A tactile component, a bionic structure and a perception feedback method thereof

Abstract

The present invention discloses a tactile component, a bionic structure and a perception feedback method thereof. The tactile component includes an induction sheet, a sensor and a controller. The induction sheet is arranged on the object to be touched and collects touch induction signals when directly or indirectly contacting the touch object. The induction sheet can be bent or flattened when stressed. The sensor is arranged on the object to be touched and collects the attitude signal of the object to be touched and the acceleration signal of the touch object during the period when the induction sheet directly or indirectly contacts the touch object. The controller is connected to the induction sheet and the sensor, and the controller generates touch induction information, attitude information and acceleration information according to the received touch induction signals, attitude signals and acceleration signals. The present invention solves the problem that traditional touch sensors are difficult to be installed on curved surfaces, improves the appearance simulation degree of the bionic body, and is conducive to subsequent analysis and comprehensive signal acquisition.

Description

Technical Field

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

[0002] In order to enable a bionic robot to perceive external environmental changes and provide information feedback, a touch sensor is generally installed on the outer surface of the bionic robot. However, such a setting not only hinders the realization of a realistic bionic shape, but also some parts of the bionic robot are curved, and it is not convenient to install the touch sensor on the curved parts. In addition, the touch sensor only outputs the content of the touch itself, which is not conducive to subsequent analysis, and thus cannot achieve a 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 to provide a tactile component, a bionic structure and a perception feedback method thereof, aiming to solve the problems that the touch sensor cannot be installed on the curved parts of the bionic robot and is prone to hinder the bionic shape.

[0004] To achieve the above purpose, the present invention adopts the following technical solutions:

[0005] In a first aspect, the present invention provides a tactile component, including:

[0006] An induction sheet, disposed on an object to be touched, and collecting a touch induction signal when directly or indirectly contacting a touch object;

[0007] A sensor, disposed on the object to be touched, and collecting an attitude signal of the object to be touched and an acceleration signal of the touch object during the period when the induction sheet directly or indirectly contacts the touch object;

[0008] A controller, connected to the induction sheet and the sensor, and generating touch induction information, attitude information and acceleration information according to the received touch induction signal, attitude signal and acceleration signal;

[0009] Wherein, the induction sheet can be bent or flattened when stressed.

[0010] Further, the induction sheet is provided with at least one touch induction electrode, and when the touch induction electrode directly or indirectly contacts the touch object, the touch induction signal is generated.

[0011] Further, the induction sheet includes a base material and a conductor, the conductor and the touch induction electrode are both disposed on the base material, the conductor is connected to the touch induction electrode, and the base material is made of a flexible and bendable material.

[0012] Further, the touch sensing electrode is a capacitive electrode or a pressure electrode.

[0013] Further, the sensing sheet is provided with a plurality of openings and / or apertures.

[0014] In a second aspect, the present invention further provides a bionic structure, including a bionic body and the above-mentioned tactile component, wherein the object to be touched is the bionic body, the tactile component is disposed on the bionic body, the bionic body includes a contoured skeleton and a covering layer, the covering layer is disposed on the surface of the contoured skeleton, and the sensing sheet is disposed between the contoured skeleton and the covering layer.

[0015] Further, the shape of the bionic body is in the shape of a human, an animal or an organ.

[0016] Further, the tactile components are respectively disposed at different parts of the bionic body, and a main controller is further included. The tactile components corresponding to different parts of the bionic body are electrically connected to the same main controller.

[0017] In a third aspect, the present invention further provides a perception feedback method for a bionic structure, including:

[0018] When a touch object contacts the object to be touched, acquiring touch sensing information, attitude information and acceleration information collected by the tactile components at various parts of the object to be touched;

[0019] Performing comprehensive analysis on the touch sensing information, attitude information and acceleration information collected by the tactile components at various parts to obtain the emotional information of the touch object;

[0020] The object to be touched generates feedback information according to the emotional information of the touch object, and the feedback information includes sound, action behavior and facial expression.

[0021] In a fourth aspect, the present invention further provides a perception feedback method for a bionic structure, including:

[0022] When a touch object contacts the object to be touched, acquiring touch sensing information, attitude information and acceleration information collected by the tactile components at various parts of the object to be touched, and acquiring voice or text interaction information between the touch object and the object to be touched;

[0023] Performing comprehensive analysis on the touch sensing information, attitude information, acceleration information and interaction information collected by the tactile components at various parts to obtain the emotional information of the touch object;

[0024] The object to be touched generates feedback information according to the emotional information of the touch object, and the feedback information includes sound, action behavior and facial expression.

[0025] The beneficial effects of the present invention compared with the prior art are as follows: A tactile component includes an induction sheet, a sensor, and a controller. The induction sheet is disposed on the object to be touched and collects touch induction signals when directly or indirectly contacting the touch object. The induction sheet can be bent or flattened when stressed; the sensor is disposed on the object to be touched and collects the attitude signal of the object to be touched and the acceleration signal of the touch object during the period when the induction sheet directly or indirectly contacts the touch object; the controller is connected to the induction sheet and the sensor, and the controller generates touch induction information, attitude information, and acceleration information according to the received touch induction signal, attitude signal, and acceleration signal. The induction sheet of the present invention can be bent or flattened when stressed, so it can be conveniently installed on various curved 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, thus solving the problem that traditional touch sensors are difficult to install on curved parts and improving the appearance simulation degree of the bionic body. At the same time, the tactile component can not only collect touch induction signals, but also obtain attitude signals and acceleration signals simultaneously, which is beneficial for subsequent analysis. In addition, the tactile component can be used as an independent module and deployed on various parts of the bionic body, which is beneficial for comprehensive signal collection of the bionic body.

[0026] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features, and advantages of the present invention more obvious and understandable, the following preferred embodiments are specifically described in detail as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0028] Figure 1 FIG. is a schematic structural diagram of a tactile component provided for a specific embodiment of the present invention;

[0029] Figure 2 FIG. is a schematic structural diagram of an induction sheet in a tactile component provided for a specific embodiment of the present invention;

[0030] Figure 3 FIG. is a schematic installation diagram of a tactile component provided for a specific embodiment of the present invention;

[0031] Figure 4 FIG. is a working principle diagram of a bionic structure provided for a specific embodiment of the present invention;

[0032] Figure 5Schematic diagram of the external structure of a bionic structure in the shape of a human figure provided by a specific embodiment of the present invention;

[0033] Figure 6 Schematic diagram of the structure of a bionic structure in the shape of a human figure provided by a specific embodiment of the present invention (with the covering layer removed);

[0034] Figure 7 Schematic diagram of the structure of the induction sheet and the induction plate in a bionic structure in the shape of a human figure provided by a specific embodiment of the present invention;

[0035] Figure 8 Schematic diagram of the structure in which the induction sheet and the induction plate in a bionic structure in the shape of a human figure are installed on the contoured skeleton;

[0036] Figure 9 Schematic diagram of the structure in which the induction sheet in a bionic structure in the shape of a human figure is installed on the contoured skeleton;

[0037] Figure 10 Schematic diagram of the shape of the induction sheet at the abdominal position in a bionic structure in the shape of a human figure provided by a specific embodiment of the present invention;

[0038] Figure 11 Schematic diagram of the external structure of a bionic structure in the shape of an animal provided by a specific embodiment of the present invention;

[0039] Figure 12 Schematic diagram of the structure of a bionic structure in the shape of an animal provided by a specific embodiment of the present invention (with the covering layer removed);

[0040] Figure 13 Schematic diagram of the structure of the induction sheet and the induction plate in a bionic structure in the shape of an animal provided by a specific embodiment of the present invention;

[0041] Figure 14 Schematic diagram of the structure in which the induction sheet in a bionic structure in the shape of an animal is installed on the contoured skeleton;

[0042] Figure 15 Schematic diagram of the structure in which the induction sheet and the induction plate in a bionic structure in the shape of an animal are installed on the contoured skeleton;

[0043] Figure 16 Schematic diagram of the shape of the induction sheet at the top of the head in a bionic structure in the shape of an animal provided by a specific embodiment of the present invention;

[0044] Figure 17 Cross-sectional schematic diagram of a bionic structure in the shape of an organ provided by a specific embodiment of the present invention;

[0045] Figure 18 Exploded view of a bionic structure in the shape of an organ provided by a specific embodiment of the present invention.

[0046] Reference numerals:

[0047] 1. Touch component; 11. Induction sheet; 111. Touch induction electrode; 112. Opening; 113. Aperture; 12. Sensor; 13. Controller; 14. Induction plate; 2. Bionic body; 21. Cover layer; 22. Contour skeleton; 3. Main controller. Detailed implementation manners

[0048] Next, specific embodiments of the present invention will be used to clearly and completely describe the technical solutions of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0049] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is 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 thus cannot be construed as a limitation of the present invention.

[0050] In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0051] In the present invention, unless otherwise clearly defined and limited, the terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. 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.

[0052] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the 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, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature may mean that the first feature is directly below or obliquely below the second feature, or merely indicates that the horizontal height of the first feature is less than that of the second feature.

[0053] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only implementation.

[0054] As Figures 1 to 4 shown, an embodiment of the present invention provides a tactile component 1, including an induction sheet 11, a sensor 12 and a controller 13. The induction sheet 11 is disposed on an object to be touched, and when directly or indirectly contacting the touch object, collects touch induction signals. The induction sheet 11 can be bent or flattened when stressed. The sensor 12 is disposed on the object to be touched, and during the period when the induction sheet 11 directly or indirectly contacts the touch object, collects the attitude signal of the object to be touched and the acceleration signal of the touch object. The controller 13 is connected to the induction sheet 11 and the sensor 12, and the controller 13 generates touch induction information, attitude information and acceleration information according to the received touch induction signals, attitude signals and acceleration signals.

[0055] The touch object can be a human or an animal, and the object to be touched can be a humanoid robot or an animal-shaped robot, etc.

[0056] The induction sheet 11 can be bent or flattened when stressed, so it can be conveniently installed on various curved parts of a bionic body 2 such as a humanoid robot or an animal-shaped robot, and does not need to be installed on the surface of the bionic body 2, thus solving the problem that traditional touch sensors 12 are difficult to install on curved parts and improving the appearance simulation degree of the bionic body 2. At the same time, the tactile component 1 can not only collect touch induction signals, but also obtain attitude signals and acceleration signals simultaneously, which is beneficial to subsequent analysis. In addition, the tactile component 1 can be used as an independent module and deployed on various parts of the bionic body 2, which is beneficial to comprehensive signal acquisition of the bionic body 2.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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;

[0071] In one embodiment, a fabric is used as a substrate, and flexible wire materials are arranged in the fabric or conductive silver paste is directly printed on the fabric. The touch sensing electrode 111 can be a capacitive electrode or a pressure electrode.

[0072] As Figure 2 shown, the sensing sheet 11 is provided with a plurality of openings 112 and / or apertures 113.

[0073] The openings 112 and apertures 113 on the sensing sheet 11 can be designed as circular, oval, rectangular or other geometric shapes. The size and distribution of the openings 112 can be adjusted according to specific requirements.

[0074] By providing the openings 112 and / or apertures 113 on the sensing sheet 11, positioning can be facilitated or cooperation with other structural members can be achieved to improve the installation accuracy.

[0075] It should be noted that if the openings 112 and / or apertures 113 are located on the touch sensing electrode 111 and the touch sensing electrode 111 is a capacitive electrode, then the shape or area of the touch sensing electrode 111 can be changed to adjust the signal.

[0076] The embodiment of the present invention further provides a bionic structure, including a bionic body 2 and the above-mentioned tactile component 1. The object to be touched is the bionic body 2, the tactile 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.

[0077] The shape of the bionic body 2 can be a human shape, an animal shape or an organ shape. Among them, the bionic body 2 in the shape of an animal can be presented in the forms 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 human or animal shape as a part of the bionic body 2 in the human or animal shape.

[0078] As the external shape structure of the contoured skeleton 22, the covering layer 21 can be one or more layers of materials and can be made of elastic or rigid materials, such as silicone materials, fur or leather. The color, texture and thickness of the covering layer 21 can all be adjusted according to requirements to achieve the best bionic effect. The covering layer 21 and the contoured skeleton 22 can be fixed by means of adhesives, mechanical fixation, hot melting or zippers.

[0079] The sensing sheet 11 can be installed on the inner side of the covering layer 21 or on the surface of the profiling skeleton 22. Specifically, the sensing sheet 11 can be in direct contact with the inner side of the covering layer 21 or the surface of the profiling skeleton 22 for installation, or there are some structures designed at the installation position for auxiliary installation or positioning. For example, raised structures are designed on the inner side surface of the covering layer 21 or the surface of the profiling skeleton 22, and the raised structures correspond to the openings 113 or the through holes 112 on the sensing sheet 11. In addition, the sensing sheet 11 can be fixed to the inner side of the covering layer 21 or the surface of the profiling skeleton 22 by means of glue bonding, stitching or pressing.

[0080] The sensing sheet 11 is arranged between the profiling skeleton 22 and the covering layer 21, which can prevent the sensing sheet 11 from being directly exposed on the outer surface of the covering layer 21, thereby improving the appearance simulation degree of the bionic body 2. The sensing plate 14 integrated with the sensor 12 and the controller 13 can be fixed on the profiling skeleton 22 by means of screws or snap connection, etc., and is located inside the covering layer 21. With such a design, the sensing plate 14 can also be prevented from being directly exposed on the outer surface of the covering layer 21, thereby further improving the appearance simulation degree of the bionic body 2.

[0081] In one embodiment, the bionic body 2 is respectively provided with tactile components 1 at different parts, and the bionic structure further includes a main controller 3. The tactile components 1 corresponding to different parts of the bionic body 2 are all electrically connected to the same main controller 3.

[0082] As Figure 4 shown, two or more tactile components 1 are connected to the same main controller 3, and the main controller 3 can comprehensively collect and analyze the touch sensing information, attitude information and acceleration information collected from each tactile component 1. The comprehensive analysis by the main controller 3 can be realized 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 an MCU of the ARM Cortex series, AVR series, or a single-chip microcomputer (SoC), etc.

[0083] As Figures 5 to 10 shown, in one embodiment, the bionic body 2 is in a humanoid form (hereinafter referred to as a humanoid robot), and tactile components are installed on the upper arm, forearm, thigh, calf, abdomen, back, buttocks, chest and face of the humanoid robot. For different installation parts, the shapes and sizes of the sensing sheets 11 of the tactile components will be different.

[0084] Figure 5 Schematically shows the appearance of the humanoid robot. Since the tactile components are installed between the covering layer and the profiling skeleton 22, the tactile components cannot be seen from the outside of the humanoid robot, which can improve the appearance simulation degree of the humanoid robot. Figure 6Schematically shows the form of a humanoid robot with the covering removed, only retaining the profiling skeleton 22. In this state, the sensing components have not been installed yet. Figure 7 Schematically shows the arrangement positions of multiple tactile components. The profiling skeleton 22 is not schematically shown in this figure. From Figure 7 it can be seen that the shapes and sizes of the sensing sheets 11 corresponding to various parts of the profiling skeleton 22 will be different. Figure 8 Schematically shows the state where the tactile components are installed on the profiling skeleton 22. From Figure 8 it can be seen that on some curved surface parts of the profiling skeleton 22, sensing sheets 11 that fit the curved surface can still be set. Figure 9 Schematically shows the state where only the sensing sheets 11 are installed on the profiling skeleton 22, and the sensing plate 14 is not installed. Figure 10 Schematically shows the shape of the sensing sheet 11 at the abdominal position of the humanoid robot.

[0085] As Figures 11 to 16 shown, in one embodiment, the bionic body 2 is in the form of a panda (hereinafter referred to as the panda robot). The panda robot is installed with tactile components on the upper arms, forearms, thighs, calves, abdomen, head, face and other parts. For different installation parts, the shapes and sizes of the sensing sheets 11 of the tactile components will be different.

[0086] Figure 11 Schematically shows the appearance form of the panda robot. Since the tactile components are installed between the covering and the profiling skeleton 22, the tactile components cannot be seen from the appearance of the panda robot, thus improving the appearance simulation degree of the panda robot. Figure 12 Schematically shows the form of the panda robot with the covering removed, only retaining the profiling skeleton 22. In this state, the sensing components have not been installed yet. Figure 13 Schematically shows the arrangement positions of multiple tactile components. The profiling skeleton 22 is not schematically shown in this figure. From Figure 13 it can be seen that the shapes and sizes of the sensing sheets 11 corresponding to various parts of the profiling skeleton 22 will be different. Figure 14 Schematically shows the state where only the sensing sheets 11 are installed on the profiling skeleton 22, and the sensing plate 14 is not installed. Figure 15 Schematically shows the state where the tactile components are installed on the profiling skeleton 22. From Figure 15 it can be seen that on some curved surface parts of the profiling skeleton 22, sensing sheets 11 that fit the curved surface can still be set. Figure 16 Schematically shows the shape of the sensing sheet 11 at the top of the head of the panda robot.

[0087] As Figure 17 and Figure 18As shown, in one embodiment, the bionic body 2 is in the form of an organ, which has a channel, specifically, it can simulate a human oral cavity or nasal cavity. Human fingers and the like can enter this channel. Since the sensing sheets 11 are distributed along the length direction of the channel, when parts such as human fingers enter the channel and move, data such as the specific position, residence time, and force of the parts such as human fingers entering the channel can be collected, and data such as the movement speed can be indirectly calculated.

[0088] In one embodiment, the main controller 3 is integrated with a wireless communication module. 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 a 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. Set the initial position and posture of the virtual target object in the VR animation to be the same as the posture of the bionic body 2. The information collected by the main controller 3 (this 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 presented virtually in the same form as the bionic body 2. For example, when the arm of a humanoid robot is lifted, the virtual target object in the VR animation will also present such a posture, ensuring the immersion of the user in the VR environment.

[0089] It should be noted 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 just a passive data receiving terminal, and it can also generate a large amount of useful information by itself. For example, the VR device can capture the interaction actions (such as gestures, head movements) of the user in the virtual world, the user perspective data, and the environmental perception information of the device (such as spatial positioning and boundary perception). These information can be merged and processed with the touch sensing information, posture information, acceleration information, and voice interaction information from the bionic body 2. The merged and processed information will be sent to the VR device again, so that the actions of the virtual target object are synchronized with the user's physical interaction.

[0090] 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 carried out through the network protocol (such as MQTT or WebSocket) on the main controller 3, so as to realize the coordinated actions of multiple virtual characters in the same VR environment.

[0091] 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 the user can see the virtual objects superimposed on the real scene interact with the bionic body 2 through AR glasses or a mobile phone.

[0092] An embodiment of the present invention also provides a perception feedback method for a bionic structure. This method is applicable to the above-mentioned bionic structure and specifically includes the following steps: S10A - S30A.

[0093] S10A. When a touch object contacts a touched object, obtain the touch sensing information, attitude information, and acceleration information collected by the touch sensing components of each part of the touched object.

[0094] In this embodiment, the touch object is a human, and the touched object is a humanoid robot.

[0095] The touch sensing components of each part of the humanoid robot are all connected to the same main controller, and the main controller can receive the touch sensing information, attitude information, and acceleration information collected by the touch sensing components of each part.

[0096] S20A. Comprehensively analyze the touch sensing information, attitude information, and acceleration information collected by the touch sensing components of each part to obtain the emotional information of the touch object.

[0097] Since the main controller can perform comprehensive analysis based on existing machine learning models. Specifically, collect touch sensing information, attitude information, and acceleration information from each touch sensing component, perform normalization processing on these data to adjust data with different dimensions to a unified scale, use a filter 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 through a feedforward neural network so that the model can learn the relationship between the touch data and the expected output. Use the backpropagation algorithm and an optimizer (such as Adam or SGD) to update the model parameters. Monitor the loss function to ensure that the model converges gradually. Hyperparameter tuning: Adjust the network structure (such as the number of layers, the number of neurons) and training parameters (such as the 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 from each touch sensing component in real time to analyze the emotional information of the person, such as the transmitted emotional information being friendly, fierce, naughty, happy, angry, sad, etc.

[0098] S30A. The touched object generates feedback information according to the emotional information of the touch object, and the feedback information includes sound, action behavior, and facial expression.

[0099] In this embodiment, appropriate sounds, which may be voices, music, or other sound effects, are played through an audio output device carried by the humanoid robot or connected remotely. The content of the sound is related to emotional information. For example, it can be a voice expressing joy or music for comfort. The limb movements, such as waving, nodding, hugging, etc., are achieved through the control drivers of the humanoid robot, and these movements are consistent with the emotional state. For example, when a person holds both upper arms of the humanoid robot and laughs heartily at the robot, the robot can 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 shows happiness, the humanoid robot can make actions such as opening its arms. The humanoid robot has the ability of facial animation and can change facial expressions through servo motors or flexible materials to reflect emotional information. For example, when it is recognized that the touched object shows worry, a concerned expression may be shown on the face.

[0100] It should be noted that the above actions and facial expressions of the humanoid robot can be achieved through mechanical actions, and the mechanical structure design of the humanoid robot can refer to the Chinese patents with the patent publication numbers CN117124343A and CN117138362A.

[0101] The embodiment of the present invention also provides a perception feedback method for a bionic structure, which is applicable to the above bionic structure, and the method specifically includes the following steps: S10B - S30B.

[0102] S10B. When the touched object contacts the object to be touched, obtain the touch sensing information, attitude information, and acceleration information collected by the touch sensing components of each part of the object to be touched, and obtain the voice or text interaction information between the touched object and the object to be touched.

[0103] In this embodiment, the touched object is a person, and the object to be touched is a humanoid robot.

[0104] The touch sensing components of each part of the humanoid robot are all connected to the same main controller 3, and the main controller 3 can receive the touch sensing information, attitude information, and acceleration information collected by the touch sensing components of each part, as well as the voice or text interaction information between the person and the humanoid robot.

[0105] It should be noted that if a person interacts with the humanoid robot in language, the speech - to - text module of the humanoid robot can be used to convert the content spoken by the person into text form for subsequent processing to reduce the processing difficulty. Of course, the speech - to - text module can be integrated in the main controller or exist independently.

[0106] S20B. Comprehensively analyze the touch sensing information, attitude information, acceleration information, and interaction information collected by the touch sensing components of each part to obtain the emotional information of the touched object.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] As described above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A bionic structure, comprising a bionic body and at least one touch-sensitive component, wherein the touch-sensitive component comprises a sensing sheet, a sensor and a controller, wherein the sensing sheet is arranged on a touched object, and when directly or indirectly in contact with the touch object, a touch sensing signal is collected; the sensor is arranged on the touched object, and when the sensing sheet directly or indirectly in contact with 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 generates touch sensing information, posture information and acceleration information according to the received touch sensing signal, posture signal and acceleration signal; the touch sensing information comprises a touch position, a touch posture of the touch object and a touch force; the posture information comprises a current posture of the touch object and a posture change process of the touch object; the acceleration information comprises a speed change and a speed direction; the sensing sheet can be bent or flattened when subjected to force; the touched object is the bionic body, the touch-sensitive component is arranged on the bionic body, the bionic body comprises a contour skeleton and a covering layer, the covering layer is arranged on the surface of the contour skeleton, and the sensing sheet is arranged between the contour skeleton and the covering layer.

2. A bionic structure 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 bionic structure 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 bionic structure according to claim 3, characterized in that: The touch sensing electrodes are capacitive electrodes or pressure electrodes.

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

6. The bionic structure according to claim 1, characterized in that: The bionic body is in the shape of a human, an animal or an organ.

7. A bionic structure according to any one of claims 1 to 6, 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.

8. A perception feedback method based on the bionic structure according to any one of claims 1 to 7, 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.

9. A perception feedback method based on the bionic structure according to any one of claims 1 to 7, 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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