Multi-functional bionic finger capable of detecting three-dimensional force

Abstract

The present invention discloses a multi-functional bionic finger capable of detecting a three-dimensional force. The multi-functional bionic finger comprises a phalanx; the front section of the phalanx is wrapped by finger skin, and a cavity is formed inside the front section of the phalanx; the rear section of the phalanx is wrapped by a protective shell; a channel is installed inside the phalanx; the channel and the cavity are filled with a filling medium; the channel is connected with one end of a pressure sensor; the other end of the pressure sensor is connected with a signal processing circuit; the upper end of the signal processing circuit is connected with an external communication circuit; the lower end of the signal processing circuit is connected with a sensitive component signal transmission circuit; the front section of the sensitive component signal transmission circuit is provided with an electrode and a temperature sensitive component; and the outer portion of the finger skin is provided with bionic lines. The bionic finger of the invention can simultaneously sense environmental information such as temperature, micro vibration and a three-dimensional force and can acquire the physical characteristics such as shape and stressed state, of a target object. The multi-functional bionic finger is of great significance to the realization of stable and controllable grasp of objects for a robot and the improvement of the operating dexterity of the robot.

Description

technical field [0001] The invention relates to a multifunctional bionic finger, in particular to a multifunctional bionic finger capable of detecting three-dimensional forces. [0002] technical background [0003] Robot dexterous operation is one of the key technologies for service robots to successfully complete tasks. Real-time acquisition of physical characteristics such as temperature, shape, material, and stress state of target objects is very important for stable and controllable grasping objects and realizing robot dexterous operation. [0004] The bionic finger can simulate the human sense of touch to obtain environmental information in real time. Currently, the bionic finger can detect physical information such as temperature, contact force, and micro-vibration, and realize the real-time collection of parameters such as the temperature, material, and force of the target object. , but because the detection of three-dimensional force has not yet been realized, the fo...

AI Technical Summary

Problems solved by technology

[0004] The bionic finger can simulate the human sense of touch to obtain environmental information in real time. Currently, the bionic finger can detect physical information such as temperature, contact force, and micro-vibration, and realize the real-time collection of parameters such as the temperature, material, and force of the target object. , but because the detection of three-dimensional force has not yet been realized, the force direction of the object cannot be obtained. Therefore, the existing bionic finger cannot judge the contour shape of the touched object in real time, and cannot determine the relative position and position of the object and the bionic finger. It is difficult for the robot to complete accurate, reliable, stable, and efficient dexterous operations, especially when the target object is an unknown shape, that is, when the operating environment is an unstructured environment, it is even impossible to complete the operation task; for example, when using dexterous hand grasping When holding an object, the current bionic fingers generally determine the specific grasping method by calibrating the target object. , because the shape characteristics of the object cannot be obtained, the robot cannot determine the parameters such as the grasping posture, the magnitude of the grasping force, and the position of the grasping contact point, resulting in unstable or failed grasping

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