An artificial skin flexible tactile sensor measuring device

Abstract

The present invention discloses an artificial skin flexible tactile sensor measuring device, including a sensing layer, wherein the sensing layer is fixedly connected to a detection fixed layer, a detection group layer is fixedly connected to the lower surface of the detection fixed layer, a substrate is arranged below the detection group layer, an insulating layer is arranged between the detection group layer and the substrate, the upper surface of the insulating layer is fixedly connected to the detection group layer, and the lower surface of the insulating layer is fixedly connected to the substrate. The substrate, insulating layer, electrostatic shielding layer, detection fixed layer, and sensing layer made of flexible materials meet the requirements of bending and fitting when the skin covers the robot, the electrostatic shielding layer is arranged to ensure the accuracy of Hall element detection, the sensing layer is arranged and connected to a plurality of Hall elements arranged in the detection group layer, which solves the problem that the skin covered by the existing robots mostly only has an appearance function but does not have perception ability.

Description

Technical Field

[0001] The invention relates to the technical field of robot manufacturing, in particular to an artificial skin flexible tactile sensor measuring device. Background Art

[0002] With the continuous expansion of human exploration activities and the advancement of robotics technology, the research on robots is developing in the direction of special, autonomous, precise and intelligent. The basis for achieving intelligence is to have perception ability. Therefore, artificial intelligence sensitive skin with perception function is very important for future robot research. With touch, robots can use it to learn the various properties of target objects, which can help robots complete more complex tasks by identifying objects. Research on various tactile sensors that can be used in robots has always been a very concerned issue. With the advancement of intelligent robot technology, its application areas are also constantly expanding. When robots work side by side with humans, they are required to have human-like tactile perception capabilities, that is, they can accurately obtain three-dimensional force information in space. At the same time, in order to ensure the safety of human-machine interaction, the tactile sensors used for robot perception are required to have softness similar to human skin, adapt to the surface shape of different carriers, and complete the information detection task of any complex object. Therefore, the need for artificial skin flexible tactile sensors in the field of robot research is becoming increasingly urgent. In addition, artificial skin flexible tactile sensors also have broad application prospects in research fields such as sports, rehabilitation medicine and human biomechanics.

[0003] The skin covering existing robots is mostly for aesthetic purposes only and has no perception capabilities. Summary of the invention

[0004] In view of the deficiencies of the prior art, the present invention provides an artificial skin flexible tactile sensor measuring device, which solves the problem mentioned in the above background technology that the skin covered by the existing robots mostly only has the appearance function but has no perception ability.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: an artificial skin flexible tactile sensor measuring device, comprising a sensing layer, the sensing layer is fixedly connected to a detection fixed layer, a detection group layer is fixedly connected to the lower surface of the detection fixed layer, a substrate is arranged below the detection group layer, an insulating layer is arranged between the detection group layer and the substrate, the upper surface of the insulating layer is fixedly connected to the detection group layer, and the lower surface of the insulating layer is fixedly connected to the substrate.

[0006] Preferably, the sensing layer is made of a plurality of fluffy magnetic materials, and the fluffy magnetic materials penetrate the detection fixing layer and communicate with the detection group layer.

[0007] Preferably, a plurality of Hall elements are arranged in the detection group layer.

[0008] Preferably, an electrostatic shielding layer is provided outside the detection group layer.

[0009] Preferably, the substrate is arranged on the surface of the robot, and the substrate is connected to the surface of the robot via a skin fixing device.

[0010] Preferably, the skin fixing device comprises a first fixing plate and a second fixing plate, the base plate is fixedly connected to the upper surface of the first fixing plate, and the second fixing plate is fixedly connected to the surface of the robot.

[0011] Preferably, the lower surface of the first fixing plate is fixedly connected to the upper end of the first vertical fixing member, the lower end of the first vertical fixing member is rotatably connected to a clamping member via a hinge shaft, and the lower end of the clamping member is fixedly connected to a clamping protrusion;

[0012] A connecting bin is disposed outside the first vertical fixing member, the connecting bin is fixedly connected to the lower surface of the first fixing plate, a first spring is disposed between the inner wall of the connecting bin and the upper end of the clamping member, and two ends of the first spring are respectively fixedly connected to the inner wall of the connecting bin and the clamping member;

[0013] The lower end of the clamping member passes through the connecting compartment;

[0014] The lower surface of the connecting bin is provided with an arc-shaped groove, and the arc-shaped groove is located between the four groups of the clamping members;

[0015] A fixing ball is arranged between the clamping member and the arc-shaped groove, the lower side of the fixing ball is fixedly connected to the first connecting rod, the first connecting rod is inserted into the second connecting rod, the lower end of the first connecting rod is fixedly connected to the upper end of the second spring, and the lower end of the second spring is fixedly connected to the inner wall of the lower end of the second connecting rod;

[0016] A sliding balance plate is fixedly connected to the lower end of the second connecting rod, and the sliding balance plate is slidably connected to the second fixed plate.

[0017] Preferably, a first movable part and a second movable part are arranged on the outer periphery of the second connecting rod, and movable grooves are arranged on the first movable part and the second movable part, and the second connecting rod is inserted into the movable grooves;

[0018] The movable groove is in the shape of an elongated strip;

[0019] Two sets of sliding shafts are symmetrically fixedly connected to the outside of the first movable member and the second movable member, and the sliding shafts located on the first movable member or the second movable member are perpendicular to the movable groove;

[0020] A third spring is sleeved on the sliding shaft, one end of the sliding shaft away from the first movable member or the second movable member passes through the upper end of the second vertical fixing member, and the sliding shaft is slidably connected to the through surface of the second vertical fixing member;

[0021] One end of the third spring is fixedly connected to the first movable member or the second movable member, and the other end of the third spring is fixedly connected to the second vertical fixing member;

[0022] The lower end of the second vertical fixing member is fixedly connected to the second fixing plate.

[0023] A method for measuring an artificial skin flexible tactile sensor is applicable to an artificial skin flexible tactile sensor measuring device, including a material detection method, wherein the material detection method includes:

[0024] S1: The plurality of fluffy magnetic materials of the induction layer continuously change the frequency of the output magnetic field in the first area, and receive the frequency of the magnetic field returned by the contact object accordingly;

[0025] S2: Counting the frequency of the magnetic field returned by the contact object received when the output magnetic field frequency of the first area is continuously changed to detect the magnetic field frequency of the first area, and generating a corresponding first electrical signal by a plurality of Hall elements arranged in the detection group layer;

[0026] S3: The generated electrical signal is digitized and compared with the data in the database to determine the material of the contact object.

[0027] Preferably, a shape detection method is also included, and the shape detection method includes:

[0028] S4: changing the positions of the plurality of fluffy magnetic materials of the induction layer and the contact object to the second area, continuously changing the output magnetic field frequency again, and correspondingly receiving the magnetic field frequency returned by the contact object, counting it, and again generating a corresponding second electrical signal by a plurality of Hall elements arranged in the detection group layer;

[0029] S5: Process the change trends of the second electrical signal and the first electrical signal to generate a third electrical signal, and fit the shape of the contact object according to the third electrical signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the structure of the artificial skin of the present invention;

[0031] Figure 2 The skin fixing device of the present invention is a schematic diagram of the partial structure of the front view Figure 1 ;

[0032] Figure 3 The skin fixing device of the present invention is a schematic diagram of the partial structure of the front view Figure 2 ;

[0033] Figure 4 It is a schematic top view of a partial structure of the skin fixing device of the present invention;

[0034] Figure 5 It is a flow chart of the tactile detection method of the present invention.

[0035] In the figure: 1, substrate; 2, insulating layer; 3, electrostatic shielding layer; 4, detection group layer; 5, detection fixing layer; 6, induction layer; 10, skin fixing device; 1001, first fixing plate; 1002, connecting compartment; 1003, first vertical fixing member; 1004, clamping member; 1005, first spring; 1006, hinge shaft; 1007, arc groove; 1008, clamping protrusion; 1009, fixing ball; 1010, first connecting rod; 1011, second connecting rod; 1012, second spring; 1013, sliding balance plate; 1014, first movable member; 1015, movable groove; 1016, third spring; 1017, sliding shaft; 1018, second vertical fixing member; 1019, second fixing plate; 1020, second movable member. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0037] Example 1

[0038] See also Figure 1 The present invention provides a technical solution: an artificial skin flexible tactile sensor measuring device, comprising a sensing layer 6, wherein the sensing layer 6 is fixedly connected to a detection fixing layer 5, wherein a detection group layer 4 is fixedly connected to the lower surface of the detection fixing layer 5, wherein a substrate 1 is arranged below the detection group layer 4, wherein an insulating layer 2 is arranged between the detection group layer 4 and the substrate 1, wherein the upper surface of the insulating layer 2 is fixedly connected to the detection group layer 4, and the lower surface of the insulating layer 2 is fixedly connected to the substrate 1;

[0039] Preferably, the insulating layer 2 is any one or more organic polymer insulating materials selected from polyvinyl alcohol, polyimide, polystyrene, polymethyl methacrylate, and polyethylene;

[0040] Preferably, the sensing layer 6 is made of a plurality of fluffy magnetic materials, and the fluffy magnetic materials penetrate the detection fixing layer 5 and communicate with the detection group layer 4;

[0041] Preferably, a plurality of Hall elements are arranged in the detection group layer 4;

[0042] Preferably, an electrostatic shielding layer 3 is provided outside the detection group layer 4;

[0043] Preferably, the substrate 1, the insulating layer 2, the electrostatic shielding layer 3, the detection fixing layer 5, and the sensing layer 6 are all made of flexible materials.

[0044] The working principle and beneficial effects of the above scheme: the substrate 1, insulating layer 2, electrostatic shielding layer 3, detection fixing layer 5, and sensing layer 6 made of flexible materials meet the requirements of bending and fitting when the skin covers the robot. The electrostatic shielding layer 3 is provided to ensure the accuracy of Hall element detection. The sensing layer 6 is provided and connected to a plurality of Hall elements provided in the detection group layer 4, which solves the problem that the skin covered by the existing robots mostly has only an appearance function but does not have perception ability.

[0045] Example 2

[0046] See also Figure 2-4 , on the basis of embodiment 1, the substrate 1 is arranged on the surface of the robot, and the substrate 1 is connected to the surface of the robot through the skin fixing device 10;

[0047] The skin fixing device 10 comprises a first fixing plate 1001 and a second fixing plate 1019, the base plate 1 is fixedly connected to the upper surface of the first fixing plate 1001, and the second fixing plate 1019 is fixedly connected to the surface of the robot;

[0048] The lower surface of the first fixing plate 1001 is fixedly connected to the upper end of a first vertical fixing member 1003, the lower end of the first vertical fixing member 1003 is rotatably connected to a clamping member 1004 via a hinge shaft 1006, and the lower end of the clamping member 1004 is fixedly connected to a clamping protrusion 1008;

[0049] A connecting chamber 1002 is disposed outside the first vertical fixing member 1003, and the connecting chamber 1002 is fixedly connected to the lower surface of the first fixing plate 1001. A first spring 1005 is disposed between the inner wall of the connecting chamber 1002 and the upper end of the clamping member 1004, and the two ends of the first spring 1005 are respectively fixedly connected to the inner wall of the connecting chamber 1002 and the clamping member 1004;

[0050] The lower end of the holding member 1004 passes through the connecting compartment 1002;

[0051] The lower surface of the connecting compartment 1002 is provided with an arc-shaped groove 1007, and the arc-shaped groove 1007 is located between the four groups of the holding members 1004;

[0052] A fixing ball 1009 is provided between the clamping member 1004 and the arc-shaped groove 1007, and the lower side of the fixing ball 1009 is fixedly connected to the first connecting rod 1010, and the first connecting rod 1010 is inserted into the second connecting rod 1011, and the lower end of the first connecting rod 1010 is fixedly connected to the upper end of the second spring 1012, and the lower end of the second spring 1012 is fixedly connected to the inner wall of the lower end of the second connecting rod 1011;

[0053] The lower end of the second connecting rod 1011 is fixedly connected to a sliding balance plate 1013, and the sliding balance plate 1013 is slidably connected to the second fixed plate 1019;

[0054] The outer periphery of the second connecting rod 1011 is provided with a first movable member 1014 and a second movable member 1020. The first movable member 1014 and the second movable member 1020 are both provided with a movable groove 1015. The second connecting rod 1011 is inserted into the movable groove 1015.

[0055] The movable groove 1015 is in the shape of a long strip;

[0056] Two sets of sliding shafts 1017 are symmetrically fixedly connected to the outside of the first movable member 1014 and the second movable member 1020. The sliding shafts 1017 located on the first movable member 1014 or the second movable member 1020 are perpendicular to the movable groove 1015.

[0057] The sliding shaft 1017 is sleeved with a third spring 1016, and one end of the sliding shaft 1017 away from the first movable member 1014 or the second movable member 1020 passes through the upper end of the second vertical fixing member 1018, and the sliding shaft 1017 is slidably connected to the through surface of the second vertical fixing member 1018;

[0058] One end of the third spring 1016 is fixedly connected to the first movable member 1014 or the second movable member 1020, and the other end of the third spring 1016 is fixedly connected to the second vertical fixing member 1018;

[0059] The lower end of the second vertical fixing member 1018 is fixedly connected to the second fixing plate 1019 .

[0060] The working principle and beneficial effects of the above scheme are as follows: by providing the skin fixing device 10, it is ensured that the flexible artificial skin has a certain activity space on the surface of the robot, which effectively reduces the probability of the skin on the surface of the robot being damaged in an unexpected situation;

[0061] When the skin on the surface of the robot contacts a foreign object, the base plate 1 at the bottom layer of the skin applies a certain force to the first fixing plate 1001. At this time, the first fixing plate 1001 drives the first vertical fixing member 1003 to move, compressing or stretching the first spring 1005, so that the external force on the skin on the surface of the robot is buffered for the first time;

[0062] When the external force on the skin of the robot surface exceeds the buffering range of the first spring 1005, the fixed ball 1009 disposed in the holding member 1004 and the arc groove 1007 drives the first connecting rod 1010 to move on the second fixed plate 1019, and according to the different force directions, the third spring 1016 on the fixed sliding shaft 1017 on different movable parts is stretched or compressed to complete the second buffering;

[0063] When the skin on the surface of the robot is subjected to an external force perpendicular to the skin, the second spring 1012 is compressed to offset the external force;

[0064] The provision of the skin fixing device 10 solves the problem that the skin on the surface of the robot is likely to be damaged when subjected to external forces in any direction, thereby ensuring the long-term durability of the skin on the surface of the robot and enhancing its practicality.

[0065] Example 3

[0066] See also Figure 5 Based on Embodiment 1-2, a method for measuring an artificial skin flexible tactile sensor is applicable to an artificial skin flexible tactile sensor measuring device, including a material detection method and a shape detection method, including:

[0067] S1: The plurality of fluffy magnetic materials of the induction layer 6 continuously change the frequency of the output magnetic field in the first region, and receive the frequency of the magnetic field returned by the contact object accordingly;

[0068] S2: Counting the frequency of the magnetic field returned by the contact object received when the magnetic field frequency output by the first area is continuously changed to detect the magnetic field frequency of the first area, and generating a corresponding first electrical signal by a plurality of Hall elements arranged in the detection group layer 4;

[0069] S3: digitize the generated electrical signal and compare it with the data in the database to determine the material of the contact object;

[0070] S4: changing the position of the plurality of fluffy magnetic materials of the induction layer 6 and the contact object to the second area, continuously changing the output magnetic field frequency again, and correspondingly receiving the magnetic field frequency returned by the contact object, statistically counting it, and again generating a corresponding second electrical signal by the plurality of Hall elements arranged in the detection group layer 4;

[0071] S5: Processing the change trends of the second electrical signal and the first electrical signal to generate a third electrical signal, and fitting the shape of the contact object according to the third electrical signal;

[0072] The first region is the first contact position between the plurality of fluffy magnetic materials of the sensing layer 6 and the contact object, and the relative position of the plurality of fluffy magnetic materials of the sensing layer 6 and the contact object is moved, and the contact position between the two is the second region.

[0073] The working principle and beneficial effects of the above scheme: This method uses the information of the magnetic field fed back by the contact object to compare with the existing information to determine the material of the object in contact with the skin, and based on the material of the contact object, the shape of the contact object is obtained by feedback of the magnetic field at different positions of the contact object, making the artificial skin more practical and solving the problem that the skin covered by existing robots mostly has only appearance function but does not have perception ability.

[0074] Example 4

[0075] On the basis of embodiments 1-3, an artificial skin tactile accuracy evaluation device is included, and the artificial skin tactile accuracy evaluation device includes:

[0076] A temperature sensor, which is arranged on the substrate 1 and is used to detect the working environment temperature of the artificial skin;

[0077] An electromagnetic sensor, which is arranged on the substrate 1 and is used to detect the magnetic field strength of the working environment of the artificial skin;

[0078] A timer, the timer being used to record the duration of time the artificial skin is out of the use temperature range;

[0079] An alarm, wherein the alarm is arranged in the robot;

[0080] A controller, wherein the controller is electrically connected to the temperature sensor, the electromagnetic sensor, the timer, and the alarm, and the controller controls the alarm to work based on the temperature sensor, the electromagnetic sensor, and the timer, including:

[0081] Step 1: The controller obtains the artificial skin tactile reliability index based on the temperature sensor, the timer and formula (1):

[0082]

[0083] Wherein, A is the artificial skin tactile reliability index, T1 is the rated minimum working environment temperature of the artificial skin, T2 is the rated maximum working environment temperature of the artificial skin, T is the working environment temperature of the artificial skin detected by the temperature sensor, t is the duration of the artificial skin exceeding the use temperature range recorded by the timer, t0 is the unit duration, n is the existing proportion of the fuzzy magnetic material on the induction layer 6, and e is a natural constant;

[0084] Step 2: The controller calculates the tactile accuracy of the artificial skin based on the electromagnetic sensor, step 1 and formula (2):

[0085]

[0086] Wherein, B is the tactile accuracy of the artificial skin, C is the magnetic field strength of the working environment of the artificial skin detected by the electromagnetic sensor, C0 is the average magnetic field strength of the earth's magnetic field, and ln is a logarithmic function with the natural constant e as the base;

[0087] Step 3: Based on the calculation result of step 2, when the tactile accuracy of the artificial skin exceeds a preset reference value, the controller controls the alarm to sound an alarm.

[0088] In the formula, It indicates the tactile reliability index of artificial skin when the working environment temperature of artificial skin is lower than the rated minimum working environment temperature of artificial skin. It indicates the tactile reliability index of artificial skin when the working environment temperature of artificial skin is at the rated working environment temperature of artificial skin. It indicates the tactile reliability index of artificial skin when the working environment temperature of artificial skin is higher than the rated maximum working environment temperature of artificial skin. It indicates the tactile accuracy of artificial skin based on the tactile reliability index of artificial skin and the magnetic field strength of its working environment.

[0089] Assuming that the rated minimum working environment temperature of the artificial skin is T1 = -40°C, the rated maximum working environment temperature of the artificial skin is T2 = 50°C, the working environment temperature of the artificial skin detected by the temperature sensor is T = 25°C, the time when the artificial skin exceeds the operating temperature range recorded by the timer is t1 = 0s, the unit time t0 = 1s, and the existing proportion of the fluffy magnetic material on the sensing layer 6 is n = 90%, then the artificial skin tactile reliability index A = 10 can be calculated through the above.

[0090] The magnetic field strength C of the working environment of the artificial skin detected by the electromagnetic sensor is 57 μT, and the average magnetic field strength C0 of the earth's magnetic field is 55 μT. The artificial skin tactile accuracy B=33.499 (rounded to three decimal places) is calculated by formula (2). The calculated artificial skin tactile accuracy B=33.499 is greater than the preset reference value 10. At this time, the controller does not control the alarm to issue an alarm prompt.

[0091] The working principle and beneficial effects of the above scheme are as follows: a temperature sensor is set to detect the working environment temperature of the artificial skin, and a timer is set to record the time when the artificial skin exceeds the use temperature range. The artificial skin tactile reliability index is calculated by the working environment temperature of the artificial skin detected by the temperature sensor, the time when the artificial skin exceeds the use temperature range recorded by the timer, and formula (1). At the same time, an electromagnetic sensor is set to detect the magnetic field strength of the working environment of the artificial skin. Then, the artificial skin tactile accuracy can be calculated according to the calculation result of formula (1), the magnetic field strength of the working environment of the artificial skin detected by the electromagnetic sensor, and formula (2). When the artificial skin tactile accuracy is less than a preset reference value, the controller controls the alarm to sound an alarm to notify the user to check the robot skin. Based on the accuracy of the robot's touch, the controller is set to control the alarm to sound an alarm, and the relevant staff is notified in time to repair it, thereby increasing the intelligence of the device.

[0092] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "solvent level", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention; the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance. In addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or apparatus.

[0093] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An artificial skin flexible tactile sensor measuring device, characterized in that: The invention comprises a sensing layer (6), wherein the sensing layer (6) is fixedly connected to a detection fixing layer (5), wherein a detection group layer (4) is fixedly connected to the lower surface of the detection fixing layer (5), a substrate (1) is arranged below the detection group layer (4), an insulating layer (2) is arranged between the detection group layer (4) and the substrate (1), the upper surface of the insulating layer (2) is fixedly connected to the detection group layer (4), and the lower surface of the insulating layer (2) is fixedly connected to the substrate (1); The sensing layer (6) is made of a plurality of fluffy magnetic materials, and the fluffy magnetic materials penetrate the detection fixing layer (5) and communicate with the detection group layer (4); Also included is an artificial skin tactile accuracy evaluation device, the artificial skin tactile accuracy evaluation device comprising: A temperature sensor, the temperature sensor being arranged on the substrate (1) and used to detect the working environment temperature of the artificial skin; An electromagnetic sensor, the electromagnetic sensor being arranged on the substrate (1) and used to detect the magnetic field strength of the working environment of the artificial skin; A timer, the timer being used to record the duration of time the artificial skin is out of the use temperature range; An alarm, wherein the alarm is arranged in the robot; A controller, wherein the controller is electrically connected to the temperature sensor, the electromagnetic sensor, the timer, and the alarm, and the controller controls the alarm to work based on the temperature sensor, the electromagnetic sensor, and the timer, including: Step 1: The controller obtains the artificial skin tactile reliability index based on the temperature sensor, the timer and formula (1): in, is the artificial skin tactile reliability index, is the rated minimum operating temperature of the artificial skin. is the rated maximum operating temperature of the artificial skin. is the working environment temperature of the artificial skin detected by the temperature sensor, is the duration of time during which the artificial skin exceeds the use temperature range recorded by the timer, is the unit duration, is the existing proportion of the fuzzy magnetic material on the sensing layer (6), is a natural constant; Step 2: The controller calculates the tactile accuracy of the artificial skin based on the electromagnetic sensor, step 1 and formula (2): in, For the tactile accuracy of artificial skin, The magnetic field strength of the artificial skin's working environment detected by the electromagnetic sensor, is the average magnetic field strength of the Earth's magnetic field, The natural constant Logarithmic function with base ; Step 3: Based on the calculation result of step 2, when the tactile accuracy of the artificial skin exceeds a preset reference value, the controller controls the alarm to sound an alarm.

2. The artificial skin flexible tactile sensor measuring device according to claim 1, characterized in that: A plurality of Hall elements are arranged in the detection group layer (4).

3. The artificial skin flexible tactile sensor measuring device according to claim 1, characterized in that: An electrostatic shielding layer (3) is arranged outside the detection group layer (4).

4. The artificial skin flexible tactile sensor measuring device according to claim 1, characterized in that: The substrate (1) is arranged on the surface of the robot, and the substrate (1) is connected to the surface of the robot via a skin fixing device (10).

5. The artificial skin flexible tactile sensor measuring device according to claim 4, characterized in that: The skin fixing device (10) comprises a first fixing plate (1001) and a second fixing plate (1019), the base plate (1) is fixedly connected to the upper surface of the first fixing plate (1001), and the second fixing plate (1019) is fixedly connected to the surface of the robot.

6. The artificial skin flexible tactile sensor measuring device according to claim 5, characterized in that: The lower surface of the first fixing plate (1001) is fixedly connected to the upper end of a first vertical fixing member (1003); the lower end of the first vertical fixing member (1003) is rotatably connected to a clamping member (1004) via a hinge shaft (1006); and the lower end of the clamping member (1004) is fixedly connected to a clamping protrusion (1008); A connecting bin (1002) is arranged outside the first vertical fixing member (1003), the connecting bin (1002) is fixedly connected to the lower surface of the first fixing plate (1001), a first spring (1005) is arranged between the inner wall of the connecting bin (1002) and the upper end of the clamping member (1004), and two ends of the first spring (1005) are respectively fixedly connected to the inner wall of the connecting bin (1002) and the clamping member (1004); The lower end of the clamping member (1004) passes through the connecting compartment (1002); The lower surface of the connection bin (1002) is provided with an arc-shaped groove (1007), and the arc-shaped groove (1007) is located between the four groups of clamping members (1004); A fixing ball (1009) is provided between the clamping member (1004) and the arc-shaped groove (1007); the lower side of the fixing ball (1009) is fixedly connected to a first connecting rod (1010); the first connecting rod (1010) is inserted into a second connecting rod (1011); the lower end of the first connecting rod (1010) is fixedly connected to the upper end of a second spring (1012); the lower end of the second spring (1012) is fixedly connected to the inner wall of the lower end of the second connecting rod (1011); The lower end of the second connecting rod (1011) is fixedly connected to a sliding balance plate (1013), and the sliding balance plate (1013) is slidably connected to the second fixed plate (1019).

7. The artificial skin flexible tactile sensor measuring device according to claim 6, characterized in that: A first movable part (1014) and a second movable part (1020) are arranged on the outer periphery of the second connecting rod (1011); a movable groove (1015) is arranged on the first movable part (1014) and the second movable part (1020); and the second connecting rod (1011) is inserted into the movable groove (1015); The movable groove (1015) is in the shape of an elongated strip; Two sets of sliding shafts (1017) are symmetrically and fixedly connected to the outside of the first movable member (1014) and the second movable member (1020), and the sliding shafts (1017) are both located on the first movable member (1014) or the second movable member (1020) and are perpendicular to the movable groove (1015); A third spring (1016) is sleeved on the sliding shaft (1017); one end of the sliding shaft (1017) away from the first movable member (1014) or the second movable member (1020) passes through the upper end of the second vertical fixing member (1018); and the sliding shaft (1017) is slidably connected to a penetration surface of the second vertical fixing member (1018); One end of the third spring (1016) is fixedly connected to the first movable member (1014) or the second movable member (1020), and the other end of the third spring (1016) is fixedly connected to the second vertical fixing member (1018); The lower end of the second vertical fixing member (1018) is fixedly connected to the second fixing plate (1019).

8. A method for measuring an artificial skin flexible tactile sensor, applicable to an artificial skin flexible tactile sensor measuring device as claimed in claims 1 to 7, characterized in that: A material detection method is included, and the material detection method includes: S1: the plurality of fluffy magnetic materials of the induction layer (6) continuously change the frequency of the output magnetic field in the first area, and receive the frequency of the magnetic field returned by the contact object accordingly; S2: Counting the frequency of the magnetic field returned by the contact object received when the frequency of the magnetic field outputted by the first area is continuously changed to detect the frequency of the magnetic field in the first area, and generating a corresponding first electrical signal by a plurality of Hall elements arranged in the detection group layer (4); S3: The generated electrical signal is digitized and compared with the data in the database to determine the material of the contact object.

9. The method for measuring an artificial skin flexible tactile sensor according to claim 8, characterized in that: Also included is a shape detection method, the shape detection method comprising: S4: changing the position of the plurality of fluffy magnetic materials of the sensing layer (6) and the contact object to the second area, again continuously changing the output magnetic field frequency, and correspondingly receiving the magnetic field frequency returned by the contact object, statistically analyzing it, and again generating a corresponding second electrical signal by a plurality of Hall elements provided in the detection group layer (4); S5: Process the change trends of the second electrical signal and the first electrical signal to generate a third electrical signal, and fit the shape of the contact object according to the third electrical signal.

Images