Tactile perception fingertip device and robot

Abstract

The invention relates to the technical field of robots. According to the touch sensing fingertip device, protection of a touch sensor in fine operation of a mechanical arm is achieved, and objects of sheet structures can be grabbed more accurately. Specifically, through the bionic fingernail part installed on the back side of the fingertip body, the protection part of the bionic fingernail part extends forwards and exceeds the highest point of the touch sensor, and a cantilever protection structure similar to a human fingernail is formed; the protection parts form a physical barrier (for example, the protection parts are preferentially contacted during grabbing) in a non-contact state by utilizing a reasonable coverage range of the bionic nail part, and meanwhile, when the protection parts are matched with fingers on the opposite side, the two corresponding protection parts can be matched to grab an object of a sheet-shaped structure; according to the design, the durability of the sensor in a complex environment is improved, and the accuracy of grabbing the sheet-shaped objects is improved.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and in particular to a tactile sensing fingertip device and a robot. Background Art

[0002] Robotic technology is a vital component of modern industrial automation and intelligent manufacturing, and has revolutionized access for people with disabilities, particularly in the medical field. With the rapid development of computer technology, sensor technology, and control theory, the application of robotics is expanding. From traditional automotive manufacturing and electronics assembly to precision machining, medical surgery, and service robots in daily life, robotic technology is gradually penetrating all areas of human life, providing unprecedented convenience for people with disabilities.

[0003] For example, publication number CN112577651A discloses a finger sensor for a manipulator sensor, belonging to the technical field of test equipment. The finger sensor is a long strip of finger sensor, which is formed by interleaving finger joint gesture recognition sensors and finger joint pressure recognition sensors. Each finger joint gesture recognition sensor and finger joint pressure recognition sensor corresponds to the knuckle position and finger joint position of the back of the finger on which it is installed. The length and width of the finger sensor are adapted to the length and width of the back of the finger on which it is installed. It has a multi-layer structure, which includes an encapsulation positioning layer, a finger joint gesture capacitance sensing layer structure, and a finger joint pressure resistance sensing layer structure. The finger joint gesture capacitance sensing layer structure and the finger joint pressure resistance sensing layer structure, which are fixedly connected by an upper silicone encapsulation positioning layer and a lower silicone encapsulation positioning layer, respectively form each finger joint gesture recognition sensor and each finger joint pressure recognition sensor.

[0004] In the disclosed technology, the design and control of the manipulator has gone through a process from simple to complex. Early manipulators were mostly fixed program controlled and were mainly used for simple handling and assembly work with high repetitiveness. With the advancement of technology, manipulators began to integrate more sensors, such as force sensors, vision sensors, etc., enabling them to sense the environment and make corresponding adjustments. At the same time, the control algorithm has also evolved from traditional PID control to model-based predictive control, adaptive control and intelligent control algorithms, such as fuzzy control and neural network control, which greatly improved the flexibility and adaptability of the manipulator. The combination of control algorithms enables it to perform complex operations, such as grabbing objects, operating electronic devices and even performing simple self-care. These manipulators are usually equipped with a tactile feedback system that enables people with disabilities to sense the shape, texture and weight of objects to complete the operation.

[0005] Although this technology has made progress and can sense and grasp various objects according to the user's wishes, some problems have been found in actual use. For example, the bionic hand relies on sensors located on the fingertips to transmit object information. Therefore, the sensors are prone to failure after multiple touches, especially when touching rigid objects, which greatly reduces the service life of the sensors. For example, when encountering sheet-like objects, grasping often fails, and more precise operations cannot be completed.

[0006] In view of the limitations of existing bionic hands, there is an urgent need for a new technical solution to solve the problem that the bionic hands in the existing technology cannot grasp objects with sheet structures and cannot perform more precise operations.

[0007] Invention application content

[0008] In order to overcome the shortcomings of the existing technology, the present invention proposes a tactile sensing fingertip device to solve the problem that the sensor of the fingertip main body of the bionic hand in the existing technology is prone to malfunction and the bionic hand is prone to fail when grasping sheet-like objects, and cannot complete more delicate operations.

[0009] In a first aspect, the tactile sensing fingertip device is used to be installed on the fingertip of a manipulator, and comprises:

[0010] The fingertip body has a tactile sensor at its front end; the bionic nail component is installed on the back side of the fingertip body near the top; the bionic nail component has an outwardly extending protective portion, and the distal edge of the protective portion exceeds the highest point of the front end of the fingertip body.

[0011] Furthermore, when the tactile sensing fingertip device cooperates with the opposite finger: a planar clamping mechanism is formed, which includes the protective part located on the tactile sensing fingertip device and the corresponding protective part of the opposite finger, and the two protective parts constitute mutually parallel clamping working surfaces.

[0012] Furthermore, when the tactile sensing fingertip device cooperates with the opposite finger: an enveloping clamping mechanism is formed, which includes the protective part located on the tactile sensing fingertip device, the first fingertip area of the fingertip body and the second fingertip area of the fingertip body of the opposite finger; the protective part, the first fingertip area and the second fingertip area cooperate to envelop and grasp objects.

[0013] Furthermore, the longitudinal section of the protection portion is arc-shaped.

[0014] Furthermore, the corner of the distal edge of the protection portion is an arc-shaped structure.

[0015] Furthermore, in the tactile sensing fingertip device as described above, the back side of the fingertip body has a groove near the top; the bionic nail component also includes a nail portion, and the nail portion is assembled in the groove.

[0016] Furthermore, the shapes of the nail portion and the groove are adapted to each other, and the thickness is consistent with the depth of the groove, so that the connection forms a seamless structure with a smooth transition.

[0017] Furthermore, the fingertip body includes a front shell and a rear shell; the groove is provided on one side of the front shell, and an inwardly recessed step is provided on the edge of the other side; the end of the rear shell is buckled on the outer periphery of the step to form a sealed cavity.

[0018] Furthermore, the sealed cavity contains a control module, which includes a control board and a tactile sensor electrically connected to the control board. The protective portion includes a pressure sensor, which is signal-connected to the control module. Furthermore, a robot is proposed, equipped with at least one tactile sensing fingertip device as described above; each tactile sensing fingertip device is mounted on a fingertip of the robot.

[0019] The above technical solution provided by the embodiment of the present application has the following advantages compared with the prior art:

[0020] The tactile sensing fingertip device applied for by the present invention solves the problems of protecting the tactile sensor during the fine operation of the manipulator and being able to grasp sheet-like objects more accurately. In detail, through the bionic nail component installed on the back side of the fingertip body, the protective part of the component extends forward and exceeds the highest point of the tactile sensor, forming a cantilevered protective structure similar to a human nail; the protective part uses the reasonable coverage range of the bionic nail component to form a physical barrier in a non-contact state (such as preferentially contacting the protective part when grasping), and at the same time, when cooperating with the opposite finger, the two corresponding protective parts can cooperate to grasp sheet-like objects; this design improves the durability of the sensor in complex environments and improves the accuracy of grasping sheet-like objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0022] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0024] Figure 1 A schematic diagram of the structure of a tactile sensing fingertip device provided in an embodiment of the present application;

[0025] Figure 2 This is an exploded schematic diagram of the structure of the tactile sensing fingertip device of this application;

[0026] Figure 3 This is a schematic cross-sectional view of the structure of the tactile sensing fingertip device of the present application;

[0027] Figure 4 This is a schematic diagram of the exploded structure of the tactile sensing fingertip device of the present application from another angle;

[0028] Figure 5 This is a schematic structural diagram of the bionic nail component of the tactile sensing fingertip device of the present application;

[0029] Figure 6 This is a schematic diagram of the structure in which the bionic nail component of the present application is higher than the front end of the rear shell;

[0030] Figure 7 This is an enlarged schematic diagram of the structure in which the bionic nail component of the present application is higher than the front end of the rear shell;

[0031] Figure 8 This is a schematic structural diagram of the curved edge of the bionic nail component of this application;

[0032] Figure 9 This is a schematic diagram of the structure of the protection unit of this application;

[0033] Figure 10 This is a signal connection diagram of the control module of this application;

[0034] Figure 11 This is a schematic structural diagram of the planar clamping mechanism of the present application;

[0035] Figure 12-1 This is a schematic diagram of the first state of the surface wrapping clamping mechanism of the present application;

[0036] Figure 12-2 This is a schematic diagram of the second state of the surface enveloping clamping mechanism of the present application;

[0037] Figure 13 This is a schematic diagram of the structure of the manipulator of this application;

[0038] Description of reference numerals:

[0039] 1-fingertip body, 11-front shell, 12-groove, 13-rear shell, 131-end, 14-step, 15-sealed cavity, 2-control module, 21-control board, 22-tactile sensor, 23-pressure sensor, 3-bionic nail component, 31-nail part, 32-protective part, 4-plane clamping mechanism, 5-envelope clamping mechanism, 51-first fingertip area, 52-second fingertip area, A-dorsal side, B-opening, C-distal end, D-horizontal plane, F-height, H-connection, E-corner, 100-tactile sensing fingertip device, 200-manipulator. DETAILED DESCRIPTION

[0040] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0041] The disclosure below provides many different embodiments or examples for implementing different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, these are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numbers and / or letters in different examples. Such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed.

[0042] In order to solve the problem that the sensors of the fingertip main body of the bionic hand in the prior art are prone to malfunction and the bionic hand is prone to fail when grasping objects with sheet structures, and cannot complete more delicate operations.

[0043] like Figure 1 As shown, the present invention application provides a tactile sensing fingertip device for installation on the fingertip of a manipulator, comprising: a fingertip body 1, a tactile sensor 22 provided at the front end thereof, and a bionic nail component 3 provided on the back side A of the fingertip body 1 near the top position.

[0044] Among them, such as Figures 2 to 4 As shown, the fingertip body 1 includes a front shell 11 and a rear shell 13; the front shell 11 and the rear shell 13 are both flexible structures, and a groove 12 is provided on one side of the front shell 11. The groove 12 is an open groove 12 with an opening B facing outward on the side of the fingertip tip 131.

[0045] The other side edge of the front housing 11 is provided with an inwardly recessed step 14, specifically, located on the back side of the groove 12. The end 131 of the rear housing 13 is fastened to the periphery of the step 14 to form a sealed cavity 15. The sealed cavity 15 houses a control module 2, which includes a control board 21 and a tactile sensor 22 electrically connected to the control board 21 for receiving tactile information transmitted by the tactile sensor 22.

[0046] It should be noted that in some specific usage scenarios, the front shell 11 and the rear shell 13 of the fingertip body 1 include an integrated structure. As for the actual use, whether to use a split or integrated structure depends on the actual use needs.

[0047] The tactile sensor 22 is a flexible sensor provided on the inner surface of the rear housing 13 to obtain information about an object in contact with the rear housing 13 .

[0048] like Figure 5 and Figure 6 As shown, the bionic nail component 3 includes a nail portion 31 and an outwardly extending protective portion 32. The distal edge of the protective portion 32 extends beyond the highest point of the front end of the fingertip body 1. Specifically, the nail portion 31 is assembled in the groove 12. The distal edge C of the protective portion 32 extends beyond the horizontal plane D of the highest point of the rear shell 13.

[0049] It should be noted that the bionic nail component 3 includes elastic materials (such as silicone layers, polyurethane, etc.), bionic intelligent materials (such as shape memory polymers, self-healing materials, etc.), and metal materials (such as titanium alloys, aluminum alloys, etc.). The specific material used depends on actual usage requirements.

[0050] During use, the bionic hand is subjected to a large reaction force from the target object at the moment of contact due to the inertia of the force when it touches the target object. This can easily cause the tactile sensor 22 located in the flexible rear shell 13 to malfunction.

[0051] In this regard, the protective portion 32 of the present technical solution forms a cantilever structure with the fingertip body 1, so that when it comes into contact with the target object, the protective portion 32 preferentially bears the impact of the target object's reaction force. Specifically, the height F of the distal edge of the protective portion 32 exceeding the horizontal plane of the highest point of the rear shell 13 is between 1mm and 3mm. Figure 7 As shown, the specific height can also be set according to actual use needs.

[0052] Designing a height F between 1mm and 3mm helps ensure that when the tactile sensing fingertip device touches a target object, the protective portion 32 first contacts the target object, allowing the protective portion 32 to preferentially withstand the impact of the target object's reaction force. This protects the tactile sensor 22 located at the front end of the fingertip body 1, effectively preventing direct damage to the tactile sensor 22 located in the fingertip body 1, thereby maintaining the sensitivity of tactile feedback.

[0053] It should also be noted that, in this embodiment, the shapes of the nail portion 31 and the groove 12 are adapted to each other, and the thickness is consistent with the depth of the groove 12, so that the connection H forms a seamless structure with a smooth transition.

[0054] The shape of the nail portion 31 and the groove 12 are adapted to each other, ensuring a tight fit when connected. Furthermore, the thickness of the nail portion 31 matches the depth of the groove 12, creating a smooth transition at the joint H and avoiding the formation of gaps. This design avoids the problem of gaps forming at the joint between the nail portion 31 and the groove 12, which can easily harbor dirt and grime. This design helps reduce the intrusion of dust and impurities, and can enhance the stability of the connection between the nail portion 31 and the groove 12.

[0055] Further, such as Figure 8 As shown, the distal edge of the protective portion 32 of the bionic nail component 3 is curved at the corner E. This design aims to disperse external forces through the curved structure, preventing stress concentration at the sharp corner. This addresses the problem of traditional sharp corners easily causing scratches and abrasions on contacting objects.

[0056] Further, such as Figure 9 As shown, the longitudinal cross-section of the protective portion 32 is arc-shaped. When the protective portion 32 first contacts the target object, its arc-shaped longitudinal cross-section forms two support points at the contact point between the protective portion 32 and the target object. This point contact method can adapt to the grasping of irregularly shaped objects. It also facilitates the grasping of surfaces with small contact areas, concentrates pressure, and easily detects local force conditions, thereby increasing the sensitivity of grasping the target object and improving the firmness of the grasping target object, thereby preventing the target object from falling during the grasping process.

[0057] Further, such as Figures 4 to 10 As shown, the protection unit 32 has a pressure sensor 23 , and the pressure sensor 23 is signal-connected to the control module 2 .

[0058] During use, when the protective portion 32 touches a target object, the pressure sensor 23 can obtain reaction force information from the target object and then transmit this reaction force information to the control module 2. The control module 2 feeds this reaction force information back to the overall control center. It should be noted that the overall control center includes an external control system or, when the tactile sensing fingertip device is installed on a bionic manipulator, the overall control center is the human brain.

[0059] For example, the human brain generates a corresponding electromyographic signal by receiving the reaction force information fed back by the control module 2. When the electromyographic signal is transmitted back to the control module 2, the control module 2 analyzes and determines an execution signal to control the gripping force of the tactile sensing fingertip device and the corresponding protective portion 32 of the opposite finger, so that the two protective portions 32 exert appropriate reverse support force on the target object to better grip the target object. Alternatively, the control module 2 analyzes and determines an execution signal to control the tactile sensing fingertip device and the corresponding protective portion 32 of the counter-finger to cooperate in performing a gripping action that is consistent with grasping the current object.

[0060] For example, in some specific usage scenarios, when the tactile sensing fingertip device cooperates with the opposite finger: Figure 11 As shown, a planar clamping mechanism 4 is formed, which includes the protection portion 32 located on the tactile perception fingertip device and the corresponding protection portion 32 of the opposite finger, and the two protection portions 32 form mutually parallel clamping working surfaces.

[0061] When grasping a sheet-like object, the two side protection portions 32 first contact the object's surface synchronously. Through precise alignment, they form two parallel support surfaces, stably confining the object within the resulting clamping space, thereby establishing a reliable planar clamping mechanism 4. This symmetrical clamping design ensures even distribution of contact force, significantly improving the gripping stability of thin objects.

[0062] This design improves the clamping stability through the parallel contact surface of the protective part 32, and is particularly suitable for thin sheets or fragile objects to ensure uniform distribution of the clamping force; at the same time, the pressure sensor 23 can still sense the contact pressure information through the elastic deformation of the protective part 32 and feed it back to the control module 2, so that the control module 2 transmits the contact pressure information to the main control center, and the main control center outputs a control according to the contact pressure information to control the protective part 32 to output a suitable reverse support force according to the target object, thereby realizing precise force control.

[0063] For example, in another specific usage scenario, Figure 12-1 and Figure 12-2When the tactile sensing fingertip device cooperates with the opposite finger: an enveloping clamping mechanism 5 is formed, which includes the protective part 32 located on the tactile sensing fingertip device, the first fingertip area 51 of the fingertip body 1 and the second fingertip area 52 of the fingertip body 1 of the opposite finger; the protective part 32, the first fingertip area 51 and the second fingertip area 52 cooperate to envelop and grasp objects.

[0064] When in use, the protective portion 32 , the first fingertip area 51 , and the second fingertip area 52 work together to achieve adaptive and stable grasping of an object.

[0065] In detail, when it is necessary to grab a card placed flat on the table, first, the fingertip area of the opposite finger gently presses the surface of the card to provide initial fixation, and at the same time, the protective part 32 of the finger on this side cuts in along the arc contour of the edge of the card, and lifts up to make one end of the card leave the plane; as the protective part 32 continues to penetrate into the gap formed by the card and the table, the first fingertip area 51 of the finger on this side moves forward synchronously to take over the raised part of the card. At this time, the fingertip body 1 pushes the bottom surface of the card upward to cause it to tilt, and finally makes the front of the card completely fit into the second fingertip area 52 on the opposite side, so that the card is firmly clamped in the envelope space formed by the fingertip areas on both sides. Figure 12-2 As shown, the entire grasping action is completed.

[0066] In actual applications, the enveloping clamping mechanism 5 can accurately adjust the gripping force and reduce uneven pressure distribution to cope with more complex scenarios and improve the gripping success rate and operational reliability.

[0067] In addition, a robot is proposed, such as Figure 13 As shown, at least one tactile sensing fingertip device 100 as described above is provided; each of the tactile sensing fingertip devices is respectively installed on the fingertip of the robot's manipulator 200.

[0068] When the manipulator of this tactile sensing fingertip device grasps the target object, its control module 2 receives information about the target object transmitted from the pressure sensor 23 and the tactile sensor 22, processes and analyzes it, and transmits it to the main control center. The main control center judges and outputs an execution action information based on the processing and analysis information of the control module 2. The relevant driving mechanism makes an action capable of grasping the current target object according to the execution action information. The action includes allowing the robot's manipulator to better grasp the target object through the planar clamping mechanism 4 or the envelope clamping mechanism 5 to avoid grasping failure, thereby achieving precise grasping similar to that of human fingers.

[0069] In summary, the tactile sensing fingertip device applied for by the present invention solves the problem of protecting the tactile sensor 22 during the fine operation of the manipulator and can more accurately grasp sheet-like objects. In detail, through the bionic nail component 3 installed on the back of the fingertip body 1, the protective portion 32 of the component extends forward and exceeds the highest point of the tactile sensor 22, forming a cantilevered protective structure similar to a human nail; the protective portion 32 utilizes the reasonable coverage range of the bionic nail to form a physical barrier in a non-contact state (such as preferentially contacting the protective portion 32 when grasping), and at the same time, when cooperating with the opposite finger, the two corresponding protective portions 32 can cooperate to grasp sheet-like objects; this design is to improve the durability of the sensor in complex environments and to improve the accuracy of grasping sheet-like objects.

[0070] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0071] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness H", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0072] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood broadly. For example, they may refer to connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0073] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification.

[0074] Obviously, those skilled in the art may make various modifications and variations to this application without departing from the spirit and scope of this application. Thus, as long as these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

[0075] The above description is a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and such modifications or substitutions should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A tactile sensing fingertip device, used to be installed on the fingertip of a manipulator, characterized in that include: a fingertip body having a tactile sensor provided at its front end; A bionic nail component is installed on the back side of the fingertip body near the top; The bionic nail component has a protection portion extending outward, and a distal edge of the protection portion exceeds the highest point of the front end of the fingertip body.

2. The tactile sensing fingertip device according to claim 1, characterized in that: When the tactile sensing fingertip device is used in conjunction with the opposite finger: A planar clamping mechanism is formed, which includes the protection part located on the tactile sensing fingertip device and the corresponding protection part of the opposite finger, and the two protection parts form mutually parallel clamping working surfaces.

3. The tactile sensing fingertip device according to claim 1, characterized in that: When the tactile sensing fingertip device is used in conjunction with the opposite finger: forming an enveloping clamping mechanism, which includes the protective portion located at the tactile sensing fingertip device, the first fingertip area of the fingertip body, and the second fingertip area of the fingertip body of the opposite finger; The protective portion, the first fingertip area, and the second fingertip area cooperate to envelop and grasp an object.

4. The tactile sensing fingertip device according to claim 1, characterized in that: The longitudinal section of the protection portion is arc-shaped.

5. The tactile sensing fingertip device according to claim 1, characterized in that: The corner of the distal edge of the protection portion is an arc-shaped structure.

6. A tactile sensing fingertip device according to any one of claims 1 to 5, characterized in that: The back side of the fingertip body is provided with a groove near the top; The bionic nail component further includes a nail portion, and the nail portion is fitted in the groove.

7. The tactile sensing fingertip device according to claim 6, characterized in that: The shapes of the nail portion and the groove are adapted to each other, and the thickness is consistent with the depth of the groove, so that a seamless structure with smooth transition is formed at the connection.

8. The tactile sensing fingertip device according to claim 6, characterized in that: The fingertip body includes a front shell and a rear shell; The front housing is provided with the groove on one side and an inwardly recessed step on the other side edge; The end of the rear shell is buckled on the outer periphery of the step to form a sealed cavity.

9. The tactile sensing fingertip device according to claim 8, characterized in that: The sealed cavity has a control module; The control module includes a control board and the tactile sensor electrically connected to the control board; The protection unit includes a pressure sensor, and the pressure sensor is signal-connected to the control module.

10. A robot, characterized in that: Equipped with at least one tactile sensing fingertip device according to any one of claims 1 to 9; Each of the tactile sensing fingertip devices is respectively installed on a mechanical fingertip of the robot.

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