2). Nevertheless, it is limited by the thickness of the dielectric 7 currently available on the market. Indeed, if we want to reduce the size of the sensor, it is necessary to reduce the surfaces S compared, or the thickness L must be small compared to the characteristic value of S to be placed in the approximation of a flat capacitor. FIG. 6 shows a top view of an example of a network of pressure sensors. This network 100 comprises a set of cells 20 of pressure sensors, as described in connection with Figure 1, these cells being arranged in a matrix on a single thin sheet of elastically deformable dielectric material 7. Particularly advantageously, the cells 20 are arranged in rows and columns. In FIG. 6, as in FIG. 1, there is shown in projection the electrodes and the conductive tracks of the network of pressure sensors. The network 100 comprises for example two rows and three columns of cells of several pressure sensors. For example, the electrodes are manufactured by a printed circuit technique (PCB) and the network is developed using Eagle software. In this case, the cells 20 of the same network are preferably identical to each other. The structure of a cell 20 is identical to that described with reference to FIG. 1. In general, a cell 20 comprises electrodes 1, 3 and 5 on one side of the dielectric material 7 and electrodes 2, 4 and 6 on the other side of the dielectric material 7. The electrodes 1 and 2 form a capacitive sensor of normal pressure, sensitive to the variations in thickness AL of the dielectric material 7. The electrodes 3 and 4, in the form of a comb, offset relative to each other to the other, form a capacitive shear pressure sensor responsive to a shear force applied along the X direction. The comb-shaped electrodes 5 and 6, offset with respect to one another, form a shear force capacitive sensor responsive to a shearing force applied along the Y direction. Advantageously, the electrode 1 is connected to the electrode 3 by a conductive track 13. Similarly, the electrode 1 is r It is connected to the electrode 5 by a conductive track 15. Thus, a pressure sensor cell 20 controlled by only four external conductive tracks makes it possible to provide six pressure information, that is to say 3D pressure measurements. with indication of the direction of pressure applied. The network 100 here comprises a plurality of pressure sensor cells disposed in line and in columns. A conductive track 1100 is connected to the electrode 1 of a first cell located at the intersection of a first line and a first column. This track 1100 is extended to electrically connect the electrode 5 of a pressure sensor cell to the electrode 1 of another immediately adjacent cell in the same column. Thus, the electrodes 1, 3, and 5 of all the cells of the first column are connected in series. Similarly, another conductive track 1101 is connected to the electrode 1 of a cell in a second column of the network 100. This track 1101 is extended to electrically connect the electrode 5 of a pressure sensor cell to the electrode 1 of another immediately adjacent cell of the second column. Thus, the electrodes 1, 3, and 5 of all the cells 20 of the second column are connected in series.
    [0023] Similarly, another conductive track 1102 is connected to the electrode 1 of a cell in a third column of the network 100. This track 1102 is extended to electrically connect the electrode 5 of a pressure sensor cell to the electrode 1 of another immediately adjacent cell of the third column. Thus, the electrodes 1, 3, and 5 of all the cells 20 of the third column are connected in series. Furthermore, another conductive track 1200 is connected to the electrode 2 of the first cell located at the intersection of the first line and the first column. This track 1200 is extended to electrically connect the electrode 2 of a pressure sensor cell to the electrode 2 of another cell immediately adjacent to the first line, and so on. Thus, the electrodes 2 of all the cells of the first line are connected in series to the track 1200. Another conducting track 1400 is connected to the electrode 4 of the first cell located at the intersection of the first line and the first column. This track 1400 is extended to electrically connect the electrode 4 of a pressure sensor cell to the electrode 4 of another cell immediately adjacent to the first line, and so on. Thus, the electrodes 4 of all the cells of the first line are connected in series with the track 1400. Similarly, another conducting track 1600 is connected to the electrode 6 of the first cell located at the intersection of the first one. line and the first column. This track 1600 is extended to electrically connect the electrode 6 of a pressure sensor cell to the electrode 6 of another cell immediately adjacent to the first line, and so on. Thus, the electrodes 6 of all the cells of the first line are connected in series to the track 1600. Similarly, on the second line, the electrodes 2 of all the cells of the second line are connected in series to the track 1201, the electrodes 4 of all the cells of the second line are connected in series to the track 1401 and the electrodes 6 of all the cells of the second line are connected in series to the track 1601. This gives a network comprising six cells arranged on two lines and three columns, which is electrically connected to an external polarization and measurement system via the conductive tracks 1100, 1101, 1102, 1200, 1400, 1600, 1201, 1401, 1601, ie a total of 9 conductive tracks . But each sensor cell provides six measurements, for a total of six cells 36 measures. Each cell of the sensor array 100 is sequentially addressed by selecting a row and a column. The electronic system is suitable for measuring capacitances between 1 and 20 pF. The architecture of the network allows a very high density of capacitive pressure sensors, with a very small number of conductive tracks connecting with an external capacitance measurement system. A sensor network in which each cell of 3 sensors occupies a surface of 1 cm on one side has been successfully tested. For normal pressure sensors only, the density can be increased to 3 or 4 sensors per cm2.
    [0024] The arrangement of the sensors makes it possible to use the entire available surface, and to provide measurements of normal pressure and shear force with good sensitivity, and good accuracy. FIG. 7 shows an example of an array of electrodes 1 intended to be fixed on a first face of a sheet of dielectric material 7. The conductive tracks 1100, 1101, 1102, ..., 1109 connect in series the electrodes 1 by columns. The network of electrodes 1 and conductive tracks 1100, 1101, 1102, ..., 1109 is printed on a support 9, for example a printed circuit or a kapton thin sheet with a thickness of between 50 and 100 microns. An alternative to kapton is polyester, which has the advantage of being less expensive, but has a lower resistance to heat (80 ° C max). Marks A, B, C, D are printed simultaneously on the support 9, to allow alignment of the electrodes with respect to the sheet of dielectric material 7, in accordance with the electrical diagram provided. FIG. 8 shows an electrode array diagram 2 intended to be fixed on the opposite face of the dielectric material 7. The conductive tracks 1200, 1201,..., 1208, 1209 connect the electrodes 2 in series in rows. . The network of electrodes 2 and conductive tracks 1200, 1201, ..., 1208, 1209 is printed on a support 8, for example a printed circuit or another kapton thin sheet. Markers E, F, G, H are printed simultaneously on the support 8.
    [0025] The support 9 is placed on one side of the dielectric material, then the support 8 is placed on the opposite face of the dielectric material 7, so as to align the mark C with the mark H, respectively the mark B with the mark E, the mark D with the mark G and finally, the mark A with the mark F. In FIGS. 7 and 8, it is observed that for a network of 10 rows and 10 columns, thus comprising 100 sensor cells, only 20 conducting tracks for sequentially perform all pressure measurements. For a network of 100 cells with three-dimensional pressure sensors, corresponding to 300 sensors, it is sufficient to connect the network by 40 conductive tracks to carry out sequentially all pressure measurements in compression and in shear.
    [0026] Measurements of all sensors in a sensor array are not performed simultaneously, unlike systems where each sensor is addressed independently. This sensor network simultaneously makes it possible to increase the density of pressure sensors, which makes it possible to obtain a good spatial resolution, while limiting the number of conductive tracks to the outside.
    [0027] FIG. 9 schematically shows a network 100 of capacitive pressure sensors intended to form a sole. The network has 188 sensors arranged in 29 rows and 9 columns in the XY plane. The sensors are arranged in a predetermined pattern corresponding to the general shape of a foot.
    [0028] FIG. 10 schematically illustrates an example of a graphical representation of the pressure measurements obtained by means of a sensor base such as shown in FIG. 9. In FIG. 10, the measurement of normal pressure is represented in squares, which correspond to the spatial resolution of the sole. A color code is used to represent the distribution of normal pressure values in the Z direction measured as a function of the XY position of the sensor. The shear force measurement is represented simultaneously in FIG. 10 in the form of arrows: the direction of the arrows represents the direction of the shear force resulting from the measurement of the shear force in the X direction and in the Y direction. The intensity of the shear force measurement is shown here using a color code for the arrows. FIG. 11 schematically illustrates another example of a graphical representation of the pressure measurements obtained by means of a sensor base such as shown in FIG. 9. The normal pressure measurements are represented in a similar manner to FIG. the color is coded according to the magnitude of the Z-direction compression force measured as a function of the XY position. The shear force measurement is represented simultaneously in FIG. 11 in the form of arrows: the direction of the arrows represents the direction of the shear force resulting from the measurement of the shear force in the X direction and in the Y direction. The length of the arrows here represents the intensity of the measurement of the shear force.
    [0029] The graphical representation of the pressure measurements provides the user with the distribution of the pressure forces on the surface of the sensor with a resolution of several tens of sensors on a sole. The sensor provides, for each elementary sensor, the intensity, the direction and the direction of the force applied to the center of each sensor cell, hence the interest of having a maximum of sensors and the finest spatial resolution possible. . The sensor array makes it possible to precisely determine the point of application of the pressure force. The representation of the pressure measurements illustrated in FIGS. 10 and 11 immediately enables a user without a particular qualification to know the spatial distribution of the pressure forces on the sensor array soleplate. Measurements can be repeated at a high rate, which helps correct an unsuitable posture. In the medical field, a sensor network integrated into a sole is particularly useful as a diagnostic tool for foot care professionals (chiropodists, podiatrists, etc.), as a tool for assisting physical rehabilitation, or as an insole. of prevention carried out daily by a diabetic patient suffering from neuropathy. A network of pressure sensors can be integrated into a carpet as a diagnostic tool for the podiatrist. Integrated with a cloth or a garment on a larger surface, the sensor array system can be used as a pressure ulcer prevention mat for people with disabilities. Placed on wheelchair wheel handrails, a sensor network system quantifies the interaction with the hands of hemiplegics. Detection of the patient's body or foot support points and the measurement of pressure distribution can help prevent pressure ulcer prevention or prevent foot injury for people with diabetes. An insole with sensor network can also find applications as a measurement tool for the sellers of personalized shoes (sports, luxury shoes ...). Particularly advantageously, the sensor array system is wirelessly connected to a control box. In the sports field, a sensor network outsole worn by an athlete, allows him to quantify his race.
    [0030] The applications of the invention are not limited to applications in the medical or sports field, pressure sensors can today be connected to a smart phone and find self-measurement applications for the general public. In the field of recreation, a pressure sensor array may be connected to a video game to replace a joystick.
    [0031] Other recreational applications are envisaged, such as a connected dance floor, or a shock detector on American football helmets. Process Various manufacturing methods are envisaged for manufacturing a network of pressure sensors in the context of the invention. In a first embodiment, using conventional printed circuit board (PCB) technology is preferably flexible (FPCB). According to this technique, the electrodes are manufactured on electrically insulating supports 8 and 9, which are then fixed on the opposite faces of a sheet of dielectric material 7. Preferably, the electrodes and the conductive tracks are made of copper or silver. As indicated above, for each support, the manufacturing technique is based on a single level of electrodes. The production of conductive tracks on one level is fast and produces a more reliable electrical circuit than a multi-level electrical circuit connected by vias. This advantage is decisive in the targeted applications where the sensor array is subjected to relatively high compressive and / or shear forces compared to tactile applications. A system is thus obtained comprising a thin sheet of dielectric material 7 sandwiched between two flexible supports 8 and 9, the electrodes being fixed on the opposite faces of the dielectric and protected by the flexible supports 8, 9.
    [0032] A wired or wireless connection makes it possible to electrically connect the conductive tracks of the sensor array to an external measurement system. In another embodiment, the electrodes and the conductive tracks are printed directly on a thin sheet of dielectric material. For this purpose, a metal ink printer (for example of Fujifilm Dimatix Materials Printer type DMP-2800 Series) is advantageously used to print the electrodes 1, 3, 5 and the conductive tracks 11, 13, 15, 1100, 1101, 1109 on a first face of the dielectric material, then print the other electrodes 2, 4, 6 and the other conductive tracks 12, 14, 16, 1200, 1201, ... 1209, 1400, ..., 1600, 1601, ..., on the other side of the dielectric material. Preferably, a metallic ink composed of copper or silver is used. By way of example, the ink is a silver ink of the company Inktec, reference TEK-U-020, composed of 20% silver by weight. This process is faster than the process through a PCB. Currently less accurate than a PCB process but still quite expensive, it is likely that the cost of the printing technique metal ink drops and that the accuracy of printing metal ink improves significantly in the coming years.
    权利要求:
    Claims (12)
    [0001]
    REVENDICATIONS1. An array system of pressure and shear sensors comprising: a sheet of dielectric material (7) elastically deformable in compression and shear, the sheet of dielectric material (7) having a first face and a second face, a network (100) comprising a plurality of pressure sensor and shear sensor cells (20), the cells (20) being arranged in at least one line and at least one column, each cell (20) comprising a first normal pressure capacitive sensor (10) in a first direction (Z), a second capacitive shear sensor (30) in a second direction (X) and a third capacitive shear sensor (50) in a third direction (Y), characterized in that: each capacitive sensor (10, 30, 50) comprises a first electrode (1, 3, 5) fixed on the first face of the sheet of dielectric material (7) and a second electrode (2, 4, 6) fixed on the second face of the sheet of dielectric material (7), - said first and second electrodes (3, 4, 5, 6) of the capacitive shear sensors (30, 50) being comb-shaped, - said first electrodes (1, 3, 5) capacitive sensors (10, 30, 50) of a cell (20) being connected in series with a first electrically conductive track (11) connecting a line of cells of the sensor array; the second electrode (2) of the capacitive sensor of normal pressure (10) of a cell (20) being connected to a second electrically conductive track (12) connecting a column of capacitive sensors of normal pressure (10) of the sensor array ; the second electrode (4) of the capacitive shear sensor (30) along the second direction (X) being connected to a third electrically conductive track (14) connecting a line of capacitive shear sensors (30) in the second direction (X ) of the sensor network; and - the second electrode (6) of the capacitive shear sensor (50) in the third direction (Y) being connected to a fourth electrically conductive track (16) connecting a column of capacitive shear sensors (50) in the third direction ( Y) of the sensor network.
    [0002]
    2. An array system of pressure and shear sensors according to claim 1, comprising addressing means adapted to measure the capacitance of a capacitive sensor (10, 30, 50) located at the intersection of a line. and a column, said line corresponding to a first track (11) connected to said first electrode (1, 3, 5) and said column corresponding to another track (12, 14, 16) connected to one of said second electrodes (2, 4, 6).
    [0003]
    3. An array system of pressure and shear sensors according to claim 1 or 2, wherein the sheet of dielectric material (7) elastically deformable in compression and shear is of a material selected from: a micro-architected cork, a elastomer, rubber, urethane, silicone, butyl rubber, polymer, neoprene, polyurethane, polyisoprene or urethane foam.
    [0004]
    A pressure and shear sensor array system according to one of claims 1 to 3, wherein said first electrode (1, 3,
    [0005]
    5) and said first electrically conductive track (11) are printed on a sheet (9) of electrically insulating and flexible material, and, respectively, wherein said second electrode (2, 4,
    [0006]
    6) and said other electrically conductive tracks (12, 14, 16) are printed on another sheet (8) of electrically insulating and flexible material. 5. An array system of pressure and shear sensors according to one of claims 1 to 4, wherein the first electrically conductive track (11) and the second electrically conductive track (12) of a cell (20) are connected. an electronic system adapted to measure a variation of the electrical capacitance of the normal pressure capacitive sensor (10), the electronic system being adapted to derive a normal pressure force applied to said normal pressure capacitive sensor (10) along the first direction (Z). A pressure and shear sensor array system according to one of claims 1 to 5, wherein the first electrically conductive track (11) and the third electrically conductive track (14) of a cell (20) are connected. to said electronic system, which is adapted to measure a variation of the capacitance of the second capacitive shear force sensor (30) in the second direction (X), the electronic system being adapted to derive the amplitude and the direction of a shear force applied to said shear force capacitive sensor (20) along the second direction (X).
    [0007]
    An array system of pressure and shear sensors according to one of claims 1 to 6, wherein the first electrically conductive track (11) and the fourth electrically conductive track (16) of a cell (20) are connected. to said electronic system, which is adapted to measure a variation of the electrical capacitance of the third capacitive shear sensor (50) along the third direction (Y), the electronic system being adapted to derive the amplitude and the magnitude of a force of shear applied to said third capacitive shear sensor (50) along the third direction (Y).
    [0008]
    An array system of pressure and shear sensors according to one of claims 1 to 7, wherein said electrically conductive tracks (11, 12, 14, 16) are connected to means for measuring a variation of the Capacitive capacitor capacitance (10, 30, 50) via wired or wireless links.
    [0009]
    A pressure and shear sensor array system according to one of claims 1 to 8 comprising a shear pressure force measurement display device in which the display device is configured to graphically represent, according to of the arrangement of the sensor array, the normal pressure measured by each cell of the sensor array and simultaneously the amplitude and direction of the shear force measured by each cell of the sensor array.
    [0010]
    Shoe sole comprising a pressure sensor network system according to one of claims 1 to 9.
    [0011]
    A method of manufacturing a network system of capacitive pressure and shear sensor cells comprising the steps of: printing a first pattern of conductive electrodes (1, 3, 5, 11) on a first surface of a first material by means of a metal ink printer, the first conductive electrode pattern (1, 3, 5) comprising a first track (11) connecting a line of the cells (20) of the sensor array, and the first electrode pattern connecting in series the capacitive pressure and shear sensors (10, 30, 50) of a same cell (20); Printing a second pattern of conductive electrodes (2, 4, 6, 12, 14, 16) on another surface of the first material or other material, by means of said metal ink printer; Attaching the first surface carrying the first pattern of conductive electrodes (1, 3, 5, 11) on one side of a sheet of dielectric material (7) elastically deformable in compression and shear; Alignment of the other surface carrying the second pattern of conductive electrodes (2, 4, 6, 12, 14, 16) with respect to the first conductive electrode pattern (1, 3, 5, 11) and attachment of the another surface carrying the second pattern of conductive electrodes (2, 4, 6, 12, 14, 16) on the other side of said sheet of dielectric material (7), so as to form an array of capacitive sensor cells of pressure and shear.
    [0012]
    12. A method of manufacturing a network system of capacitive pressure sensor and shear cells according to the preceding claim wherein the first conductive electrode pattern (1, 3, 5) comprises a first track (11) connecting a cell line (20), the first electrode pattern connecting in series the capacitive pressure and shear sensors (10, 30, 50) of a same cell (20), and wherein the second conductive electrode pattern comprises a second electrically conductive track (12) connecting a column of normal pressure capacitive sensors (10), a third electrically conductive track (14) connecting a column of second capacitive shear sensors (30) in the second direction (X) and a fourth electrically conductive track (16) connecting a column of third capacitive shear sensors (50) in the third direction (Y), so as to form a grating capacitive pressure sensor and shear capacitors having four electrically conductive tracks (11, 12, 13, 14) connected to each capacitive pressure and shear sensor cell.
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    同族专利:
    公开号 | 公开日
    EP3169983B1|2020-02-19|
    FR3023914B1|2017-07-21|
    US10451493B2|2019-10-22|
    ES2799827T3|2020-12-21|
    WO2016009151A1|2016-01-21|
    EP3169983A1|2017-05-24|
    US20170176266A1|2017-06-22|
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    法律状态:
    2015-04-17| PLFP| Fee payment|Year of fee payment: 2 |
    2016-01-22| PLSC| Publication of the preliminary search report|Effective date: 20160122 |
    2016-07-29| PLFP| Fee payment|Year of fee payment: 3 |
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    2018-07-24| PLFP| Fee payment|Year of fee payment: 5 |
    2020-07-28| PLFP| Fee payment|Year of fee payment: 7 |
    2021-07-27| PLFP| Fee payment|Year of fee payment: 8 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1456955A|FR3023914B1|2014-07-18|2014-07-18|NETWORK SYSTEM WITH CAPACITIVE PRESSURE AND SHEAR CAPACITIVE SENSOR CELLS AND METHOD OF MANUFACTURE|FR1456955A| FR3023914B1|2014-07-18|2014-07-18|NETWORK SYSTEM WITH CAPACITIVE PRESSURE AND SHEAR CAPACITIVE SENSOR CELLS AND METHOD OF MANUFACTURE|
    US15/327,196| US10451493B2|2014-07-18|2015-07-16|System comprising a cellular network of capacitive pressure and shear-stress sensors and manufacturing process|
    EP15753106.2A| EP3169983B1|2014-07-18|2015-07-16|System comprising a cellular network of capacitive pressure and shear-stress sensors and manufacturing process|
    ES15753106T| ES2799827T3|2014-07-18|2015-07-16|System with cell network of capacitive pressure and shear sensors and manufacturing procedure|
    PCT/FR2015/051947| WO2016009151A1|2014-07-18|2015-07-16|System comprising a cellular network of capacitive pressure and shear-stress sensors and manufacturing process|
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