Touch component, bionic structure and sensing feedback method thereof

Abstract

The invention discloses a touch component, a bionic structure and a sensing feedback method thereof, the touch component comprises an induction sheet, a sensor and a controller, the induction sheet is arranged on a touched object, when the touch object is in direct or indirect contact, touch induction signals are collected, and the induction sheet can be bent or flattened under stress; the sensor is arranged on a touched object, and collects a posture signal of the touched object and an acceleration signal of the touched object when the induction sheet is in direct or indirect contact with the touched object; and the controller is connected with the induction sheet and the sensor, and generates touch induction information, posture information and acceleration information according to the received touch induction signal, posture signal and acceleration signal. The problem that a traditional touch sensor is difficult to install on a curved surface part is solved, the appearance simulation degree of the bionic body is improved, and meanwhile subsequent analysis and comprehensive signal collection are facilitated.

Description

Technical Field

[0001] The present invention relates to the field of bionic technology, and in particular to a tactile component, a bionic structure and a perception feedback method thereof. Background Art

[0002] In order to enable the bionic robot to sense external environmental changes and provide information feedback, touch sensors are generally installed on the outer surface of the bionic robot. However, such a setting not only hinders the realistic realization of the bionic appearance, but also some parts of the bionic robot are curved, which is not convenient for the installation of touch sensors. In addition, the touch sensor only outputs the content of the touch itself, which is not conducive to subsequent analysis, and thus cannot achieve friendly interaction with the bionic robot. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a tactile component, a bionic structure and a perception feedback method thereof, aiming to solve the problem that the touch sensor cannot be installed on the curved surface of a bionic robot and is prone to hindering the bionic shape.

[0004] To achieve the above object, the present invention adopts the following technical solutions: In a first aspect, the present invention provides a tactile component, comprising: The sensing sheet is provided on the touched object and collects the touch sensing signal when directly or indirectly contacting the touch object; A sensor, disposed on the touched object, collecting a gesture signal of the touched object and an acceleration signal of the touching object during a period when the sensing sheet directly or indirectly contacts the touching object; a controller connected to the sensing sheet and the sensor, and generating touch sensing information, posture information and acceleration information according to the received touch sensing signal, posture signal and acceleration signal; Wherein, the sensing sheet can be bent or flattened when subjected to force.

[0005] Furthermore, the sensing sheet is provided with at least one touch sensing electrode, and when the touch sensing electrode directly or indirectly contacts the touch object, the touch sensing signal is generated.

[0006] Furthermore, the sensing sheet includes a substrate and a conductor, the conductor and the touch sensing electrodes are both arranged on the substrate, the conductor is connected to the touch sensing electrodes, and the substrate is made of a flexible and bendable material.

[0007] Furthermore, the touch sensing electrodes are capacitive electrodes or pressure electrodes.

[0008] Furthermore, the sensor sheet is provided with a plurality of openings and / or holes.

[0009] In the second aspect, the present invention also provides a bionic structure, including a bionic body and the above-mentioned touch component, the touched object is the bionic body, the touch component is arranged on the bionic body, the bionic body includes a contoured skeleton and a covering layer, the covering layer is arranged on the surface of the contoured skeleton, and the sensor sheet is arranged between the contoured skeleton and the covering layer.

[0010] Furthermore, the shape of the bionic body is a human shape, an animal shape or an organ shape.

[0011] Furthermore, the bionic body is provided with the tactile components at different positions respectively, and further comprises a main controller, and the tactile components corresponding to different positions of the bionic body are all electrically connected to the same main controller.

[0012] In a third aspect, the present invention further provides a bionic structure perception feedback method, comprising: When the touching object contacts the touched object, the touch sensing information, posture information and acceleration information collected by the tactile components of each part of the touched object are obtained; Comprehensively analyzing the touch sensing information, posture information and acceleration information collected by the touch sensing components of each part to obtain the emotional information of the touch object; The touched object generates feedback information according to the emotional information of the touching object, and the feedback information includes sound, action behavior and facial expression.

[0013] In a fourth aspect, the present invention further provides a bionic structure perception feedback method, comprising: When the touching object contacts the touched object, the touch sensing information, posture information and acceleration information collected by the tactile components of each part of the touched object are obtained, and the voice or text interaction information between the touching object and the touched object is obtained; Comprehensively analyzing the touch sensing information, posture information, acceleration information and interaction information collected by the touch sensing components of each part to obtain the emotional information of the touch object; The touched object generates feedback information according to the emotional information of the touching object, and the feedback information includes sound, action behavior and facial expression.

[0014] Compared with the prior art, the present invention has the following beneficial effects: a touch component, including a sensing sheet, a sensor and a controller, wherein the sensing sheet is arranged on the touched object, and when directly or indirectly in contact with the touch object, a touch sensing signal is collected, and the sensing sheet can be bent or flattened when subjected to force; the sensor is arranged on the touched object, and when the sensing sheet directly or indirectly contacts the touch object, a posture signal of the touched object and an acceleration signal of the touch object are collected; the controller is connected to the sensing sheet and the sensor, and the controller generates touch sensing information, posture information and acceleration information according to the received touch sensing signal, posture signal and acceleration signal. The sensing sheet of the present invention can be bent or flattened when subjected to force, so it can be conveniently installed on various curved surface parts of bionic bodies such as humanoid robots or animal-like robots, and does not need to be installed on the surface of the bionic body, thereby solving the problem that traditional touch sensors are difficult to install on curved surface parts, and improving the appearance simulation of the bionic body. At the same time, the touch component can not only collect touch sensing signals, but also obtain posture signals and acceleration signals at the same time, which is conducive to subsequent analysis. In addition, the tactile component can be used as an independent module and deployed in various parts of the bionic body, which is conducive to comprehensive signal collection of the bionic body.

[0015] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the following preferred embodiments are specifically cited and described in detail as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0017] Figure 1 A schematic structural diagram of a tactile component provided by a specific embodiment of the present invention; Figure 2 A schematic diagram of the structure of a sensing sheet in a touch-sensing component provided by a specific embodiment of the present invention; Figure 3 A schematic diagram of the installation of a tactile component provided by a specific embodiment of the present invention; Figure 4 A working principle diagram of a bionic structure provided for a specific embodiment of the present invention; Figure 5 A schematic diagram of the appearance structure of a humanoid bionic structure provided in a specific embodiment of the present invention; Figure 6A schematic structural diagram of a humanoid bionic structure provided in a specific embodiment of the present invention (without the covering layer); Figure 7 A schematic diagram of the structure of a sensing sheet and a sensing plate in a humanoid bionic structure provided by a specific embodiment of the present invention; Figure 8 A schematic diagram of a structure in which a sensing sheet and a sensing plate are installed on a bionic frame in a humanoid shape provided by a specific embodiment of the present invention; Fig. 9 A schematic diagram of a structure in which a sensing piece is installed on a contour frame in a humanoid bionic structure provided by a specific embodiment of the present invention; Fig.10 A schematic diagram of the shape of a sensing piece at the abdomen position in a human-shaped bionic structure provided in a specific embodiment of the present invention; Fig.11 A schematic diagram of the appearance structure of an animal-shaped bionic structure provided in a specific embodiment of the present invention; Fig.12 A schematic structural diagram of an animal-shaped bionic structure provided in a specific embodiment of the present invention (without the covering layer); Fig.13 A schematic structural diagram of a sensing sheet and a sensing plate in an animal-shaped bionic structure provided by a specific embodiment of the present invention; Fig.14 A schematic diagram of a structure in which a sensing piece is installed on a contoured frame in an animal-shaped bionic structure provided by a specific embodiment of the present invention; Fig.15 A schematic diagram of a structure in which a sensing sheet and a sensing plate are installed on a prosthetic frame in an animal-shaped bionic structure provided by a specific embodiment of the present invention; Fig.16 A schematic diagram of the shape of a sensing piece at the top of the head in an animal-shaped bionic structure provided in a specific embodiment of the present invention; Fig.17 A schematic cross-sectional view of a bionic structure in the shape of an organ provided in a specific embodiment of the present invention; Fig.18 An exploded view of an organ-shaped bionic structure provided in a specific embodiment of the present invention.

[0018] Reference numerals: 1. Touch component; 11. Sensing sheet; 111. Touch sensing electrode; 112. Opening; 113. Opening; 12. Sensor; 13. Controller; 14. Sensing board; 2. Bionic body; 21. Covering layer; 22. Imitation skeleton; 3. Main controller. DETAILED DESCRIPTION

[0019] The technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" 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 invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0021] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0022] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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 an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0024] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0025] like Figures 1 to 4 As shown, an embodiment of the present invention provides a touch sensing component 1, including a sensing sheet 11, a sensor 12 and a controller 13. The sensing sheet 11 is arranged on the touched object, and when it directly or indirectly contacts the touch object, it collects a touch sensing signal. The sensing sheet 11 can be bent or flattened when subjected to force. The sensor 12 is arranged on the touched object, and when the sensing sheet 11 directly or indirectly contacts the touch object, it collects a posture signal of the touched object and an acceleration signal of the touch object. The controller 13 is connected to the sensing sheet 11 and the sensor 12, and the controller 13 generates touch sensing information, posture information and acceleration information according to the received touch sensing signal, posture signal and acceleration signal.

[0026] The touching object may be a person or an animal, and the touched object may be a robot imitating a humanoid form or a robot imitating an animal form, etc.

[0027] The sensing sheet 11 can be bent or flattened when subjected to force, so it can be easily installed on various curved parts of the bionic body 2 such as a humanoid robot or an animal robot, and does not need to be installed on the surface of the bionic body 2, thereby solving the problem that the traditional touch sensor 12 is difficult to install on the curved surface, and improving the appearance simulation of the bionic body 2. At the same time, the touch component 1 can not only collect touch sensing signals, but also obtain posture signals and acceleration signals at the same time, which is conducive to subsequent analysis. In addition, the touch component 1 can be used as an independent module and deployed in various parts of the bionic body 2, which is conducive to comprehensive signal collection of the bionic body 2.

[0028] The sensor 12 and the controller 13 can be designed separately or in an integrated manner. In the case of an integrated design, a substrate is provided, and the controller 13 and the sensor 12 are integrated on the substrate to form a sensing plate 14. The sensing plate 14 can be flexible or rigid. Such a design facilitates the installation of the touch component 1.

[0029] In the present application, the sensor 12 may refer to a single sensor or may be a combination of multiple types of sensors. When only one type of sensor is used, the sensor must at least have the ability to collect the posture signal of the touched object and the acceleration signal of the touching object. For example, a gyroscope sensor commonly found on the market can provide posture information by measuring angular velocity, and is usually integrated with an accelerometer to capture the motion acceleration of the object. When multiple types of sensors are used, it may be a combination of an acceleration sensor and a posture sensor, wherein the acceleration sensor is used to collect the acceleration signal of the touching object, and the posture sensor is used to collect the posture signal of the touched object.

[0030] In the present application, the controller 13 should at least have the ability to process the touch sensing signal from the sensing sheet 11 and the posture and acceleration signals from the sensor 12, and analyze and process the received touch sensing signal, posture signal and acceleration signal to generate touch sensing information, posture information and acceleration information and output them. The controller 13 with this capability can be a controller 13 of the STM32, BeagleBone series, Arduino series, or Raspberry Pi series on the market.

[0031] In this application, touch sensing information includes the touch position, the touch posture of the touch object (for example, the touch gesture of a person touching with his hand), and the touch force. Posture information includes the current posture of the touch object and the posture change process of the touch object. Acceleration information includes the speed change magnitude and speed direction.

[0032] In one embodiment, the sensor sheet 11 is provided with at least one touch sensing electrode 111 , and when the touch sensing electrode 111 directly or indirectly contacts a touch object, a touch sensing signal is generated.

[0033] It should be noted that the touch sensing electrode 111 can contact the touch object directly or indirectly, wherein the direct contact is applicable to the scenario where the surface of the touch sensing electrode 111 is not covered with additional materials. In the case of indirect contact, the outer surface of the touch sensing electrode 111 is covered with additional materials, but the additional materials must not affect the normal operation of the touch sensing electrode 111, that is, the touch sensing electrode 111 can still form a sensing contact through the layer of material.

[0034] In one embodiment, the sensing sheet 11 can be a plane or curved surface of any shape. The sensing sheet 11 includes a substrate and a conductor. The conductor and the touch sensing electrodes 111 are both disposed on the substrate. The conductor is connected to the touch sensing electrodes 111. The substrate is made of a flexible and bendable material.

[0035] The base material of the sensor sheet 11 is made of a flexible and bendable material, which may be polyimide (PI), polyethylene terephthalate (PET) or thermoplastic polyurethane (TPU), etc. This ensures that the sensor sheet 11 can be bent or flattened when subjected to force, so that the sensor sheet 11 can fit various curved surfaces when in use, while maintaining stable electrical properties and mechanical strength.

[0036] Conductors are formed by depositing or printing conductive materials on a substrate. Common materials include copper, silver nanowires, carbon nanotubes, or conductive polymers (such as PEDOT:PSS). These materials are highly conductive and flexible, making them suitable for flexible electronic devices. Conductors can be manufactured by screen printing, inkjet printing, or chemical vapor deposition. The pattern design of the conductor can be customized according to application requirements, such as a grid or strip shape to optimize the sensitivity of touch sensing.

[0037] The touch sensing electrode 111 is also arranged on the substrate and directly connected to the conductor to form a complete touch sensing circuit. The touch sensing electrode 111 adopts a capacitive electrode or a pressure electrode. The working principles of the capacitive electrode and the pressure electrode are different. Specifically, in actual use, the capacitive electrode only needs to be designed as an electrode of different shapes and sizes at the end of the circuit of the sensing sheet 11 to transmit and receive changes in the detection capacitive electric field to measure the touch signal. The pressure electrode is that after the pressure is applied at the electrode position, the strain sensing device will deform, causing its own resistance to change, thereby measuring the touch signal.

[0038] The material of the touch sensing electrodes 111 can be the same as that of the conductor layer, or different materials can be used to optimize contact resistance and signal transmission efficiency. The touch sensing electrodes 111 are arranged in an array, such as a matrix arrangement.

[0039] The connection between the conductor and the touch sensing electrode 111 can be achieved by direct printing, conductive adhesive bonding or co-deposition technology to ensure the reliability and stability of the electrical connection.

[0040] In one embodiment, FPCB is used as the substrate, copper is used as the conductor, and the touch sensing electrodes 111 are line ends of different shapes and sizes.

[0041] In one embodiment, TPU and PET are used as substrates, conductive silver paste is used as a conductor, and the touch sensing electrodes 111 are line ends of different shapes and sizes; In one embodiment, fabric is used as a substrate, flexible wires are arranged in the fabric or conductive silver paste is directly printed on the fabric, and the touch sensing electrodes 111 may be capacitive electrodes or pressure electrodes.

[0042] like Figure 2As shown, the sensor plate 11 is provided with a plurality of openings 112 and / or openings 113 .

[0043] The openings 112 and the openings 113 on the sensor sheet 11 can be designed to be circular, elliptical, rectangular or other geometric shapes. The size and distribution of the openings 112 can be adjusted according to specific requirements.

[0044] By providing the opening 112 and / or the opening 113 on the sensor sheet 11 , it is convenient to position or cooperate with other structural parts to improve the installation accuracy.

[0045] It should be noted that if the opening 112 and / or the opening 113 are located on the touch sensing electrode 111 and the touch sensing electrode 111 is a capacitive electrode, the shape or area of ​​the touch sensing electrode 111 may be changed to adjust the signal.

[0046] An embodiment of the present invention also provides a bionic structure, including a bionic body 2 and the above-mentioned touch component 1, the touched object is the bionic body 2, the touch component 1 is arranged on the bionic body 2, the bionic body 2 includes a contoured skeleton 22 and a covering layer 21, the covering layer 21 is arranged on the surface of the contoured skeleton 22, and the sensing sheet 11 is arranged between the contoured skeleton 22 and the covering layer 21.

[0047] The shape of the bionic body 2 can be humanoid, animal or organ, wherein the bionic body 2 in the shape of an animal can be in the form of a dog, a cat, a fox, etc., and the bionic body 2 in the shape of an organ can simulate features such as a mouth and a nose. It should be noted that the bionic body 2 in the shape of an organ can exist independently or be combined with the bionic body 2 in the shape of a human or animal as a part of the bionic body 2 in the shape of a human or animal.

[0048] The covering layer 21, as the outer structure of the prosthetic frame 22, can be one or more layers of material, and can be made of elastic or hard materials, such as silicone materials, fur or leather, etc. The color, texture and thickness of the covering layer 21 can be adjusted according to needs to achieve the best bionic effect. The covering layer 21 and the prosthetic frame 22 can be fixed by adhesive bonding, mechanical fixing, hot melting or zipper.

[0049] The sensing piece 11 can be installed on the inner side of the covering layer 21 or on the surface of the profiling frame 22. Specifically, the sensing piece 11 can be directly installed in contact with the inner side of the covering layer 21 or the surface of the profiling frame 22, or the installation position is designed with some structures for auxiliary installation or positioning, for example, the inner side of the covering layer 21 or the surface of the profiling frame 22 is designed with a convex structure, and the convex structure corresponds to the opening 113 or the opening 112 on the sensing piece 11. In addition, the sensing piece 11 can be fixed to the inner side of the covering layer 21 or the surface of the profiling frame 22 by gluing, sewing or pressing.

[0050] The sensing sheet 11 is arranged between the profiling frame 22 and the covering layer 21, which can prevent the sensing sheet 11 from being directly exposed to the outer surface of the covering layer 21, thereby improving the appearance simulation of the bionic body 2. The sensing plate 14 integrated with the sensor 12 and the controller 13 can be fixed to the profiling frame 22 by screws or clamping, and is located on the inner side of the covering layer 21. Such a design can also prevent the sensing plate 14 from being directly exposed to the outer surface of the covering layer 21, thereby further improving the appearance simulation of the bionic body 2.

[0051] In one embodiment, the bionic body 2 is provided with touch components 1 at different positions, and the bionic structure further includes a main controller 3 . The touch components 1 corresponding to different positions of the bionic body 2 are all electrically connected to the same main controller 3 .

[0052] like Figure 4 As shown, two or more touch sensing components 1 are connected to the same main controller 3, and the main controller 3 can comprehensively collect and analyze the touch sensing information, posture information and acceleration information collected from each touch sensing component 1. The comprehensive analysis by the main controller 3 can be implemented based on the existing machine learning model, and the machine learning model is burned into the flash memory of the main controller 3 in the form of code during the development stage. The main controller 3 can select ARM Cortex series, AVR series MCU, or single chip microcomputer (SoC), etc.

[0053] like Figures 5 to 10 As shown, in one embodiment, the bionic body 2 is in humanoid form (hereinafter referred to as humanoid robot), and the humanoid robot is equipped with touch components on the upper arms, lower arms, thighs, lower legs, abdomen, back, buttocks, chest and face. For different installation locations, the shape and size of the sensor sheet 11 of the touch component will be different.

[0054] Figure 5 The appearance of the humanoid robot is shown schematically. Since the tactile component is installed between the covering layer and the contoured frame 22, the tactile component cannot be seen from the appearance of the humanoid robot, which can improve the appearance simulation of the humanoid robot. Figure 6The figure shows the shape of the humanoid robot with the covering layer removed and only the contour frame 22 remaining. In this state, no sensing component is provided. Figure 7 The arrangement positions of the plurality of tactile components are shown in the figure, and the contour skeleton 22 is not shown in the figure. Figure 7 It can be seen that the shapes and sizes of the sensing pieces 11 corresponding to various parts of the contoured frame 22 are different. Figure 8 The state that the tactile component is installed on the contour frame 22 is shown in FIG. Figure 8 It can be seen from the figure that the sensing sheet 11 which fits the curved surface can still be arranged on certain curved surface parts of the contoured frame 22 . Fig. 9 The diagram shows a state where only the induction sheet 11 is installed on the contour frame 22 but the induction plate 14 is not installed. Fig.10 The shape of the sensor sheet 11 at the abdomen of the humanoid robot is shown schematically.

[0055] like Figures 11 to 16 As shown, in one embodiment, the bionic body 2 is in the form of a panda (hereinafter referred to as the panda robot), and the panda robot is equipped with touch components on the upper arm, lower arm, thigh, calf, abdomen, head and face. For different installation locations, the shape and size of the sensor sheet 11 of the touch component will be different.

[0056] Fig.11 The appearance of the panda robot is shown. Since the tactile component is installed between the covering layer and the contoured frame 22, the tactile component cannot be seen from the appearance of the panda robot, thereby improving the appearance simulation of the panda robot. Fig.12 The diagram shows the shape of the panda robot with the covering layer removed and only the contour skeleton 22 retained. In this state, no sensing component has been set. Fig.13 The arrangement positions of the plurality of tactile components are shown in the figure, and the contour skeleton 22 is not shown in the figure. Fig.13 It can be seen that the shapes and sizes of the sensing pieces 11 corresponding to various parts of the contoured frame 22 are different. Fig.14 The diagram shows a state where only the induction sheet 11 is installed on the contour frame 22 but the induction plate 14 is not installed. Fig.15 The state that the tactile component is installed on the contour frame 22 is shown in FIG. Fig.15 It can be seen from the figure that the sensing sheet 11 which fits the curved surface can still be arranged on certain curved surface parts of the contoured frame 22 . Fig.16 The shape of the sensor sheet 11 at the top of the head of the panda robot is shown schematically.

[0057] like Fig.17 and Fig.18As shown, in one embodiment, the bionic body 2 is in the form of an organ, which has a channel, which can be a simulated human mouth or nostril. A human finger or the like can enter the channel, and since the sensing sheet 11 is distributed along the length direction of the channel, when a human finger or the like enters the channel and moves, data such as the specific position, residence time, and force of the human finger or the like entering the channel can be collected, and data such as the movement speed can be indirectly calculated.

[0058] In one embodiment, the main controller 3 is integrated with a wireless communication module, and the wireless communication module can be Wi-Fi, Bluetooth, Zigbee, LoRa or other modules suitable for short-distance or medium-distance wireless transmission. The main controller 3 is wirelessly connected to the VR device or an electronic device with VR function (such as a smart phone, a tablet computer, a VR headset, etc.) through the wireless communication module. The initial position and posture of the virtual target object in the VR animation are set to be consistent with the posture of the bionic body 2. The information collected by the main controller 3 (the information includes touch sensing information, posture information, acceleration information, and voice information, etc.) will be sent to the VR device or the electronic device with VR function. The virtual target object in the VR animation will be synchronously virtually presented in the same form as the bionic body 2. For example, when the arm of the humanoid robot is raised, the virtual target object in the VR animation also presents such a posture, ensuring the user's immersion in the VR environment.

[0059] It is worth noting that the information interaction between the VR device and the bionic body 2 can be regarded as a two-way information flow process. The VR device is not only a terminal that passively receives data, but it can also generate a lot of useful information. For example, the VR device can capture the user's interactive actions in the virtual world (such as gestures, head movements), user perspective data, and the device's environmental perception information (such as spatial positioning and boundary perception). This information can be combined with the touch sensing information, posture information, acceleration information, and voice interaction information from the bionic body 2. The combined information will be sent to the VR device again to synchronize the virtual target object action with the user's physical interaction.

[0060] It should be noted that if multiple bionic bodies 2 need to be synchronized to the same VR device, data aggregation and distribution can be performed through the network protocol (such as MQTT or WebSocket) on the main controller 3, thereby realizing the coordinated actions of multiple virtual characters in the same VR environment.

[0061] In addition to VR applications, it can also be extended to AR scenarios, that is, mapping the posture information of the bionic body 2 to the AR device, so that users can see the virtual objects superimposed on the real scene and interact with the bionic body 2 through AR glasses or mobile phones.

[0062] The embodiment of the present invention further provides a perception feedback method of a bionic structure. The method is applicable to the above-mentioned bionic structure, and the method specifically includes the following steps: S10A-S30A.

[0063] S10A: When the touching object contacts the touched object, the touch sensing information, posture information and acceleration information collected by the tactile components of each part of the touched object are obtained.

[0064] In this embodiment, the touching object is a human, and the touched object is a humanoid robot.

[0065] The touch sensing components of various parts of the humanoid robot are all connected to the same main controller, and the main controller can receive touch sensing information, posture information and acceleration information collected by the touch sensing components of various parts.

[0066] S20A, comprehensively analyzing the touch sensing information, posture information, and acceleration information collected by the touch sensing components of each part to obtain the emotional information of the touch object.

[0067] Since the comprehensive analysis of the main controller can be realized based on the existing machine learning model, specifically, the touch sensing information, posture information and acceleration information are collected from each tactile component, and these data are normalized, and the data of different dimensions are adjusted to a unified scale. The filter is used to eliminate noise to improve the quality of the data. Select a deep neural network (DNN) or a convolutional neural network (CNN) to divide the normalized data into a training set, a validation set and a test set. Train the model through a feedforward neural network so that the model can learn the relationship between the tactile data and the expected output. Use the back propagation algorithm and optimizer (such as Adam or SGD) to update the model parameters. Monitor the loss function to ensure that the model gradually converges. Hyperparameter tuning: adjust the network structure (such as the number of layers, the number of neurons) and training parameters (such as learning rate, batch size) to optimize the model performance. Burn the trained model into the main controller. After burning, the main controller can analyze the data transmitted by each tactile component in real time to analyze the emotional information of the person, such as whether the emotional information conveyed is friendly, vicious, naughty, happy, angry, sad, etc.

[0068] S30A: The touched object generates feedback information according to the emotional information of the touching object, where the feedback information includes sound, action behavior and facial expression.

[0069] In this embodiment, appropriate sounds, which may be speech, music or other sound effects, are played through the audio output device of the humanoid robot itself or remotely connected. The content of the sound is related to emotional information, for example, a cheerful voice or comforting music. The control driver of the humanoid robot realizes body movements, such as waving, nodding, hugging, etc., which are consistent with the emotional state. For example, a person holds the upper arms on both sides of the humanoid robot at the same time and laughs at the humanoid robot. The robot will determine that this person may be in a happy mood and wants to communicate and share with the robot. When it is recognized that the person is happy, the humanoid robot can make movements such as opening its arms. The humanoid robot has facial animation capabilities, and changes facial expressions through servo motors or flexible materials to reflect emotional information. For example, when it is recognized that the touched object is worried, the face may show a concerned expression.

[0070] It should be noted that the movements, behaviors and facial expressions of the above-mentioned humanoid robot can be achieved through mechanical movements, and the mechanical structure design of the humanoid robot can refer to Chinese patents with patent publication numbers CN117124343A and CN117138362A.

[0071] The embodiment of the present invention further provides a perception feedback method of a bionic structure, which is applicable to the above-mentioned bionic structure. The method specifically includes the following steps: S10B-S30B.

[0072] S10B, when the touching object contacts the touched object, the touch sensing information, posture information and acceleration information collected by the tactile components of each part of the touched object are obtained, and the voice or text interaction information between the touching object and the touched object is obtained.

[0073] In this embodiment, the touching object is a human, and the touched object is a humanoid robot.

[0074] The touch components of various parts of the humanoid robot are connected to the same main controller 3, and the main controller 3 can receive touch sensing information, posture information and acceleration information collected by the touch components of various parts, as well as voice or text interaction information between the human and the humanoid robot.

[0075] It should be noted that if a person interacts with a humanoid robot using language, the speech-to-text module of the humanoid robot can be used to convert the content of the person's speech into text form, and then perform subsequent processing to reduce the difficulty of processing. Of course, the speech-to-text module can be integrated into the main controller or exist separately.

[0076] S20B, comprehensively analyzing the touch sensing information, posture information, acceleration information and interaction information collected by the touch sensing components of each part to obtain the emotional information of the touch object.

[0077] Since the comprehensive analysis of the main controller can be realized based on the existing machine learning model, specifically, the touch sensing information, posture information and acceleration information are collected from each tactile component, and these data are normalized, and the data of different dimensions are adjusted to a unified scale. The filter is used to eliminate noise to improve the quality of the data. Select a deep neural network (DNN) or a convolutional neural network (CNN) to divide the normalized data into a training set, a validation set and a test set. Train the model through a feedforward neural network so that the model can learn the relationship between the tactile data and the expected output. Use the back propagation algorithm and optimizer (such as Adam or SGD) to update the model parameters. Monitor the loss function to ensure that the model gradually converges. Hyperparameter tuning: adjust the network structure (such as the number of layers, the number of neurons) and training parameters (such as learning rate, batch size) to optimize the model performance. Burn the trained model into the main controller. After burning, the main controller can analyze the data transmitted by each tactile component in real time to analyze the emotional information of the person, such as whether the emotional information conveyed is friendly, vicious, naughty, happy, angry, sad, etc. Among them, the algorithm of the sentiment analysis part based on the interactive information of speech or text can refer to the Chinese patent with patent publication number CN118916466A.

[0078] S30B: The touched object generates feedback information according to the emotional information of the touching object, where the feedback information includes sound, action behavior and facial expression.

[0079] In this embodiment, appropriate sounds, which may be speech, music or other sound effects, are played through the audio output device of the humanoid robot itself or remotely connected. The content of the sound is related to emotional information, for example, a cheerful voice or comforting music. The control driver of the humanoid robot realizes body movements, such as waving, nodding, hugging, etc., which are consistent with the emotional state. For example, a person holds the upper arms on both sides of the humanoid robot at the same time and laughs at the humanoid robot. The robot will determine that this person may be in a happy mood and wants to communicate and share with the robot. When it is recognized that the person is happy, the humanoid robot can make movements such as opening its arms. The humanoid robot has facial animation capabilities, and changes facial expressions through servo motors or flexible materials to reflect emotional information. For example, when it is recognized that the touched object is worried, the face may show a concerned expression.

[0080] It should be noted that the movements, behaviors and facial expressions of the above-mentioned humanoid robot can be achieved through mechanical movements, and the mechanical structure design of the humanoid robot can refer to Chinese patents with patent publication numbers CN117124343A and CN117138362A.

[0081] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A tactile component, characterized in that: include: The sensing sheet is provided on the touched object and collects the touch sensing signal when directly or indirectly contacting the touch object; A sensor, disposed on the touched object, collecting a gesture signal of the touched object and an acceleration signal of the touching object during a period when the sensing sheet directly or indirectly contacts the touching object; a controller connected to the sensing sheet and the sensor, and generating touch sensing information, posture information and acceleration information according to the received touch sensing signal, posture signal and acceleration signal; Wherein, the sensing sheet can be bent or flattened when subjected to force.

2. A tactile component according to claim 1, characterized in that: The sensing sheet is provided with at least one touch sensing electrode, and when the touch sensing electrode directly or indirectly contacts the touch object, the touch sensing signal is generated.

3. A tactile component according to claim 2, characterized in that: The sensing sheet includes a substrate and a conductor. The conductor and the touch sensing electrodes are both arranged on the substrate. The conductor is connected to the touch sensing electrodes. The substrate is made of a flexible and bendable material.

4. A tactile component according to claim 3, characterized in that: The touch sensing electrodes are capacitive electrodes or pressure electrodes.

5. The tactile component according to claim 1, characterized in that: The induction sheet is provided with a plurality of openings and / or holes.

6. A bionic structure, characterized in that: The bionic body comprises a bionic body and at least one tactile component according to any one of claims 1 to 5, wherein the touched object is the bionic body, the tactile component is arranged on the bionic body, the bionic body comprises a contoured frame and a covering layer, the covering layer is arranged on the surface of the contoured frame, and the sensing sheet is arranged between the contoured frame and the covering layer.

7. A bionic structure according to claim 6, characterized in that: The bionic body is in the shape of a human, an animal or an organ.

8. A bionic structure according to claim 6 or 7, characterized in that: The bionic body is provided with the tactile components at different positions respectively, and also includes a main controller. The tactile components corresponding to different positions of the bionic body are all electrically connected to the same main controller.

9. A bionic structure perception feedback method, characterized in that: include: When the touching object contacts the touched object, the touch sensing information, posture information and acceleration information collected by the tactile components of various parts of the touched object are obtained; Comprehensively analyzing the touch sensing information, posture information and acceleration information collected by the touch sensing components of each part to obtain the emotional information of the touch object; The touched object generates feedback information according to the emotional information of the touching object, and the feedback information includes sound, action behavior and facial expression.

10. A bionic structure perception feedback method, characterized in that: include: When the touching object contacts the touched object, the touch sensing information, posture information and acceleration information collected by the tactile components of each part of the touched object are obtained, and the voice or text interaction information between the touching object and the touched object is obtained; Comprehensively analyzing the touch sensing information, posture information, acceleration information and interaction information collected by the touch sensing components of each part to obtain the emotional information of the touch object; The touched object generates feedback information according to the emotional information of the touching object, and the feedback information includes sound, action behavior and facial expression.

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