Multi-dimensional tactile perception humanoid dexterous hand

Abstract

The humanoid dexterous hand is composed of a palm, a thumb, an index finger, a middle finger, a ring finger, a little finger, an intra-palm sensor and a finger surface sensor, wherein the index finger, the middle finger, the ring finger and the little finger are similar in structure. The thumb is connected with the palm through a thumb base, and other fingers are connected with the mechanical fingers through finger bases. The thumb is provided with two knuckles, and the thumb base has one degree of freedom and can move transversely; each of the other fingers is provided with three knuckles. And each finger is driven by a rope driving device and is reset by a built-in spring mechanism. Each finger surface is provided with a finger surface sensor, the in-palm sensor is an array sensor, and the in-palm sensor and the finger surface sensors are magnetic multi-dimensional sensing films.

Description

Technical Field

[0001] The invention relates to the field of robotics technology, in particular to a multi-dimensional tactile perception humanoid dexterous hand. Background Art

[0002] In the field of robotics, humanoid dexterous hands have always been one of the hot topics of research. Traditional manipulators can usually only achieve simple grasping and manipulation, and lack the ability to perceive and control the subtle features of objects. With the continuous development of artificial intelligence and sensor technology, the research on humanoid dexterous hands has gradually attracted people's attention. Humanoid dexterous hands have multi-dimensional tactile perception capabilities, can simulate the movement and perception mechanism of human hands, and achieve high-precision operation and control of objects. By combining palm sensors and finger surface sensors, humanoid dexterous hands can perceive the shape, hardness, weight and other information of objects in real time, so as to grasp, manipulate and interact more accurately. Since humanoid dexterous hands can be widely used in manufacturing, health care, service robots and other fields, their research and development have important theoretical and practical significance. Therefore, designing a multi-dimensional tactile perception humanoid dexterous hand will help promote the development of robotics technology and improve the work efficiency and performance level of robots in various application scenarios.

[0003] The information disclosed in this Background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not form the prior art that is already known to a person of ordinary skill in the art. Summary of the invention

[0004] In view of the shortcomings or defects of the above-mentioned prior art, a multi-dimensional tactile perception anthropomorphic dexterous hand is provided, which senses the movement of the manipulator body and the interaction state between the manipulator and the outside world through real-time perception of cable length and tactile sensors, thereby performing adaptive posture adjustment and realizing closed-loop control.

[0005] The purpose of the present invention is achieved through the following technical solutions.

[0006] A multi-dimensional tactile perception humanoid dexterous hand, comprising: The palm is covered with a magnetic multi-dimensional sensing film capable of detecting multi-dimensional force and vibration signals, and is provided with a servo for driving the cable to contract to achieve finger bending and rotation; A thumb base is laterally rotatably connected to the palm, the thumb base is driven by a single cable and has an active degree of freedom, A thumb connected to the servo via a cable, the thumb comprising: The thumb base joint is rotatably connected to the thumb base via a first thumb joint connecting pin, and a first thumb return spring is provided on the first thumb joint connecting pin. The thumb tip is rotatably connected to the thumb base joint via a second thumb joint connecting pin, and a second thumb return spring is provided on the second thumb joint connecting pin; The base of the index finger, which connects the palm, An index finger connected to the servo via a cable, the index finger comprising: The base end joint of the index finger is rotatably connected to the index finger base via a first index finger joint connecting pin, and a first index finger return spring is provided on the first index finger joint connecting pin. The proximal end joint of the index finger is rotatably connected to the base end joint of the index finger via a third index finger joint connecting pin, and a third index finger return spring is arranged on the third index finger joint connecting pin. The tip of the index finger is rotatably connected to the proximal tip joint of the index finger via a second index finger joint connecting pin, and a second index finger return spring is provided on the second index finger joint connecting pin; The middle finger base, which connects the palm, A middle finger connected to the servo via a cable, the middle finger comprising: The middle finger base end joint is rotatably connected to the middle finger base via a first middle finger joint connecting pin, and a first middle finger return spring is provided on the first middle finger joint connecting pin. The proximal end joint of the middle finger is rotatably connected to the proximal end joint of the middle finger via a third middle finger joint connecting pin, and a third middle finger return spring is arranged on the third middle finger joint connecting pin. The middle finger tip is rotatably connected to the middle finger proximal finger tip joint via a second middle finger joint connecting pin, and a second middle finger return spring is provided on the second middle finger joint connecting pin; The ring finger base, which connects the palm, The ring finger is connected to the servo via a cable, and the ring finger includes: The base end joint of the ring finger is rotatably connected to the ring finger base via a first ring finger joint connecting pin, and a first ring finger return spring is arranged on the first ring finger joint connecting pin. The proximal end joint of the ring finger is rotatably connected to the proximal end joint of the ring finger via the third ring finger joint connecting pin, and the third ring finger joint connecting pin is provided with a third ring finger return spring. The tip of the ring finger is rotatably connected to the proximal tip joint of the ring finger via a second ring finger joint connecting pin, and a second ring finger return spring is provided on the second ring finger joint connecting pin; The base of the pinky finger connects the palm to the A little finger is connected to the servo via a cable, and the little finger comprises: The little finger base end joint is rotatably connected to the little finger base via a first little finger joint connecting pin, and a first little finger return spring is arranged on the first little finger joint connecting pin. The proximal end joint of the little finger is rotatably connected to the base end joint of the little finger via the third little finger joint connecting pin, and the third little finger joint connecting pin is provided with a third little finger return spring. The tip of the little finger is rotatably connected to the proximal tip joint of the little finger via a second little finger joint connecting pin, and a second little finger return spring is arranged on the second little finger joint connecting pin.

[0007] The multi-dimensional tactile perception anthropomorphic dexterous hand has 15 degrees of freedom, and each finger has 3 degrees of freedom.

[0008] In the multi-dimensional tactile perception anthropomorphic dexterous hand, the 15 degrees of freedom include 6 active degrees of freedom and 9 passive degrees of freedom. The 6 active degrees of freedom correspond to the horizontal rotation of the thumb base and the bending of the five fingers, the thumb has 1 passive degree of freedom, and the remaining fingers each have 2 passive degrees of freedom.

[0009] In the multi-dimensional tactile sensing humanoid dexterous hand, a magnetic film tactile sensor for detecting multi-dimensional force and vibration signals on the thumb surface is laid on the thumb surface.

[0010] In the multi-dimensional tactile perception anthropomorphic dexterous hand, the index finger, middle finger, ring finger and little finger are each driven by a cable, and the whole is an under-actuated device that can adapt to the shape of the grasped object.

[0011] In the multi-dimensional tactile sensing anthropomorphic dexterous hand, the finger surfaces of the index finger, middle finger, ring finger and little finger are respectively paved with magnetic film tactile sensors for detecting multi-dimensional force and vibration signals on the finger surfaces.

[0012] In the multi-dimensional tactile perception anthropomorphic dexterous hand, each finger is reset by a return spring and remains in a straight state when no force is applied.

[0013] In the multi-dimensional tactile perception anthropomorphic dexterous hand, the thumb base and the thumb base end joint are driven by two cables.

[0014] In the multi-dimensional tactile perception anthropomorphic dexterous hand, the thumb base is provided with a baffle which forms a certain angle with the inner inclined surface of the palm, and the two ends of the first index finger return spring extending out are stuck between the baffle and the inner inclined surface of the palm, ensuring that the thumb has a fixed opening angle.

[0015] In the multi-dimensional tactile perception anthropomorphic dexterous hand, the tip of the thumb, the tip of the index finger, the tip of the middle finger, the tip of the ring finger and the tip of the little finger all have arc surfaces.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention senses the movement of the manipulator body and the interaction state between the manipulator and the outside world through real-time sensing of the cable length and tactile sensors, thereby performing adaptive posture adjustment and realizing closed-loop control. The magnetic film sensor can sense pressure, shear force, torque and vibration. It has a high degree of anthropomorphism and can better complete various grasping and operating tasks. The present invention is simple to drive, has a high degree of anthropomorphism, and has multi-dimensional static and vibration sensing capabilities such as pressure and shear force. It can adapt well to various tools and perform human-like operating actions. The five-finger dexterous hand can be used in industrial production, remote operation, rehabilitation and other fields.

[0017] The above description is only an overview of the technical solution of the present invention. In order to make the technical means of the present invention clearer and to achieve the extent that those skilled in the art can implement it according to the contents of the specification, and in order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are exemplified below. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] By reading the detailed description of the preferred specific embodiments below, various other advantages and benefits of the present invention will become clear to those of ordinary skill in the art. The drawings in the specification are only for the purpose of illustrating the preferred embodiments and are not considered to be limitations of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative work. Moreover, the same reference numerals are used to represent the same components throughout the drawings.

[0019] In the attached picture: Figure 1 It is a schematic diagram of the structure of the multi-dimensional tactile perception humanoid dexterous hand of the present invention; Figure 2 It is a schematic diagram of assembling a magnetic multi-dimensional sensing film on the palm of the multi-dimensional tactile sensing humanoid dexterous hand of the present invention; Figure 3 It is a structural schematic diagram of the thumb of the present invention; Figure 4 : is a schematic diagram of assembling a magnetic multi-dimensional sensing film on the fingers of the multi-dimensional tactile sensing humanoid dexterous hand of the present invention; Figure 5 is a rear view of the rope drive structure of the thumb of the present invention; Figure 6 is a side view of the rope drive structure of the thumb of the present invention; Figure 7 is a side view of the rope drive structure of the index finger and thumb of the present invention; Figure 8 It is a side view of the rope drive structure of the index finger of the present invention.

[0020] The present invention is further explained below in conjunction with the accompanying drawings and embodiments. DETAILED DESCRIPTION

[0021] The specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the specific embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0022] It should be noted that certain words are used in the specification and claims to refer to specific components. Those skilled in the art should understand that technicians may use different nouns to refer to the same component. This specification and claims do not use the difference in nouns as a way to distinguish components, but use the difference in the functions of the components as the criterion for distinction. As mentioned throughout the specification and claims, "including" or "comprising" is an open term, so it should be interpreted as "including but not limited to". The subsequent description of the specification is a preferred embodiment of the present invention, but the description is based on the general principles of the specification and is not intended to limit the scope of the present invention. The scope of protection of the present invention shall be determined by the attached claims.

[0023] To facilitate understanding of the embodiments of the present invention, several specific embodiments will be further explained below with reference to the accompanying drawings, and each of the accompanying drawings does not constitute a limitation on the embodiments of the present invention.

[0024] For a better understanding, Figures 1 to 8 As shown, a multi-dimensional tactile perception humanoid dexterous hand includes: The palm 1 has a magnetic multi-dimensional sensing film 12 on its surface for detecting multi-dimensional force and vibration signals, and the palm 1 is provided with a servo for driving the cable to contract to achieve bending and rotation of the fingers; The thumb base 2 is laterally rotatably connected to the palm 1. The thumb base 2 is driven by a single cable and has an active degree of freedom. A thumb connected to the servo via a cable, the thumb comprising: The thumb base joint 3 is rotatably connected to the thumb base 2 via a first thumb joint connecting pin 13. The first thumb joint connecting pin 13 is provided with a first thumb return spring 14. The thumb tip 4 is rotatably connected to the thumb base joint 3 via a second thumb joint connecting pin 15, and a second thumb return spring 16 is provided on the second thumb joint connecting pin 15; The thumb is driven by a rope. One end of the rope is fixed inside the fingertip, and the entire rope passes through the thumb tip, the thumb base joint, and the thumb base. The other end of the rope is connected to an external drive device. When the rope is contracted, the fingertip joint is stretched by the rope and rotates around the fixed axis of the thumb tip joint and the adjacent joint-the thumb base joint. When the thumb tip moves to a certain extent, it will drive the thumb base joint to rotate around the thumb base joint and the fixed axis of the base. This is an under-actuated method, which reduces the degree of freedom through its own structural limitation, so that a single drive drives multiple joints to move. The driving method of other fingers is the same as the under-actuated principle of the thumb. In addition, the thumb can move inside the hand, which is driven by a rope alone, and one drive corresponds to one degree of freedom.

[0025] The index finger base 5 is connected to the palm 1, An index finger connected to the servo via a cable, the index finger comprising: The base end joint 6 of the index finger is rotatably connected to the index finger base 5 via a first index finger joint connecting pin, and a first index finger return spring is arranged on the first index finger joint connecting pin. The proximal index finger joint 7 is rotatably connected to the base end joint 6 of the index finger via a third index finger joint connecting pin, and a third index finger return spring is arranged on the third index finger joint connecting pin. The index finger end 8 is rotatably connected to the index finger proximal end joint 7 via a second index finger joint connecting pin, and a second index finger return spring is provided on the second index finger joint connecting pin; The middle finger base is connected to the palm 1, The middle finger 9 is connected to the steering gear via a cable, and the middle finger includes: The middle finger base end joint is rotatably connected to the middle finger base via a first middle finger joint connecting pin, and a first middle finger return spring is provided on the first middle finger joint connecting pin. The proximal end joint of the middle finger is rotatably connected to the proximal end joint of the middle finger via a third middle finger joint connecting pin, and a third middle finger return spring is arranged on the third middle finger joint connecting pin. The middle finger tip is rotatably connected to the middle finger proximal finger tip joint via a second middle finger joint connecting pin, and a second middle finger return spring is provided on the second middle finger joint connecting pin; The ring finger base is connected to the palm 1, The ring finger 10 is connected to the servo via a cable, and the ring finger includes: The base end joint of the ring finger is rotatably connected to the ring finger base via a first ring finger joint connecting pin, and a first ring finger return spring is arranged on the first ring finger joint connecting pin. The proximal end joint of the ring finger is rotatably connected to the proximal end joint of the ring finger via the third ring finger joint connecting pin, and the third ring finger joint connecting pin is provided with a third ring finger return spring. The tip of the ring finger is rotatably connected to the proximal tip joint of the ring finger via a second ring finger joint connecting pin, and a second ring finger return spring is provided on the second ring finger joint connecting pin; Little finger base, which connects the palm 1, The little finger 11 is connected to the servo via a cable, and the little finger includes: The little finger base end joint is rotatably connected to the little finger base via a first little finger joint connecting pin, and a first little finger return spring is arranged on the first little finger joint connecting pin. The proximal end joint of the little finger is rotatably connected to the base end joint of the little finger via the third little finger joint connecting pin, and the third little finger joint connecting pin is provided with a third little finger return spring. The tip of the little finger is rotatably connected to the proximal tip joint of the little finger via a second little finger joint connecting pin, and a second little finger return spring is arranged on the second little finger joint connecting pin.

[0026] In a preferred embodiment of the multi-dimensional tactile perception anthropomorphic dexterous hand, the multi-dimensional tactile perception anthropomorphic dexterous hand has 15 degrees of freedom, and each finger has 3 degrees of freedom.

[0027] In the preferred embodiment of the multi-dimensional tactile perception anthropomorphic dexterous hand, the 15 degrees of freedom include 6 active degrees of freedom and 9 passive degrees of freedom. The 6 active degrees of freedom correspond to the horizontal rotation of the thumb base 2 and the bending of the five fingers, the thumb has 1 passive degree of freedom, and the remaining fingers each have 2 passive degrees of freedom.

[0028] In the preferred embodiment of the multi-dimensional tactile perception humanoid dexterous hand, a magnetic film tactile sensor for detecting multi-dimensional force and vibration signals on the thumb surface is laid on the thumb surface. The magnetic film tactile sensor includes a magnetic multi-dimensional perception film, and further, the magnetic multi-dimensional perception film includes a PDMS protective layer, a NdFeB-PDMS magnet block, an intermediate layer, a TMR element and a flexible PCB. The TMR element array is distributed on the flexible PCB; an intermediate layer is attached above the flexible PCB; the PDMS protective layer and the NdFeB-PDMS magnet block together constitute the upper layer. When different external forces act on the magnetic multi-dimensional perception film, the magnetic block will be displaced in space, thereby changing the distribution of the spatial magnetic field. The Z-axis tunnel magnetoresistive element is used as the detection part, and the change of the magnetic field will cause the change of its internal magnetic resistance, and the bridge circuit converts the change of resistance into an electrical signal for output. The magnetic sensitive element at a fixed position shows different change characteristics, and the change trend and change value of the TMR element are comprehensively judged to realize the recognition of the size, position and direction of the spatial multi-dimensional force.

[0029] In a preferred embodiment of the multi-dimensional tactile perception anthropomorphic dexterous hand, the index finger, middle finger, ring finger and little finger are each driven by a cable, and the whole is an under-actuated device that can adapt to the shape of the grasped object.

[0030] In the preferred embodiment of the multi-dimensional tactile perception anthropomorphic dexterous hand, the surfaces of the index finger, middle finger, ring finger and little finger are respectively covered with magnetic thin film tactile sensors for detecting multi-dimensional force and vibration signals on the finger surfaces.

[0031] In a preferred embodiment of the multi-dimensional tactile perception anthropomorphic dexterous hand, each finger is reset by a return spring and remains in a straight state when no force is applied.

[0032] In the preferred embodiment of the multi-dimensional tactile perception anthropomorphic dexterous hand, the thumb base 2 and the thumb base end joint 3 are driven by two cables.

[0033] In the preferred embodiment of the multi-dimensional tactile perception anthropomorphic dexterous hand, the thumb base 2 is provided with a baffle which forms a certain angle with the inner inclined surface of the palm 1, and the two ends extending from the first index finger return spring are stuck in the middle of the baffle and the inner inclined surface of the palm 1, ensuring that the thumb has a fixed opening angle.

[0034] In the preferred embodiment of the multi-dimensional tactile perception anthropomorphic dexterous hand, the thumb tip 4, the index finger tip 8, the middle finger tip, the ring finger tip and the little finger tip all have arc-shaped surfaces.

[0035] In one embodiment, a multi-dimensional tactile perception anthropomorphic dexterous hand comprises a palm 1, a thumb, an index finger, a middle finger 9, a ring finger 10 and a little finger 11, as well as a palm sensor and a finger surface sensor. The anthropomorphic dexterous hand has 15 degrees of freedom, and each finger has 3 degrees of freedom. The thumb base 2 has one degree of freedom and can rotate within a range of 90 degrees in the horizontal plane. The thumb base 2 is driven by a single cable. The thumb base 2 and the thumb joint are driven by two cables. The thumb surface is equipped with a magnetic film tactile sensor that can detect multi-dimensional force and vibration signals on the finger surface. The other four thumbs except the thumb are each driven by only one cable, and the whole is an under-driven device that can adapt to the shape of the grasped object. The other four thumb surfaces except the thumb are equipped with magnetic film tactile sensors that can detect multi-dimensional force and vibration signals on the finger surface. A large range of magnetic film tactile sensors are installed on the surface of the palm 1, which can realize force positioning and object shape perception. Each finger joint is reset by a spring mechanism to keep the finger straight when not under force. A small hole is opened in the middle of each joint to facilitate the cable to pass through the middle. One end of the cable is connected to the fingertips of each finger, and the other end is connected to the driving servo on the back of the palm 1. The state of the fingers of the entire palm 1 is sensed through the servo angle and the bending degree of each finger.

[0036] In one embodiment, the overall structure of the multi-dimensional tactile perception humanoid dexterous hand is as follows: Figure 1 As shown, it includes a palm 1, a thumb base 2, a thumb base joint 3, a thumb finger tip 4, an index finger base 5, an index finger base joint 6, an index finger proximal joint 7, an index finger tip 8, a middle finger 9 with the same overall structure as the index finger, a ring finger 10, and a little finger 11. The entire manipulator has 15 degrees of freedom, including 6 active degrees of freedom and 9 passive degrees of freedom. The 6 active degrees of freedom correspond to the horizontal rotation of the thumb base and the bending of the five fingers. The thumb has 1 passive degree of freedom, and the remaining fingers each have 2 passive degrees of freedom. The overall drive module is placed on the back side of the manipulator palm, and the rotation of the servo drives the contraction of the cable to achieve the bending and rotation of each finger. The thumb base 2 cooperates with the through-hole axis inside the palm 1 to achieve positioning and connection, ensuring that the thumb can rotate in the horizontal plane without moving in other directions. At the same time, the base is provided with a baffle to form a certain angle with the internal inclined surface of the palm 1. When placing the rotation spring, ensure that the two ends of the spring extending out are just stuck in the middle of the base baffle and the internal inclined surface of the palm 1, ensuring that the thumb has a fixed opening angle. Other thumbs are similar to the thumb and are driven by cables. When the cables shrink, the thumb bends. When there is no restriction from external objects, the finger joints with passive freedom will continue to bend until the limit point of the structure. When grasping an object, the external objects provide a certain restriction, so that the joints with passive freedom can fit the object to be grasped step by step. During the release process, the return spring ensures that the fingers can bend in a certain direction. Each finger joint is provided with a card position, and the base and the palm 1 are also provided with a card position, so as to ensure that the fingers and the palm 1 are in the same plane to avoid finger eversion. Following the different lengths of fingers on human hands, the spatial distribution characteristics of the other four fingers except the thumb are consistent with those of human hands, with the middle finger being the longest and the little finger being the shortest. Due to the large number of finger joint features, it is time-consuming and labor-intensive to design each one specifically, and it also complicates control. In order to take into account the convenience of processing, this method achieves human-like hand features by setting base platforms of different heights and consistent finger lengths on the palm 1. The bases of the other four fingers except the thumb are connected through a jack connection, which not only ensures the reliability of the connection, but also allows each finger to be quickly repaired when damaged, bringing convenience to maintenance and upgrades.

[0037] The assembly diagram of the palm 1 with multi-dimensional tactile perception on the palm surface is as follows Figure 2 As shown, the magnetic multi-dimensional sensing film 12 can be cut into any shape, and has a certain degree of flexibility and surface adaptability, so as to achieve seamless connection with the surface of the palm 1. When subjected to external force, the sensor on the palm surface can locate the position of the force and the size of the contact area, thereby realizing the perception of the surface morphology of the object and the judgment of the contact force. Figure 3 As shown, it includes a thumb base 2, a first thumb joint connecting pin 13, a first thumb return spring 14, a thumb base joint 3, a second thumb joint connecting pin 15, a second thumb return spring 16 and a thumb fingertip 4. The fingertip of the thumb is slightly larger than the other four fingers. Since there is only one thumb on the opposite side of the grasped object, the thumb fingertip 4 must be larger than the other thumbs to be able to match the functions of the other fingers well. The assembly structure diagram of the dexterous fingertip equipped with a magnetic multi-dimensional sensing film 12 is shown in FIG. Figure 4 As shown, it includes a magnetic multi-dimensional sensing film 12 and a finger tip. When contacting an object, the finger tip can well sense the contact pressure and shear force based on the torque with the object.

[0038] In one embodiment, the anthropomorphic dexterous hand is composed of a palm, a thumb, an index finger, a middle finger, a ring finger and a pinky finger with similar structures, a palm sensor and a finger surface sensor. The thumb is connected to the palm through a thumb base, and the other fingers are connected to the mechanical finger through a finger base. The thumb has two knuckles, and the thumb base has one degree of freedom and can move laterally; the other fingers have three knuckles each. Each finger is driven by a rope drive device and reset by a built-in spring mechanism. Each finger surface has a finger surface sensor, and the palm sensor is an array sensor. Both the palm sensor and the finger surface sensor are magnetic multi-dimensional sensing films.

[0039] When grasping an object, the rope drives the manipulator to achieve the bending grasping action. Each finger will continue to bend when the rope contracts until a joint touches the object first. The interaction between the external object and the manipulator finger is equivalent to the external structure adding a limit to the finger, which reduces the freedom of the manipulator finger. The finger joint stops moving, and the other fingers continue to bend under the drive of the rope until all joints touch the object, forming a complete grasp.

[0040] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0041] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A multi-dimensional tactile perception humanoid dexterous hand, It is characterized in that These include, The palm is covered with a magnetic multi-dimensional sensing film capable of detecting multi-dimensional force and vibration signals, and is provided with a servo for driving the cable to contract to achieve finger bending and rotation; A thumb base is laterally rotatably connected to the palm, the thumb base is driven by a single cable and has an active degree of freedom, A thumb connected to the servo via a cable, the thumb comprising: The thumb base joint is rotatably connected to the thumb base via a first thumb joint connecting pin, and a first thumb return spring is provided on the first thumb joint connecting pin. The thumb tip is rotatably connected to the thumb base joint via a second thumb joint connecting pin, and a second thumb return spring is provided on the second thumb joint connecting pin; The base of the index finger, which connects the palm, An index finger connected to the servo via a cable, the index finger comprising: The base end joint of the index finger is rotatably connected to the index finger base via a first index finger joint connecting pin, and a first index finger return spring is provided on the first index finger joint connecting pin. The proximal end joint of the index finger is rotatably connected to the base end joint of the index finger via a third index finger joint connecting pin, and a third index finger return spring is arranged on the third index finger joint connecting pin. The tip of the index finger is rotatably connected to the proximal tip joint of the index finger via a second index finger joint connecting pin, and a second index finger return spring is provided on the second index finger joint connecting pin; The middle finger base, which connects the palm, A middle finger connected to the servo via a cable, the middle finger comprising: The middle finger base end joint is rotatably connected to the middle finger base via a first middle finger joint connecting pin, and a first middle finger return spring is provided on the first middle finger joint connecting pin. The proximal end joint of the middle finger is rotatably connected to the proximal end joint of the middle finger via a third middle finger joint connecting pin, and a third middle finger return spring is arranged on the third middle finger joint connecting pin. The middle finger tip is rotatably connected to the middle finger proximal finger tip joint via a second middle finger joint connecting pin, and a second middle finger return spring is provided on the second middle finger joint connecting pin; The ring finger base, which connects the palm, The ring finger is connected to the servo via a cable, and the ring finger includes: The base end joint of the ring finger is rotatably connected to the ring finger base via a first ring finger joint connecting pin, and a first ring finger return spring is arranged on the first ring finger joint connecting pin. The proximal end joint of the ring finger is rotatably connected to the proximal end joint of the ring finger via the third ring finger joint connecting pin, and the third ring finger joint connecting pin is provided with a third ring finger return spring. The tip of the ring finger is rotatably connected to the proximal tip joint of the ring finger via a second ring finger joint connecting pin, and a second ring finger return spring is provided on the second ring finger joint connecting pin; The base of the pinky finger connects the palm to the A little finger is connected to the servo via a cable, and the little finger comprises: The little finger base end joint is rotatably connected to the little finger base via a first little finger joint connecting pin, and a first little finger return spring is arranged on the first little finger joint connecting pin. The proximal end joint of the little finger is rotatably connected to the base end joint of the little finger via the third little finger joint connecting pin, and the third little finger joint connecting pin is provided with a third little finger return spring. The tip of the little finger is rotatably connected to the proximal tip joint of the little finger via a second little finger joint connecting pin, and a second little finger return spring is arranged on the second little finger joint connecting pin.

2. The multi-dimensional tactile perception humanoid dexterous hand according to claim 1, It is characterized in that Preferably, the multi-dimensional tactile perception anthropomorphic dexterous hand has 15 degrees of freedom, and each finger has 3 degrees of freedom.

3. The multi-dimensional tactile perception humanoid dexterous hand according to claim 2, It is characterized in that The 15 degrees of freedom include 6 active degrees of freedom and 9 passive degrees of freedom. The 6 active degrees of freedom correspond to the horizontal rotation of the thumb base and the bending of the five fingers. The thumb has 1 passive degree of freedom, and the remaining fingers each have 2 passive degrees of freedom.

4. The multi-dimensional tactile perception humanoid dexterous hand according to claim 1, It is characterized in that The thumb surface is paved with a magnetic thin film tactile sensor for detecting multi-dimensional force and vibration signals of the thumb surface.

5. The multi-dimensional tactile perception humanoid dexterous hand according to claim 1, It is characterized in that The index finger, middle finger, ring finger and little finger are each driven by a cable, and the whole is an under-actuated device that can adapt to the shape of the grasped object.

6. The multi-dimensional tactile perception humanoid dexterous hand according to claim 5, It is characterized in that Magnetic thin film tactile sensors for detecting multi-dimensional force and vibration signals on the finger surfaces are respectively laid on the finger surfaces of the index finger, middle finger, ring finger and little finger.

7. The multi-dimensional tactile perception humanoid dexterous hand according to claim 1, It is characterized in that Each finger is reset by a return spring and remains straight when no force is applied.

8. The multi-dimensional tactile perception humanoid dexterous hand according to claim 1, It is characterized in that The thumb base and the thumb base joint are driven by two cables.

9. The multi-dimensional tactile perception humanoid dexterous hand according to claim 1, It is characterized in that The thumb base is provided with a baffle which forms a certain angle with the inner slope of the palm, and the two ends of the first index finger return spring extending out are clamped between the baffle and the inner slope of the palm to ensure that the thumb has a fixed opening angle.

10. The multi-dimensional tactile perception humanoid dexterous hand according to claim 1, It is characterized in that The tip of the thumb, the tip of the index finger, the tip of the middle finger, the tip of the ring finger and the tip of the little finger all have curved surfaces.

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