Preparation method and application of a flexible electronic bionic skin control cooperative robot system

Abstract

The application provides a preparation method of a flexible electronic bionic skin control cooperative robot system, comprising the following steps: drawing a peripheral contour shape of the flexible electronic bionic skin, designing an electronic circuit, manufacturing a cutting flexible substrate, printing a circuit, connecting a horizontal gyroscope chip, packaging the electronic circuit to complete the manufacturing of the flexible electronic bionic skin, and integrating the whole system. The customized flexible electronic bionic skin can be conveniently applied to human skin, can accurately capture the motion, action positioning, posture and external signal change in the human motion process, and can control the motion of the cooperative robot in real time, so as to meet the application requirements in the fields of bionic robots, artificial intelligence, intelligent manufacturing, medical care and the like. The system preparation method is simple, and the flexible electronic circuit printing method of the conductive composite material can significantly improve the good man-machine adhesion and sensitivity of the system.

Description

Technical Field

[0001] This invention belongs to the field of flexible electronics technology and applications, and in particular relates to a method for preparing and applying a system for a flexible electronic bionic skin-controlled collaborative robot. Background Technology

[0002] Wearable devices are a type of intelligent electronic device that can be worn on the body, and they have seen unprecedented development in recent years. However, currently widely used wearable devices rely on users wearing them, which suffers from problems such as poor comfort and low accuracy. Wearable devices integrate electronic products with different functions into routine behaviors and movements, enabling the monitoring of users' biometrics, motion data, and environmental information, as well as responses from external devices. While this method offers convenience and rapid replacement, its non-close-fitting nature significantly reduces the accuracy of data capture, affecting the precision of control over external devices.

[0003] Electronic skin mimics the physicochemical and sensory properties of human skin and holds promise for applications in robotic skin and wearable devices with multi-sensory functions. Electronic skin is a biomimetic material capable of simulating human skin and possessing similar sensory functions. Compared to traditional robotic devices, it is softer, more flexible, easier to manipulate, and exhibits better adaptability and plasticity. Along with the development of electronic skin technology and products, numerous new materials, additive manufacturing technologies, and applications have also been developed. Materials include novel conductive composite materials (liquid metals, nano-silver, graphene, etc.), and advanced electronic materials such as photosensitive and gas-sensitive materials. Advanced manufacturing technologies include the integration of micro-nano manufacturing, 3D printing, and flexible printing technologies in the field of flexible electronics.

[0004] This invention provides a system for controlling collaborative robots with flexible electronic bionic skin. The customized flexible electronic bionic skin can be easily applied to human skin (such as fingers), accurately capturing motion, action positioning, posture, and changes in external signals during human movement, thereby controlling the collaborative robot's movement in real time. This meets the application needs of fields such as bionic robotics, artificial intelligence, intelligent manufacturing, and healthcare. The system is simple to fabricate, and the flexible electronic circuit printing method using conductive composite materials significantly improves the system's human-machine fit and sensitivity. Summary of the Invention

[0005] Based on the technical problems described in the background, the purpose of this invention is to provide a system for controlling a collaborative robot with flexible electronic bionic skin. The fabrication method includes: drawing the outer contour shape of the flexible electronic bionic skin and designing electronic circuits; fabricating and cutting a flexible substrate; printing circuits; connecting a horizontal gyroscope chip; packaging the electronic circuits to complete the fabrication of the flexible electronic bionic skin; and integrating the entire system. The customized flexible electronic bionic skin can be easily applied to human skin (such as fingers), accurately capturing motion, action positioning, posture, and changes in external signals during human movement, thereby controlling the movement of the collaborative robot in real time and meeting the application needs of bionic robots, artificial intelligence, intelligent manufacturing, and healthcare. The system fabrication method is simple, and the flexible electronic circuit printing method using conductive composite materials can significantly improve the system's human-machine fit and sensitivity.

[0006] The specific technical solution is as follows: A method for preparing a flexible electronic bionic skin-controlled collaborative robot system includes the following steps: (1) Draw the outer contour shape of the flexible electronic bionic skin according to the wearer's perception area, and design the sensing points of the flexible electronic bionic skin electronic circuit according to the human body's activity points; the sensing center point of the flexible electronic bionic skin electronic circuit coincides with the center point of the human body's activity points; the flexible electronic bionic skin covers the human skin through modular patches, and is completely attached to the human skin, which can be used to monitor the human body's movement, motion positioning, and posture change signals. The activity points can be designed on the surface of the human skin or at joints, such as fingertips, finger joints (including distal finger joints and proximal finger joints), finger-palm junctions, wrist joints, elbow joints, upper arm surface, shoulder joints, knee joints, ankle joints, feet, foot joints, etc. (2) A flexible substrate is obtained by laminating a highly elastic stretchable film and a flexible polymer film; the thickness of the flexible substrate is 6-135 micrometers. The lamination temperature is 70-120 ℃ and the pressure is 60-100 kg; (3) The flexible substrate is cut along the outer contour of the wearer's sensing area using mechanical or laser cutting. The cutting line of the outer contour of the sensing area is a planar projection, and the cutting path can be extended outward by 5-10 mm during cutting. The laser cutting power is 55-70 W; the cutting line of the outer contour of the sensing area is a planar projection, but it is actually a three-dimensional cylinder. (4) Use extrusion 3D printing, direct writing, slot coating or high frequency vibration controlled piezoelectric inkjet printing to print conductive composite materials on the surface of flexible substrates to prepare flexible electronic bionic skin electronic circuits. (5) A horizontal gyroscope chip is connected to the electronic circuit of the flexible electronic bionic skin to obtain the flexible electronic bionic skin. The connection method can be low-temperature solder connection or vertical conductive adhesive connection; (6) Use hot melt adhesive film or PDMS film to encapsulate printed electronic circuits to complete the production of flexible electronic bionic skin; the encapsulation temperature is 110-180 ℃, the encapsulation pressure is 50-90 kg, and the encapsulation time is 30-60s; (7) The flexible electronic bionic skin is connected to the electronic signal acquisition and processing unit, and the signals of human motion, action positioning and posture change monitored by the flexible electronic bionic skin are wirelessly transmitted to the controller of the collaborative robot through the signal control unit and the wireless communication unit, so as to control the motion of the collaborative robot in real time.

[0007] Among them, flexible electronic bionic skin possesses excellent skin adhesion, stretchability, and high sensitivity, and can be used to extract movement, motion localization, and posture change signals from the head, upper limbs, trunk, and lower limbs. Flexible electronic bionic skin can completely conform to the wearer's skin, maintaining perfect contact whether the wearer's sensory area is in motion or stationary. Collaborative robots include mechanical devices and controllers; the controllers control the movement of the mechanical devices.

[0008] The sensing area is the head. The wearer's head data is measured in advance, and the sensing points of the flexible electronic bionic skin electronic circuit are arranged. The flexible electronic bionic skin fits completely with the scalp.

[0009] The sensing area is the upper limb. The wearer's upper limb data is measured in advance, and the sensing points of the flexible electronic bionic skin electronic circuit are arranged. The flexible electronic bionic skin is completely attached to the upper limb skin. The upper limb is the shoulder, arm, elbow, wrist, and hand.

[0010] The sensing area is the torso. The wearer's torso data is measured in advance, and the sensing points of the flexible electronic bionic skin electronic circuit are arranged. The flexible electronic bionic skin is completely attached to the torso skin, which includes the neck, chest, waist, back, and abdomen.

[0011] The sensing area is the lower limbs. The wearer's lower limb data is measured in advance, and the sensing points of the flexible electronic bionic skin electronic circuit are arranged. The flexible electronic bionic skin is completely attached to the skin of the lower limbs, which are the buttocks, legs, knees, ankles, and feet.

[0012] The electronic signal acquisition and processing unit can acquire the resistance change value generated by the conductive composite material during human movement. Based on the resistance change value of the conductive composite material, the movement, action positioning, posture, and changes in external commands during human movement can be determined. The electronic signal acquisition process includes: (1) Turn on the power switch of the electronic signal acquisition and processing unit; (2) The wearer keeps the skin of the sensing area and the flexible electronic bionic skin that fits in the design according to the designed action, presses the switch of the electronic signal acquisition and processing unit and the switch of the horizontal gyroscope chip controller twice in succession, and observes that the yellow indicator light and the blue indicator light turn off twice and then remain on, indicating that the minimum resistance value and the initial angle value have been successfully obtained. (3) The wearer keeps the skin of the sensing area and the flexible electronic bionic skin that fits in the design according to the action, presses the switch of the electronic signal acquisition and processing unit twice in a row, and observes that the yellow indicator light goes out twice and then stays on, indicating that the maximum resistance value has been successfully obtained. (4) Determine the range of resistance variation based on the collected minimum and maximum values, and establish the functional relationship between action posture and resistance value. Wearers of flexible electronic bionic skin perform different actions according to the design requirements; (5) The three-dimensional and rotational motion of the flexible electronic bionic skin is reflected based on the collected horizontal gyroscope chip data, which is used to provide feedback and control the three-dimensional and rotational motion of the collaborative robot.

[0013] The highly elastic stretchable film is any one of flexible silicone film, PDMS film, or Ecoflex film, and the flexible polymer film is any one of polycarbonate film, polyurethane film, PET film, PI film, Teslin film, or PVC film. The highly elastic stretchable film possesses high adhesion and biocompatibility, ensuring a close fit between the flexible electronic bionic skin and the limb, and ensuring the stability and recoverability of the flexible electronic bionic skin during limb swinging, twisting, contraction, and other deformation processes. The flexible polymer film has good mechanical properties, good biocompatibility, and optical transparency, ensuring good adhesion of conductive composite materials to its surface.

[0014] The extrusion 3D printing or direct writing printing method can print conductive composite materials with a viscosity of 200-20000 cp on the surface of a flexible substrate; the slit coating printing method can print conductive composite materials with a viscosity of 500-15000 cp on the surface of a flexible substrate; the high-frequency vibration controlled piezoelectric inkjet printing method can print conductive composite materials with a viscosity of 5-100,000 cp on the surface of a flexible substrate.

[0015] The conductive composite material comprises at least one of the following: nano-silver powder-graphene derivative-liquid metal conductive composite material. The nano-silver powder-graphene derivative-liquid metal conductive composite material is prepared by liquid-phase ball milling. The ball milling speed is 500-1,000 rpm, and the milling time is 3-6 hours. Vacuuming and argon purging are performed every hour before and during ball milling. The nano-silver powder has a silver solid content greater than 99.5% and a particle size of 20-150 nm. The graphene derivative includes one or more of graphene oxide, reduced graphene oxide, nitrogen-doped graphene, sulfur-doped graphene, and nitrogen-sulfur co-doped graphene. The liquid metal is one or more of Ga-In or Ga-In-Zn based liquid alloys. The electronic circuits prepared on the aforementioned nano-silver powder-graphene derivative-liquid metal conductive composite material on a flexible substrate have a stretchability of 200%-1,000%, and the resistance change of the composite material before and after stretching ranges from 20% to 50%, with a resistance value of 20-150 Ω.

[0016] The electronic signal acquisition and processing unit may further include a filtering unit, a signal conditioning circuit, a microprocessor, an alarm circuit, a power supply, a key circuit, and a protection circuit.

[0017] The flexible electronic bionic skin can also be connected to a multifunctional sensor array to monitor signal changes. This multifunctional sensor array includes at least one of temperature, humidity, contact, pressure, strain, torque, and chemical sensing sensors. The array can detect changes in various parameters such as pressure, temperature, and humidity during human movement and transmit this information to a signal control unit via a wireless communication unit for processing, thereby generating electronic control signals to control the collaborative robot's movement. By further increasing the number and density of the multifunctional sensor array, more accurate and detailed data can be obtained from the skin surface.

[0018] The aforementioned flexible electronic bionic skin-controlled collaborative robot system can be applied to the fields of bionic robots, artificial intelligence, intelligent manufacturing, and healthcare.

[0019] The beneficial effects of this invention are: a system for controlling collaborative robots using flexible electronic bionic skin has been designed and fabricated. The customized flexible electronic bionic skin can be easily applied to human skin, accurately capturing motion, action positioning, posture, and changes in external signals during human movement, thereby controlling the collaborative robot's movement in real time and meeting the application needs of fields such as bionic robots, artificial intelligence, intelligent manufacturing, and healthcare. The system is simple to fabricate, and the flexible electronic circuit printing method using conductive composite materials significantly improves the system's human-machine fit and sensitivity. Detailed Implementation

[0020] The technical solution of the present invention will be further described clearly and completely below with reference to embodiments. Obviously, the described content is only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0021] This invention provides a system for controlling a collaborative robot with flexible electronic bionic skin, which will be described below in conjunction with embodiments and applications. Example 1

[0022] The application scenario of this embodiment is to provide a system for controlling a collaborative robot with flexible electronic bionic skin, which is used to control the collaborative robot to raise its head, lower its head, and turn its head.

[0023] A method for fabricating a flexible electronic bionic skin-controlled collaborative robot system includes the following steps: (1) Draw the outer contour shape of the flexible electronic bionic skin according to the wearer's sensing area, and design the sensing points of the flexible electronic bionic skin electronic circuit according to the human body's movement points; the sensing center point of the flexible electronic bionic skin electronic circuit coincides with the center point of the human body's movement points; the flexible electronic bionic skin covers the human skin through modular patches, and is completely attached to the human skin, and can be used to monitor the human body's movement, motion positioning, and posture change signals. The movement points can be designed on the surface of the human skin or at the joints, and the sensing area is the neck, so movement points can be designed on the neck; (2) A flexible substrate is obtained by laminating a highly elastic stretchable PDMS film and a flexible polymer film PI film; the thickness of the flexible substrate is 10 micrometers. The lamination temperature is 112 ℃ and the pressure is 61 kg. (3) The flexible substrate is cut along the outer contour of the wearer's sensing area using mechanical and laser cutting. The cutting line of the outer contour of the sensing area is a planar projection, and the cutting path can be extended outward by 7mm during cutting. The laser cutting power is 62W; the cutting line of the outer contour of the sensing area is a planar projection, but it is actually a three-dimensional cylinder. (4) A flexible electronic biomimetic skin electronic circuit was prepared by printing nano-silver powder-graphene derivative-liquid metal conductive composite material with a viscosity of 10500cp on the surface of a flexible substrate using direct writing printing. Nano-silver powder, nitrogen-sulfur co-doped graphene, and liquid metal were mixed in a mass ratio of 0.25:0.1:1 and ball-milled to obtain a nano-silver powder-graphene derivative-liquid metal conductive composite material. The ball milling speed was 600 rpm and the ball milling time was 3 h. Vacuuming and argon filling were performed every 1 h before and during ball milling. The silver nanopowder contains 99.9% silver solids and has a particle size of 50 nm; the liquid metal is a Ga-In alloy, wherein Ga contains 70 parts by mass and In contains 30 parts by mass. (5) A horizontal gyroscope chip is connected to the electronic circuit of the flexible electronic bionic skin to obtain the flexible electronic bionic skin. Low-temperature solder can be used for the connection. (6) Use hot melt adhesive film or PDMS film to encapsulate printed electronic circuits to complete the fabrication of flexible electronic bionic skin; (7) The flexible electronic bionic skin is connected to the electronic signal acquisition and processing unit, and the signals of neck movement, motion positioning and posture change monitored by the flexible electronic bionic skin are wirelessly transmitted to the controller of the collaborative robot through the signal control unit and the wireless communication unit, so as to control the movement of the collaborative robot's neck in real time.

[0024] The electronic signal acquisition and processing unit can acquire the resistance change value generated by the conductive composite material during neck movement. Based on the resistance change value of the conductive composite material, the movement, motion positioning, posture, and changes in external commands during the human neck movement process can be determined. The electronic signal acquisition process includes: (1) Turn on the power switch of the electronic signal acquisition and processing unit; (2) The wearer keeps the skin of the lower limbs and the flexible electronic bionic skin that fits in the design according to the action, and presses the switch of the electronic signal acquisition and processing unit and the switch of the horizontal gyroscope chip controller twice in succession. After the yellow indicator light and the blue indicator light turn off twice and then remain on, it indicates that the minimum resistance value and the initial angle value have been successfully obtained. (3) The wearer keeps the skin of the lower limb area and the flexible electronic bionic skin that fits in the design according to the action, presses the switch of the electronic signal acquisition and processing unit twice in a row, and observes that the yellow indicator light goes out twice and then stays on, indicating that the maximum resistance value has been successfully obtained. (4) Determine the resistance variation range based on the collected minimum and maximum values, and establish the action posture-resistance value function relationship. The wearer of the flexible electronic bionic skin performs different actions according to the design requirements. After the flexible electronic bionic skin is worn on the neck, the stretchability of the flexible electronic bionic skin is 350%. When the neck is straightened and bent, the resistance variation range at a certain active point of the flexible electronic bionic skin is generally 30-50%, and the resistance value is between 60-105Ω. When the wearer raises or lowers their head, the collaborative robot performs the same action; (5) The collected data from the horizontal gyroscope chip reflects the three-dimensional and rotational motion of the flexible electronic bionic skin, which is used to provide feedback and control the three-dimensional and rotational motion of the lower limb robot. When the wearer's neck rotates, the horizontal gyroscope chip will provide corresponding feedback signals in real time, so that the collaborative robot can make the same movement.

[0025] The system for controlling the collaborative robot with flexible electronic bionic skin, as described in this embodiment, can be used to control the collaborative robot to perform actions such as raising its head, lowering its head, and turning its head. Example 2

[0026] The application scenario of this embodiment is to provide a system for controlling a collaborative robot with flexible electronic bionic skin. The flexible electronic bionic skin, which is closely attached to the lower leg and foot, can control the movement of the lower limb robot.

[0027] A system for controlling a collaborative robot with flexible electronic bionic skin includes the following steps: (1) Draw the outer contour shape of the flexible electronic bionic skin according to the wearer's sensing area, and design the sensing points of the flexible electronic bionic skin electronic circuit according to the human body's activity points; the sensing center point of the flexible electronic bionic skin electronic circuit coincides with the center point of the human body's activity points; the flexible electronic bionic skin covers the human skin through modular patches, and is completely attached to the human skin, and can be used to monitor the human body's movement, motion positioning, and posture change signals. The activity points can be designed on the surface of the human skin or at the joints, and the sensing area is the lower leg and foot. The activity points are designed on the surface of the lower leg, ankle joint, foot surface, and foot joint. (2) A flexible substrate is obtained by laminating a highly elastic stretchable flexible silicone film and a flexible polymer film Teslin film; the thickness of the flexible substrate is 105 micrometers. The lamination temperature is 73 ℃ and the pressure is 85 kg.

[0028] In another embodiment, a flexible substrate is obtained by laminating a highly elastic, stretchable flexible silicone film and a flexible polymer film (PET film); the thickness of the flexible substrate is 35 micrometers. The lamination temperature is 82°C and the pressure is 81 kg.

[0029] In another embodiment, a flexible substrate is obtained by laminating a highly elastic stretchable film (Ecoflex film) and a flexible polymer film (PVC film); the thickness of the flexible substrate is 21 micrometers. The lamination temperature is 99 ℃ and the pressure is 98 kg.

[0030] (3) The flexible substrate is cut along the outer contour of the wearer's sensing area using mechanical and laser cutting. The cutting line of the outer contour of the sensing area is a planar projection, and the cutting path can be extended outward by 6mm during cutting. The laser cutting power is 59W; the cutting line of the outer contour of the sensing area is a planar projection, but it is actually a three-dimensional cylinder.

[0031] (4) A flexible electronic biomimetic skin electronic circuit was prepared by printing nano-silver powder-graphene derivative-liquid metal conductive composite material on the surface of a flexible substrate using extrusion slit coating with a viscosity of 9000cp. Nano-silver powder, nitrogen-doped graphene, and liquid metal were mixed at a mass ratio of 0.13:0.08:1 and ball-milled to obtain a nano-silver powder-graphene derivative-liquid metal conductive composite material. The ball milling speed was 900 rpm, and the milling time was 4 h. Vacuuming and argon purging were performed every 1 h before and during ball milling. The nano-silver powder had a silver solid content of 99.9% and a particle size of 100 nm. The liquid metal was a Ga-In-Zn based liquid alloy, containing 70 parts by mass of Ga, 15 parts by mass of In, and 15 parts by mass of Zn.

[0032] In another embodiment, nano-silver powder, reduced graphene oxide, and liquid metal are mixed at a mass ratio of 0.1:0.06:1, and ball-milled to obtain a nano-silver powder-graphene derivative-liquid metal conductive composite material. The ball milling speed is 900 rpm, and the milling time is 4 h. Vacuuming and argon purging are performed every 1 h before and during ball milling. The nano-silver powder has a silver solid content of 99.9% and a particle size of 100 nm. The liquid metal is a Ga-In-Zn based liquid alloy, containing 70 parts by mass of Ga, 15 parts by mass of In, and 15 parts by mass of Zn.

[0033] (5) A horizontal gyroscope chip is connected to the electronic circuit of the flexible electronic bionic skin to obtain the flexible electronic bionic skin. The connection method uses vertical conductive adhesive, the hot pressing temperature is 170℃, and the hot pressing time is 15s.

[0034] (6) Use hot melt adhesive film or PDMS film to encapsulate printed electronic circuits to complete the production of flexible electronic bionic skin; the encapsulation temperature is 135 ℃, the encapsulation pressure is 57 kg, and the encapsulation time is 35 s; (7) The flexible electronic bionic skin is connected to the electronic signal acquisition and processing unit, and the signals of movement, motion positioning and posture change of the lower limbs monitored by the flexible electronic bionic skin are wirelessly transmitted to the controller of the lower limb robot through the signal control unit and the wireless communication unit, so as to control the movement of the lower limb robot in real time.

[0035] Flexible electronic bionic skin possesses excellent skin adhesion, stretchability, and high sensitivity, and can be used to extract signals related to lower limb movement, motion localization, and posture changes. This flexible electronic bionic skin can perfectly conform to the wearer's lower limb skin, maintaining complete contact with the skin whether the wearer's sensory area is in motion or stationary. Lower limb robots include lower limb mechanical devices and a controller, which controls the movement of the lower limb mechanical devices.

[0036] The electronic signal acquisition and processing unit can acquire the resistance change value generated by the conductive composite material during lower limb movement. Based on the resistance change value of the conductive composite material, the movement, action positioning, posture, and changes in external commands during the human lower limb movement process can be determined. The electronic signal acquisition process includes: (1) Turn on the power switch of the electronic signal acquisition and processing unit; (2) The wearer keeps the skin of the lower limbs and the flexible electronic bionic skin that fits in the design according to the action, and presses the switch of the electronic signal acquisition and processing unit and the switch of the horizontal gyroscope chip controller twice in succession. After the yellow indicator light and the blue indicator light turn off twice and then remain on, it indicates that the minimum resistance value and the initial angle value have been successfully obtained. (3) The wearer keeps the skin of the lower limb area and the flexible electronic bionic skin that fits in the design according to the action, presses the switch of the electronic signal acquisition and processing unit twice in a row, and observes that the yellow indicator light goes out twice and then stays on, indicating that the maximum resistance value has been successfully obtained. (4) Determine the resistance variation range based on the collected minimum and maximum values, and establish the action posture-resistance value function relationship. Wearers of flexible electronic bionic skin perform different actions according to the design requirements. After wearing flexible electronic bionic skin on the foot, the stretchability of the flexible electronic bionic skin is 220%. When the foot is straightened and bent, the resistance variation range at a certain toe movement point of the flexible electronic bionic skin is generally 25-40%, and the resistance value is between 50-80Ω. (5) The collected data from the horizontal gyroscope chip reflects the three-dimensional and rotational motion of the flexible electronic bionic skin, which is used to provide feedback and control the three-dimensional and rotational motion of the lower limb robot. When the wearer's lower leg or foot flips or tilts, the horizontal gyroscope chip will provide corresponding feedback signals in real time, so that the lower limb robot can make the same movements.

[0037] The flexible electronic bionic skin control system for lower limb robots fabricated in this embodiment can be used to control lower limb robots to achieve walking control, gait training, etc.

[0038] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A method for fabricating a system of flexible electronic bionic skin-controlled collaborative robots, characterized in that, Includes the following steps: (1) Draw the outer contour shape of the flexible electronic bionic skin according to the wearer's perception area, and design the sensing points of the flexible electronic bionic skin electronic circuit according to the human activity points; the sensing center point of the flexible electronic bionic skin electronic circuit coincides with the center point of the human activity points. Flexible electronic bionic skin covers human skin with modular patches, fitting perfectly to the human skin, and can be used to monitor human movement, motion positioning, and changes in posture. (2) A flexible substrate is obtained by laminating a highly elastic stretchable film and a flexible polymer film; the thickness of the flexible substrate is 6-135 micrometers; (3) Use mechanical or laser cutting to cut the flexible substrate along the outer contour shape of the wearer's sensing area. The cutting line of the outer contour shape of the sensing area is a planar projection. The cutting path can be extended outward by 5-10mm during cutting. (4) Use extrusion 3D printing, direct writing, slot coating or high frequency vibration controlled piezoelectric inkjet printing to print conductive composite materials on the surface of flexible substrates to prepare flexible electronic bionic skin electronic circuits. (5) Connect a horizontal gyroscope chip to the electronic circuit of the flexible electronic bionic skin to obtain the flexible electronic bionic skin; (6) Use hot melt adhesive film or PDMS film to encapsulate printed electronic circuits to complete the production of flexible electronic bionic skin; the encapsulation temperature is 110-180 ℃, the encapsulation pressure is 50-90 kg, and the encapsulation time is 30-60s; (7) The flexible electronic bionic skin is connected to the electronic signal acquisition and processing unit, and wirelessly transmits the human motion, action positioning and posture change signals monitored by the flexible electronic bionic skin to the controller of the collaborative robot through the signal control unit and the wireless communication unit, so as to control the motion of the collaborative robot in real time. The electronic signal acquisition and processing unit can acquire the resistance change value generated by the conductive composite material during human movement, and determine the movement, action positioning, posture and external command changes during human movement based on the resistance change value of the conductive composite material. The electronic signal acquisition process includes: (1) Turn on the power switch of the electronic signal acquisition and processing unit; (2) The wearer keeps the skin of the sensing area and the flexible electronic bionic skin that fits in the design according to the designed action, presses the switch of the electronic signal acquisition and processing unit and the switch of the horizontal gyroscope chip controller twice in succession, and observes that the yellow indicator light and the blue indicator light turn off twice and then remain on, indicating that the minimum resistance value and the initial angle value have been successfully obtained. (3) The wearer keeps the skin of the sensing area and the flexible electronic bionic skin that fits in the design according to the action, presses the switch of the electronic signal acquisition and processing unit twice in a row, and observes that the yellow indicator light goes out twice and then stays on, indicating that the maximum resistance value has been successfully obtained. (4) Determine the range of resistance value variation based on the collected minimum and maximum values, and establish the functional relationship between action posture and resistance value; (5) The three-dimensional and rotational motion of the flexible electronic bionic skin is reflected based on the collected horizontal gyroscope chip data, which is used to provide feedback and control the three-dimensional and rotational motion of the collaborative robot.

2. The method for fabricating the flexible electronic bionic skin-controlled collaborative robot system according to claim 1, characterized in that, The sensing area is the head. The wearer's head data is measured in advance, and the sensing points of the flexible electronic bionic skin electronic circuit are arranged. The flexible electronic bionic skin fits completely with the scalp.

3. The method for fabricating the flexible electronic bionic skin-controlled collaborative robot system according to claim 1, characterized in that, The sensing area is the upper limb. The wearer's upper limb data is measured in advance, and the sensing points of the flexible electronic bionic skin electronic circuit are arranged. The flexible electronic bionic skin is completely attached to the upper limb skin. The upper limb is the shoulder, arm, elbow, wrist, and hand.

4. The method for fabricating a flexible electronic bionic skin-controlled collaborative robot system according to claim 1, characterized in that, The sensing area is the torso. The wearer's torso data is measured in advance, and the sensing points of the flexible electronic bionic skin electronic circuit are arranged. The flexible electronic bionic skin is completely attached to the torso skin, which includes the neck, chest, waist, back, and abdomen.

5. The method for fabricating a flexible electronic bionic skin-controlled collaborative robot system according to claim 1, characterized in that, The sensing area is the lower limbs. The wearer's lower limb data is measured in advance, and the sensing points of the flexible electronic bionic skin electronic circuit are arranged. The flexible electronic bionic skin is completely attached to the skin of the lower limbs, which are the buttocks, legs, knees, ankles, and feet.

6. The method for fabricating a flexible electronic bionic skin-controlled collaborative robot system according to claim 1, characterized in that, The highly elastic stretchable film is a flexible silicone film, PDMS film, or Ecoflex film, and the flexible polymer film is a polycarbonate film, polyurethane film, PET film, PI film, Teslin film, or PVC film.

7. The method for fabricating a system of flexible electronic bionic skin-controlled collaborative robots according to claim 1, characterized in that, The extrusion 3D printing or direct writing printing method can print conductive composite materials with a viscosity of 200-200.00 cp on the surface of a flexible substrate; the slit coating printing method can print conductive composite materials with a viscosity of 500-150.00 cp on the surface of a flexible substrate; the high-frequency vibration controlled piezoelectric inkjet printing method can print conductive composite materials with a viscosity of 5-100.00 cp on the surface of a flexible substrate.

8. The method for fabricating a flexible electronic bionic skin-controlled collaborative robot system according to claim 1, characterized in that, The conductive composite material is a nano-silver powder-graphene derivative-liquid metal conductive composite material; The nano-silver powder-graphene derivative-liquid metal conductive composite material is prepared by liquid-phase ball milling; the graphene derivative includes one or more of graphene oxide, reduced graphene oxide, nitrogen-doped graphene, sulfur-doped graphene, and nitrogen-sulfur co-doped graphene; the liquid metal includes one or more of Ga-In and Ga-In-Zn based liquid alloys.

9. The system for a flexible electronic bionic skin-controlled collaborative robot prepared according to claim 1, characterized in that, The aforementioned flexible electronic bionic skin-controlled collaborative robot system can be applied to the fields of bionic robots, artificial intelligence, intelligent manufacturing, and healthcare.