CN112816528B - Perception and storage integrated bionic haptic fiber and preparation method thereof - Google Patents

Abstract

The invention discloses a perception and storage integrated bionic touch fiber and a preparation method thereof, wherein the perception and storage integrated bionic touch fiber sequentially comprises a conductive fiber substrate layer, a substrate modification layer wrapping the periphery of the conductive fiber substrate layer, a storage function layer wrapping the periphery of the substrate modification layer and a perception function layer wrapping the periphery of the storage function layer from inside to outside, one end of the outer surface of the perception function layer is provided with a conductive fiber upper electrode, the storage function layer is made of memristive function material, and the perception function layer is made of pressure sensitive material. According to the invention, the two functions of the touch sensor and the memristor are integrated, so that the sensing and storage functions of touch information can be realized, and the speed and efficiency of information processing in a touch sensing system are improved.

Description

A perception storage integrated bionic tactile fiber and preparation method thereof

Technical Field

The present invention relates to the field of sensors, and in particular to a sensing and storing integrated bionic tactile fiber and a preparation method thereof.

Background technique

With the continuous development of artificial intelligence and the Internet of Things, human society is developing from informatization to intelligence. The realization of intelligence requires information systems to have the ability to perceive and acquire external information in real time, process it efficiently, and make decisions in a timely manner. For information systems, they must first have information perception capabilities. Information perception uses a variety of effects (physical, chemical, biological, etc.) to perceive the characteristic information of transactions, outputs usable signals through specific conversion rules, and completes the characterization of the attributes, states, characteristics, etc. of target objects. Information perception technology (including instruments, equipment, systems, etc.) can complete the detection and acquisition of external information, which is crucial for the subsequent storage and processing of information. In recent years, the development trend of electronic equipment or systems related to information perception, storage and processing has been oriented towards intelligence, lightweight, portability, etc., while the era of big data, which brings massive information and data, has also brought new challenges to the needs of information perception, storage and processing. Human information processing mechanisms rely on the perception system constructed by neurons, synapses, central nervous systems, etc. to complete the perception, storage and processing of complex external information. The integrated design and development of bionic perception systems with micro-nano sensors and memristors is one of the current research directions of information systems.

Tactile (or pressure) sensors can sense external physical stimulus information; memristors are a new type of electronic device whose resistance can be determined by the charge flowing through them (measuring the resistance of a memristor can obtain the amount of charge flowing through it), and they have the function of memorizing charge. For human touch, human tactile neurons have the functions of sensing, transmitting, and storing tactile information. Current research mainly focuses on single-function devices, including tactile sensors that only have the function of sensing tactile information, and memristors that only have the function of storing information. A few studies have designed devices that integrate tactile information sensing and storage functions, but research on the structure and morphology of human tactile perception systems is at a standstill. Based on the human tactile perception processing mechanism, flexible fiber tactile sensors and memristors are integrated through device design to develop bionic tactile fibers, realize the dual functions of tactile information perception and storage, and develop bionic tactile perception systems with efficient perception and rapid processing, which is expected to promote the development of electronic skin, bionic robots, human-computer interaction systems and other fields.

Summary of the invention

The purpose of the present invention is to provide a perception-storage integrated bionic tactile fiber and a preparation method thereof, so as to provide a sensor integrating the perception and storage functions of tactile information and to improve the speed and efficiency of information processing in the tactile perception system.

To achieve the above object, the present invention provides the following technical solutions:

A sensing and storing integrated bionic tactile fiber, which comprises, from the inside to the outside, a conductive fiber base layer, a base modification layer wrapped around the conductive fiber base layer, a storage function layer wrapped around the base modification layer, and a sensing function layer wrapped around the storage function layer, a conductive fiber upper electrode is arranged at one end of the outer surface of the sensing function layer, the storage function layer adopts a memristive function material, and the sensing function layer adopts a pressure sensitive material.

As a further solution of the present invention: the material used for the conductive fiber base layer includes flexible fibers and conductive materials.

As a further solution of the present invention: the flexible fiber is at least one of cotton fiber, wool fiber, silk fiber, viscose fiber, acetate fiber, and cotton-wrapped spandex fiber, and the conductive material is any one of carbon black, gold nanoparticles, silver nanoparticles, copper nanoparticles, and titanium nanoparticles.

As a further solution of the present invention: the material of the substrate modification layer is at least one of a chromium complex coupling agent, a silane coupling agent, and a titanate coupling agent.

As a further solution of the present invention: the material used in the storage functional layer is a memristive functional material, and the memristive functional material is any one of PEDOT:PSS, polystyrene, polyparaxylene, polyvinyl pyrrolidone, perfluorosulfonic acid resin, polyvinyl alcohol, and polyethylene oxide.

As a further solution of the present invention: the material used in the sensing function layer includes a base material and a sensitive material.

As a further solution of the present invention: the matrix material is silicone rubber or polydimethylsiloxane, and the sensitive material is any one of the single-phase materials graphene, graphene oxide, reduced graphene oxide, carbon nanotubes, gold nanowires, and silver nanowires, or a multiphase conductive material composed of the above single-phase materials and at least one of carbon black, polyaniline nanoparticles, polypyrrole nanoparticles, gold nanoparticles, and silver nanoparticles.

As a further solution of the present invention: the material of the conductive fiber upper electrode layer is the same as that of the conductive fiber base layer, or gold wire or silver wire is selected.

As a further solution of the present invention: the diameter of the gold wire and the silver wire is between 20 and 500 microns.

A method for preparing the above-mentioned sensory storage integrated bionic tactile fiber comprises the following steps:

S1: dissolving a conductive material in naphtha, ultrasonically treating for 1 to 3 hours, and then stirring for 0.5 to 2 hours to obtain a conductive material solution with a conductive material concentration of 0.1 wt% to 5 wt% by mass, placing a flexible fiber substrate in the conductive material solution, immersing and stirring for 5 to 60 minutes, and drying at room temperature to obtain a conductive fiber substrate layer;

S2: adding the substrate modification layer material into deionized water, stirring and dissolving it at room temperature, preparing a substrate modification layer solution having a substrate modification layer material concentration of 0.05wt% to 5wt% by mass, placing the conductive fiber substrate layer in the substrate modification layer solution for static immersion treatment for 5 to 10 minutes, and drying at room temperature to prepare a conductive fiber substrate layer wrapped by the substrate modification layer;

S3: adding the memristor material to deionized water, ultrasonically treating the material until the material is uniformly dispersed, obtaining an aqueous solution of the memristor material with a concentration of 0.1wt% to 5wt% by mass, and immersing the conductive fiber substrate wrapped by the substrate modification layer in the aqueous solution of the memristor material for 5 to 30 minutes. After drying at room temperature, the immersion operation is repeated several times to prepare a storage function layer.

S4: Take a single-phase sensitive material or take a two-phase sensitive material in a ratio of 1:0.3~4, dissolve the taken sensitive material in 10mL of naphtha, ultrasonically disperse for 1~3h, magnetically stir for 0.5~2h, add the matrix material, and then magnetically stir for 0.5~2h to obtain a sensitive material solution with a sensitive material concentration of 5wt%~50wt% by mass percentage, and place the conductive fiber base layer wrapped with the storage functional layer in the above-mentioned sensitive material solution for immersion treatment for 5~10min, and vacuum dry to obtain a sensing functional layer;

S5: Winding the conductive fiber base layer or the gold wire or the silver wire prepared in step S1 onto the conductive fiber base layer wrapped with the sensing function layer in step S4 to prepare a conductive fiber upper electrode, that is, the present invention is obtained.

Compared with the prior art, the present invention has the following beneficial effects:

(1) Based on the human tactile perception system and its mechanism, electronic devices that separate the two functions of tactile information perception and tactile information storage, namely tactile sensors and memristors, are developed using an integrated design inspired by the structure of tactile sensory neurons to develop integrated bionic tactile fibers for perception and storage. They simulate the tactile corpuscles to perceive tactile information and the synapses at the ends of tactile neurons to store tactile information, so that a single device has the dual functions of tactile information perception and storage, without having to process them separately. When the perception-storage integrated bionic tactile fiber of the present invention perceives tactile information, changes in the conductive network of the pressure-sensitive material inside the perception function layer cause corresponding resistance changes. At this time, thanks to the functional integrated design, the above-mentioned conductive network and its resistance changes are transmitted to the storage function layer in real time, and the internal current signal of the memristor functional material in the storage function layer changes accordingly. That is, different tactile information causes changes in the resistance signal of the pressure-sensitive material while also causing changes in the current signal of the memristor functional material. The two separate and step-by-step tasks of tactile information perception and storage are simplified into synchronous and parallel tasks of perception and storage, thereby improving the speed and efficiency of information processing in the tactile perception system, and developing a bionic tactile perception system with efficient perception and rapid processing, which is in line with the current development trend of sensors and systems towards flexibility, integration, and intelligence.

(2) The present invention is based on a fiber substrate and can be used for the design and manufacture of portable and wearable electronic devices by taking advantage of its lightness and flexibility. It integrates the single functions of tactile sensors and memristors, which is conducive to improving the integration of devices, enriching device functions within a limited design and manufacturing scale, and expanding the application scenarios and scope of tactile sensing devices and memristor devices.

(3) Fiber substrates have now been designed and manufactured on a large scale and can be combined with integrated design and preparation processes in the field of flexible electronics, such as dip coating, electrospinning, and inkjet printing, to be used for high-throughput, automated design and preparation of fiber-based electronic devices, such as the bionic tactile fibers of the present invention. Therefore, the preparation method of the present invention is convenient for mass production. The bionic tactile fibers of the present invention have the dual functions of tactile information perception and storage, and are expected to be used in the fields of human-computer interaction, intelligent robots, prosthetics, etc. At the same time, they can be further integrated with logic and computing devices to achieve expansion at more functional levels.

BRIEF DESCRIPTION OF THE DRAWINGS

Fig. 1 is a schematic diagram of the structure of the present invention;

FIG. 2 is a schematic cross-sectional view of the present invention.

In the figure: 1-conductive fiber substrate layer, 2-substrate modification layer, 3-storage functional layer, 4-sensing functional layer, 5-conductive fiber upper electrode.

Detailed ways

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

Please refer to Figures 1 and 2. In an embodiment of the present invention, a perception and storage integrated bionic tactile fiber is provided. The perception and storage integrated bionic tactile fiber includes, from the inside to the outside, a conductive fiber base layer 1, a base modification layer 2 wrapped around the conductive fiber base layer, a storage function layer 3 wrapped around the base modification layer, and a perception function layer 4 wrapped around the storage function layer. A conductive fiber upper electrode 5 is provided at one end of the outer surface of the perception function layer. The material used in the storage function layer 3 is a memristive functional material, and the material used in the perception function layer 4 is a pressure sensitive material.

Specifically, the material used for the conductive fiber base layer 1 includes flexible fibers and conductive materials, the flexible fibers are at least one of cotton fibers, wool fibers, silk fibers, viscose fibers, acetate fibers, and cotton-wrapped spandex fibers, the conductive material is any one of carbon black, gold nanoparticles, silver nanoparticles, copper nanoparticles, and titanium nanoparticles, and the conductive fiber base layer 1 is a cylinder with a diameter of 0.1 to 3 mm; the conductive fiber base layer 1 serves as the lower electrode of the sensor of the present invention.

Specifically, the material of the substrate modification layer 2 is at least one of a chromium complex coupling agent, a silane coupling agent, and a titanate coupling agent, and the silane coupling agent is preferably any one of 3-aminopropyltriethoxysilane, vinyltriethoxysilane, vinyltrimethoxysilane, and vinyltri(β-methoxyethoxy)silane; the substrate modification layer 2 can increase the effective contact area between the storage function layer 3 and the conductive fiber substrate layer 1, and promote the encapsulation of the resistive material in the storage function layer.

Specifically, the material used for the storage function layer 3 is a memristive functional material, and the memristive functional material is any one of PEDOT:PSS (poly 3,4-ethylenedioxythiophene/polystyrene sulfonate), polystyrene, polyparaxylene, polyvinyl pyrrolidone, perfluorosulfonic acid resin, polyvinyl alcohol, and polyethylene oxide; the storage function layer 3 is used to store the pressure information received during the tactile perception process.

Specifically, the materials used in the sensing function layer 4 include a base material and a sensitive material, the base material is silicone rubber or polydimethylsiloxane, and the sensitive material is any one of single-phase materials graphene, graphene oxide, reduced graphene oxide, carbon nanotubes, gold nanowires, and silver nanowires, or a multiphase conductive material composed of the above single-phase materials and at least one of carbon black, polyaniline nanoparticles, polypyrrole nanoparticles, gold nanoparticles, and silver nanoparticles; the sensing function layer 4 is used to sense pressure changes. When the pressure-sensitive material in the sensing function layer 4 causes the internal conductive network to change due to the stretching or compression effect, different changes in the resistance signal are caused.

Specifically, the conductive fiber upper electrode 5 is made of the same material as the conductive fiber base layer, or gold wire or silver wire is selected, and the diameter of the gold wire or silver wire is between 20-500 microns. The conductive fiber upper electrode 5 serves as the upper electrode of the sensor of the present invention.

A method for preparing the above-mentioned sensory storage integrated bionic tactile fiber comprises the following steps:

S1: dissolving a conductive material in naphtha, ultrasonically treating for 1 to 3 hours, and then stirring for 0.5 to 2 hours to obtain a conductive material solution with a conductive material concentration of 0.1 wt% to 5 wt% by mass, placing a flexible fiber substrate in the conductive material solution, immersing and stirring for 5 to 60 minutes, and drying at room temperature to obtain a conductive fiber substrate layer;

S2: adding the substrate modification layer material into deionized water, stirring and dissolving it at room temperature, preparing a substrate modification layer solution having a substrate modification layer material concentration of 0.05wt% to 5wt% by mass, placing the conductive fiber substrate layer in the substrate modification layer solution for static immersion treatment for 5 to 10 minutes, and drying at room temperature to prepare a conductive fiber substrate layer wrapped by the substrate modification layer;

S3: adding the memristor material to deionized water, ultrasonically treating the material until the material is uniformly dispersed, obtaining an aqueous solution of the memristor material with a concentration of 0.1wt% to 5wt% by mass, and immersing the conductive fiber substrate wrapped by the substrate modification layer in the aqueous solution of the memristor material for 5 to 30 minutes. After drying at room temperature, the immersion operation is repeated several times to prepare a storage function layer.

S4: Take a single-phase sensitive material or take a two-phase sensitive material in a ratio of 1:0.3~4, dissolve the taken sensitive material in 10mL of naphtha, ultrasonically disperse for 1~3h, magnetically stir for 0.5~2h, add the matrix material, and then magnetically stir for 0.5~2h to obtain a sensitive material solution with a sensitive material concentration of 5wt%~50wt% by mass percentage, and place the conductive fiber base layer wrapped with the storage functional layer in the above-mentioned sensitive material solution for immersion treatment for 5~10min, and vacuum dry to obtain a sensing functional layer;

S5: Winding the conductive fiber base layer or the gold wire or the silver wire prepared in step S1 onto the conductive fiber base layer wrapped with the sensing function layer in step S4 to prepare a conductive fiber upper electrode, that is, the present invention is obtained.

The following are specific embodiments:

Example 1

S1: 0.1 g of carbon black was dissolved in 20 mL of naphtha, and the mixture was ultrasonically treated for 1 h and stirred for 0.5 h to obtain a conductive material solution. A flexible fiber substrate of cotton fiber material was placed in the conductive material solution and immersed and stirred for 20 min, and dried at room temperature to obtain a conductive fiber substrate layer.

S2: Dissolve 0.05 g of chromium complex coupling agent in 20 mL of deionized water, stir and dissolve at room temperature to obtain a substrate modification layer solution, place the conductive fiber substrate in the substrate modification layer solution for immersion treatment for 5 min, and dry at room temperature to obtain a conductive fiber substrate wrapped by the substrate modification layer;

S3: Prepare a 2wt% (mass fraction) PEDOT:PSS aqueous solution, perform ultrasonic treatment for 30 minutes until the material is evenly dispersed, and obtain a memristor material aqueous solution. Immerse the conductive fiber substrate wrapped with the substrate modification layer in the above memristor material aqueous solution for 10 minutes. After drying at room temperature, repeat the above immersion operation 5 times to prepare a storage function layer.

S4: 0.15 g of graphene was dissolved in 10 mL of naphtha, ultrasonically dispersed for 1 h, magnetically stirred for 0.5 h, and then 1.8 g of silicone rubber was added, followed by magnetic stirring for 2 h to obtain a sensitive material solution, and the conductive fiber substrate layer wrapped with the storage functional layer was placed in the above-mentioned sensitive material solution for immersion treatment for 10 min, and vacuum dried to obtain a sensing functional layer;

S5: Winding the conductive fiber base layer prepared in step S1 onto the conductive fiber base layer wrapped with the sensing function layer in step S4 to prepare a conductive fiber upper electrode, that is, the present invention is obtained.

Example 2

S1: 0.1 g of titanium nanoparticles was dissolved in 20 mL of naphtha, and the mixture was ultrasonically treated for 1 h and stirred for 0.5 h to obtain a conductive material solution. A flexible fiber substrate of a wool fiber material was placed in the conductive material solution and immersed and stirred for 20 min, and dried at room temperature to obtain a conductive fiber substrate layer.

S2: Dissolve 0.05 g of silane coupling agent in 20 mL of deionized water, stir and dissolve at room temperature to obtain a substrate modification layer solution, place the conductive fiber substrate in the substrate modification layer solution for immersion treatment for 5 min, and dry at room temperature to obtain a conductive fiber substrate wrapped by the substrate modification layer;

S3: preparing a 2 wt% (mass fraction) polyvinyl pyrrolidone aqueous solution, ultrasonically treating for 30 min until the material is uniformly dispersed, obtaining a memristor material aqueous solution, dipping the conductive fiber substrate wrapped by the substrate modification layer in the memristor material aqueous solution for 10 min, drying at room temperature, repeating the dipping operation 5 times, and preparing a storage function layer;

S4: 0.15 g of carbon nanotubes were dissolved in 10 mL of naphtha, ultrasonically dispersed for 1 h, magnetically stirred for 0.5 h, and then 1.8 g of silicone rubber was added, followed by magnetic stirring for 2 h to obtain a sensitive material solution, and the conductive fiber substrate layer wrapped with the storage functional layer was placed in the above-mentioned sensitive material solution for immersion treatment for 10 min, and vacuum dried to obtain a sensing functional layer;

S5: Winding the conductive fiber base layer prepared in step S1 onto the conductive fiber base layer wrapped with the sensing function layer in step S4 to prepare a conductive fiber upper electrode, that is, the present invention is obtained.

Example 3

S1: 0.1 g of gold nanoparticles were dissolved in 20 mL of naphtha, and the mixture was ultrasonically treated for 1 h and then stirred for 0.5 h to obtain a conductive material solution. A flexible fiber substrate of cotton-wrapped spandex fiber material was placed in the conductive material solution and immersed and stirred for 20 min, and dried at room temperature to obtain a conductive fiber substrate layer.

S2: Dissolve 0.05 g of titanate coupling agent in 20 mL of deionized water, fully stir and dissolve at room temperature to obtain a substrate modification layer solution, place the conductive fiber substrate layer in the substrate modification layer solution for immersion treatment for 5 min, and dry at room temperature to obtain a conductive fiber substrate layer wrapped by the substrate modification layer;

S3: preparing a 2 wt% (mass fraction) polyethylene oxide aqueous solution, ultrasonically treating for 30 min until the material is uniformly dispersed, obtaining a memristive material aqueous solution, dipping the conductive fiber substrate wrapped with the substrate modification layer in the memristive material aqueous solution for 10 min, drying at room temperature, repeating the dipping operation 5 times, and preparing a storage function layer;

S4: 0.1g gold nanowires and 0.05g polyaniline nanoparticles were dissolved in 10mL naphtha, ultrasonically dispersed for 1.5h, magnetically stirred for 1h, and then 1.8g silicone rubber was added, followed by magnetic stirring for 2h to obtain a sensitive material solution. The conductive fiber substrate layer wrapped with the storage functional layer was placed in the above-mentioned sensitive material solution for immersion treatment for 10min, and vacuum dried to obtain a sensing functional layer;

S5: Winding a gold wire with a diameter of 100 microns on the conductive fiber base layer wrapped with the sensing function layer in step S4 to prepare a conductive fiber upper electrode, that is, the present invention is obtained.

The storage function layer 3 and the perception function layer 4 realize the functional integration of perception and storage. When the bionic tactile fiber senses different tactile information, the pressure-sensitive material in the perception function layer 4 causes the internal conductive network to change due to different stretching or compression effects, thereby causing different changes in the resistance signal. At this time, the signal change caused by the memristive functional material of the storage function layer, that is, the signal change between the conductive fiber base layer 1 and the conductive fiber upper electrode layer 5 is measured, so that different tactile information can be recorded; the perception of tactile information by the human body's tactile corpuscles and the storage of tactile information by the synapses at the ends of tactile neurons are simulated respectively. Therefore, the present invention has the dual functions of tactile information perception and storage.

The storage function layer 3 and the perception function layer 4 of the present invention realize the functional integration of perception storage. When the perception storage integrated bionic tactile fiber perceives different tactile information, the pressure sensitive material in the perception function layer 4 causes the internal conductive network to change due to different stretching or compression effects, thereby causing different changes in the resistance signal. At this time, the signal change caused by the memristive functional material of the storage function layer, that is, the signal change between the conductive fiber base layer 1 and the conductive fiber upper electrode layer 5, can be measured to realize the recording of different tactile information; the perception of tactile information by the tactile corpuscles of the human body and the storage of tactile information by the synapses at the ends of the tactile neurons are simulated respectively, so the present invention has the dual functions of tactile information perception and storage; and the present invention utilizes the soft and portable characteristics of the flexible fiber substrate to realize the high-throughput design and manufacture of fiber electronic devices, and has broad application prospects in the fields of wearable electronics, flexible electronic skin, and intelligent robots. Compared with the tactile sensor with a single tactile information perception function and the memristive device with a single storage capacity, the bionic tactile fiber of the present invention simulates the structure of the human tactile sensor neurons, combined with the superposition and integrated design at the device level, so that it has the dual functions of perception and storage of tactile information. At the same time, it can be further integrated with logic and computing devices to construct new device systems with richer functions and more complete systems, and develop a new generation of integrated, chip-based, intelligent electronic devices and perception systems.

It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims (10)

1. The preparation method of the perception and storage integrated bionic haptic fiber is characterized by comprising the following steps of:

s1: dissolving a conductive material in naphtha, performing ultrasonic treatment for 1-3 h, stirring for 0.5-2 h to obtain a conductive material solution with the concentration of the conductive material of 0.1-5 wt% in percentage by mass, immersing and stirring a flexible fiber substrate in the conductive material solution for 5-60 min, and drying at room temperature to obtain a conductive fiber substrate layer;

s2: adding a substrate modification layer material into deionized water, fully stirring and dissolving at room temperature to prepare a substrate modification layer solution with the concentration of the substrate modification layer material of 0.05-5 wt% in percentage by mass, placing a conductive fiber substrate layer into the substrate modification layer solution, standing and soaking for 5-10 min, and drying at room temperature to prepare a conductive fiber substrate layer wrapped by the substrate modification layer;

s3: adding memristor material into deionized water, performing ultrasonic treatment until the material is uniformly dispersed to obtain memristor material aqueous solution with the concentration of 0.1-5 wt% in percentage by mass, dipping a conductive fiber substrate wrapped by a substrate modification layer into the memristor material aqueous solution for 5-30 min, drying at room temperature, and repeating the dipping operation for a plurality of times to prepare a storage functional layer;

s4: taking a single-phase sensitive material or a two-phase sensitive material according to the proportion of 1:0.3-4, dissolving the taken sensitive material in 10mL of naphtha, performing ultrasonic dispersion for 1-3 h, magnetically stirring for 0.5-2 h, adding a matrix material, then performing magnetic stirring for 0.5-2 h to obtain a sensitive material solution with the concentration of 5-50wt% of the sensitive material in percentage by mass, standing a conductive fiber substrate layer wrapped with a storage functional layer in the sensitive material solution, performing dipping treatment for 5-10 min, and performing vacuum drying to obtain a perception functional layer;

s5: winding the conductive fiber substrate layer or gold thread or silver thread prepared in the step S1 on the conductive fiber substrate layer wrapped with the perception function layer in the step S4 to prepare the conductive fiber upper electrode.

2. The sensing, storing and integrating type bionic touch fiber prepared by the preparation method according to claim 1 is characterized by sequentially comprising a conductive fiber substrate layer (1), a substrate modification layer (2) wrapping the periphery of the conductive fiber substrate layer, a storing function layer (3) wrapping the periphery of the substrate modification layer and a sensing function layer (4) wrapping the periphery of the storing function layer from inside to outside, wherein one end of the outer surface of the sensing function layer is provided with a conductive fiber upper electrode (5), the material adopted by the storing function layer (3) is a memristive function material, and the material adopted by the sensing function layer (4) is a pressure sensitive material.

3. A perception and storage integrated bionic haptic fiber according to claim 2, characterized in that the conductive fiber substrate layer (1) is made of flexible fiber and conductive material.

4. The integrated bionic haptic fiber with sensing and storing functions according to claim 3, wherein the flexible fiber is at least one of cotton fiber, wool fiber, silk fiber, viscose fiber, acetate fiber and spandex fiber, and the conductive material is any one of carbon black, gold nanoparticle, silver nanoparticle, copper nanoparticle and titanium nanoparticle.

5. The integrated perception and storage type bionic haptic fiber according to claim 2, wherein the material of the substrate modification layer (2) is at least one of chromium complex coupling agent, silane coupling agent and titanate coupling agent.

6. The integrated bionic haptic fiber for sensing and storing according to claim 2, wherein the storage functional layer (3) is made of memristive functional material, and the memristive functional material is any one of PSS, polystyrene, parylene, polyvinylpyrrolidone, perfluorosulfonic acid resin, polyvinyl alcohol and polyethylene oxide.

7. A perceptually-stored integrated bionic haptic fiber as claimed in claim 2, characterised in that the material used for the perceptive functional layer (4) includes a matrix material and a sensitive material.

8. The integrated bionic haptic fiber for sensing and storing according to claim 7, wherein the matrix material is silicone rubber or polydimethylsiloxane, and the sensitive material is any one of single-phase material graphene, graphene oxide, reduced graphene oxide, carbon nanotubes, gold nanowires, silver nanowires, or multiphase conductive material composed of the single-phase material and at least one of carbon black, polyaniline nanoparticles, polypyrrole nanoparticles, gold nanoparticles, and silver nanoparticles.

9. The integrated bionic haptic fiber with sensing and storing functions according to claim 2, wherein the upper electrode (5) of the conductive fiber is made of the same material as the base layer of the conductive fiber or gold wire or silver wire.

10. The integrated bionic haptic fiber according to claim 9, wherein the gold and silver wires have a diameter of between 20 and 500 microns.