A dexterous hand distal phalanx force sensor and calibration method for a robot

Abstract

The application discloses a dexterous hand far-joint finger force sensor for a robot and a calibration method, which comprises, from bottom to top, a finger bone, a backing plate, an elastic body, a cover plate and a protective layer; the backing plate is connected with the top of the finger bone, the top of the backing plate is provided with a supporting boss, the geometric center of the elastic body is connected with the supporting boss, the elastic body extends a plurality of blades from the geometric center, sensors are arranged on the blades, the bottom of the blade is arranged with a gap from the backing plate, the geometric center of the elastic body is coincided with the geometric center of the cover plate, the bottom of the cover plate is provided with a contact at the end position of the blade, the contact is in contact with the top of the end of the blade, and the top of the cover plate is connected with the protective layer. The position and size information of the applied force value can be obtained, and the sensitivity detection of the detection assembly to the force is realized.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of strain gauges, and relates to a dexterous hand far-joint finger force sensor for robots and a calibration method. BACKGROUND

[0002] As a new type of end effector of robots, the dexterous hand far-joint finger of robots is an important topic of robot research, and research progress at home and abroad has accelerated in recent years. Since the 1970s, a large number of researches have been carried out on dexterous hands at home and abroad, from three fingers to five fingers, from industry to life, from simple grabbing to dexterous operation, and the research on dexterous hands by market-related subjects is continuously promoted in order to solve more and more complex practical work problems.

[0003] The dexterous hand is a new type of end effector of robots. Generally speaking, the ways of interaction between robots and the environment mainly include: acquisition of moving walking, visual information, decision-making and output. The end effector is a general term for the execution component of the robot, which is generally installed at the end of the wrist of the robot, and is a device directly executing tasks. As the last link and execution component of the interaction between the robot and the environment, the end effector plays an extremely important role in improving the flexibility and ease of use of the robot, and the performance of the end effector determines the working performance of the entire robot to a great extent.

[0004] The dexterous hand takes the structure and function of the human hand as the simulation object, and plays a key role in the interaction between the robot and the environment. With the increase of the environment required to be adapted by the robot hand and the more complex tasks required to be executed, the simple end effector cannot meet the demand, and the robot hand needs to meet the characteristics of small size and light weight, but the existing structural components on the market cannot accurately reflect the position and force value information of the contact surface. SUMMARY

[0005] The purpose of the present application is to overcome the shortcomings of the prior art, and to provide a dexterous hand far-joint finger force sensor for robots and a calibration method, which can obtain the position information of the applied force value and realize sensitive detection of the detection component to the force.

[0006] To achieve the above purpose, the technical scheme adopted by the present application is as follows:

[0007] A dexterous hand far-joint finger force sensor for robots, comprising phalanges, a gasket, an elastomer, a cover plate and a protective layer arranged in sequence from bottom to top.

[0008] The cushion plate is connected with the top of the phalanx, the top of the cushion plate is provided with a supporting boss, the geometric center of the elastic body is connected with the supporting boss, the elastic body extends a plurality of blades from the geometric center, the end of each blade is provided with a sensor, the bottom of the blade is provided with a gap from the top of the cushion plate, the geometric center of the elastic body is coincided with the geometric center of the cover plate, the bottom of the cover plate is provided with a contact at the end of the blade, the contact is in contact with the top of the end of the blade, and the top of the cover plate is connected with the protective layer.

[0009] Preferably, the top of the cover plate is provided with a protruding ball head, and the protruding ball head is connected with the protective layer.

[0010] Preferably, the material of the protective layer is rubber.

[0011] Preferably, the phalanx is connected with the middle segment of the robot.

[0012] Preferably, the blade of the elastic body is in Y-shaped, one sensor is made on each blade, and three sensors are arranged according to 120°.

[0013] Preferably, the blade of the elastic body is in cross-shaped, one sensor is made on each blade, and four sensors are arranged according to 90°.

[0014] Preferably, the blade of the elastic body is in X-shaped, one sensor is made on each blade, and two adjacent sensors are arranged according to 45°-60°, and two adjacent sensors are arranged according to 135°-120°.

[0015] Preferably, the blade of the elastic body is in H-shaped, one sensor is made on each blade, and two adjacent sensors are arranged in parallel, and two opposite sensors are arranged according to 180°.

[0016] Preferably, the top of the cushion plate is provided with a limiting boss below each blade, and the limiting boss is provided with a gap from the bottom of the blade.

[0017] A calibration method of a dexterous hand distal phalanx force sensor for a robot, comprising the following processes:

[0018] Divide the loading area into a plurality of determination areas;

[0019] Calibrate the zero point and full range of each sensor in turn;

[0020] Load the boundary position of the divided determination area, obtain the coefficient of each sensor when loaded to the boundary, and the range between the upper and lower limits of the coefficient is the corresponding determination area.

[0021] Compared with the prior art, the present application has the following beneficial effects:

[0022] The present application has good sensing ability of force value change of each blade sensor of the cover plate and the elastic body when the protective layer is stressed, the elastic body is provided with a sensor on each blade, different deformation difference of the elastic body makes each sensor have different output signals, the closer the force loading position is to the center position of the blade of the sensor, the smaller the output difference is, the position information of the applied force value can be obtained by judging the output signal difference of each blade sensor, the sensitivity detection of the detection assembly to the force is realized, so that the assembly can be widely used in humanoid robots, dexterous mechanical fingers, fingertip sensors and other fields, and the detection and judgment of the sensing signal are improved. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a schematic structural diagram of the dexterous hand far-finger force sensor for the robot of the present application.

[0024] Figure 2 It is an assembly schematic diagram of the phalanx and the pad plate of the present application.

[0025] Figure 3 It is an assembly schematic diagram of the elastic body and the pad plate of the present application.

[0026] Figure 4 It is a cooperation schematic diagram of the elastic body and the cover plate of the present application.

[0027] Figure 5 It is a cooperation schematic diagram of the cover plate and the rubber cap of the present application.

[0028] Figure 6 It is a principle block diagram of the peripheral circuit of the present application.

[0029] Figure 7 It is a schematic diagram of 4 judgment areas of the present application.

[0030] Figure 8 It is a schematic diagram of 6 judgment areas of the present application.

[0031] Figure 9 It is a schematic diagram of 8 judgment areas of the present application.

[0032] Figure 10 It is a schematic diagram of 9 judgment areas of the present application.

[0033] Wherein: 1-phalanx; 2-pad plate; 3-elastic body; 4-cover plate; 5-rubber finger sleeve; 6-peripheral circuit; 7-mounting bolt; 8-supporting boss. DETAILED DESCRIPTION

[0034] Embodiments of the present application are described below in detail with reference to the accompanying drawings, wherein like or similar elements are denoted by the same or similar reference signs throughout the drawings. The embodiments described below are exemplary only, and are not intended to limit the present application.

[0035] In the description of the present application, it is to be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like are based on the orientations or positional relationships shown in the drawings, and are merely for the purpose of facilitating the description of the present application and simplifying the description, and are not intended to indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be construed as limiting the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms "mounting", "connected", "connection" should be interpreted broadly, for example, can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection or can communicate with each other; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. The term "and / or" used herein includes any and all combinations of one or more related listed items. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. The terms used in the specification of the present application are only for the purpose of describing the specific embodiments, and are not intended to limit the present application.

[0037] The following disclosure provides many different embodiments, or examples, for implementing different structures of the present application. For the purpose of simplifying the present application, the components and arrangements of the specific examples are described. Of course, they are merely examples and are not intended to limit the present application. In addition, the present application can repeatedly refer to the same reference numerals and / or reference letters in different examples, and such repetition is for the purpose of simplification and clarity, and does not indicate a relationship between the various embodiments and / or arrangements discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art can realize the application of other processes and / or the use of other materials.

[0038] As shown in Figure 1 , the present application is a far-joint finger force sensor for a robot dexterous hand, which is suitable for the field of humanoid robots, dexterous mechanical fingers, fingertip sensors, etc. The structural components from bottom to top include phalanx 1, pad plate 2, elastomer 3, cover plate 4, and rubber finger sleeve 5.

[0039] As shown in Figure 2 , the phalanx 1 is connected with the middle-joint finger segment of the robot and serves as a support. The pad plate 2 is connected with the top of the phalanx 1 through mounting bolts 7. The position of the connection process can be selected arbitrarily according to the size and position of the sensor and the phalanx 1.

[0040] As shown in Figure 3 , the top of the pad plate 2 is provided with a triangular support boss 8, which is sleeved with the triangular inner cavity of the geometric center of the elastomer 3 and is laser welded; the specific connection mode can also use mechanical assembly interference, two-stage screw installation, etc., as appropriate to achieve reliable assembly and installation. The pad plate 2 has an overload limiting function, and a limiting boss is designed under each blade at the top of the pad plate 2, which is gap-set with the bottom of the blade to ensure normal use under long-term overload of 200% FS and instantaneous overload of 500% FS.

[0041] The elastomer 3 extends a plurality of blades from the geometric center, and sensors are arranged at the ends of the blades. The bottom of the blade is gap-set with the top of the pad plate 2.

[0042] As shown in Figure 4 , the geometric center of the elastomer 3 coincides with the geometric center of the upper cover plate 4, and the bottom of the cover plate 4 is provided with a contact at the end position of the blade, which is in contact with the top of the end of the blade.

[0043] As shown in Figure 5 , the cover plate 4 is tightly connected with the rubber finger sleeve 5 through the protruding ∅2mm protruding ball head; the specific connection mode can use adhesion, vulcanization, interference assembly, etc., as appropriate to achieve reliable assembly and installation. The rubber finger sleeve 5 serves as a protective layer for the entire sensor.

[0044] The distal end of the phalanx 1 is provided with a peripheral circuit 6. When the rubber finger sleeve 5 is under stress, the plurality of groups of pressure sensors have different output signals through the cover plate 4 and the compression elastomer 3, and the signals are transmitted to the peripheral circuit 6 at the distal end. The peripheral circuit 6 determines and feeds back the size and position of the load force value according to the different change values of each sensor output.

[0045] As shown in Figure 6 The peripheral circuit 6 realizes multi-channel micro-signal data acquisition. An amplification circuit is used to amplify the sensor output voltage signal. After amplification, the signal is connected to an integrated ADC conversion chip for collection. The collected signal is transmitted and summarized to the MCU through the SPI interface. The MCU then sequentially filters, voltage converts, and decouples the channel data to output the pressure value and position information.

[0046] In this application, the blades of the elastomer 3 have four forms, which are as follows.

[0047] First, the blade form of the elastomer 3 is a "Y" shape. One sensor is made on each blade, and the three sensors are arranged according to 120°. The closer the loading position of the force is to the center position of the sensor blade, the smaller the output difference is. When the loading force value is far from the center position, the output difference of the three sensors is used as the determination standard. The peripheral circuit 6 determines and feeds back the size and position of the loading force value according to the different change values of the three sensors.

[0048] When the blade form of the elastomer 3 is a "Y" shape, a limiting boss is designed below each blade. The three limiting bosses are arranged according to 120°, and the design height of the limiting boss is considered to ensure the normal deformation and reasonable output of each sensor.

[0049] Second, the blade form of the elastomer 3 is a "+" shape. One sensor is made on each blade, and the four sensors are arranged according to 90°. The closer the loading position of the force is to the center position of the sensor blade, the smaller the output difference is. When the loading force value is far from the center position, the output difference of the four sensors is used as the determination standard. The peripheral circuit 6 determines and feeds back the size and position of the loading force value according to the different change values of the four sensors.

[0050] The blade form of the elastomer 3 is a "+" shape. One limiting boss is designed below each blade. The four limiting bosses are arranged according to 90°, and the design height of the limiting boss is considered to ensure the normal deformation and reasonable output of each sensor.

[0051] Third, the blade shape of the elastomer 3 is "X" shape, one sensor is made on each blade, the layout of the two adjacent sensors is divided by 45°-60°, and the layout of the other two adjacent sensors is divided by 135°-120°. The closer the loading position of the force to the center position of the sensor blade, the smaller the output difference. When the loading force value is far from the center position, the output difference of the four sensors is used as the judgment standard. The peripheral circuit 6 judges and feeds back the size and position of the loading force value according to the different change values of the outputs of the four sensors.

[0052] The blade shape of the elastomer 3 is "X" shape, one sensor is made on each blade, the layout of the two adjacent sensors is divided by 45°-60°, and the layout of the other two adjacent sensors is divided by 135°-120°. The closer the loading position of the force to the center position of the sensor blade, the smaller the output difference. When the loading force value is far from the center position, the output difference of the four sensors is used as the judgment standard. The peripheral circuit 6 judges and feeds back the size and position of the loading force value according to the different change values of the outputs of the four sensors.

[0053] Fourth, the blade shape of the elastomer 3 is "H" shape, one sensor is made on each blade. The two adjacent sensors are arranged in parallel, and the two opposite sensors are arranged at 180°. The closer the loading position of the force to the center position of the sensor blade, the smaller the output difference. When the loading force value is far from the center position, the output difference of the four sensors is used as the judgment standard. The peripheral circuit 6 judges and feeds back the size and position of the loading force value according to the different change values of the outputs of the four sensors.

[0054] The blade shape of the elastomer 3 is "H" shape, one sensor is made on each blade. The two adjacent sensors are arranged in parallel, and the two opposite sensors are arranged at 180°. The closer the loading position of the force to the center position of the sensor blade, the smaller the output difference. When the loading force value is far from the center position, the output difference of the four sensors is used as the judgment standard. The peripheral circuit 6 judges and feeds back the size and position of the loading force value according to the different change values of the outputs of the four sensors.

[0055] The support boss 8 for assembly in the backing plate 2 can be designed in triangular, square, polygonal, etc., and the corresponding sleeve elastomer 3 blade center inner cavity hole can be designed in triangular, square, polygonal, etc.

[0056] In this embodiment, the blade shape of the elastomer 3 is "Y" shape, and the position of the loading force value is determined by the output difference of the three sensors.

[0057] Calibration 4 area:

[0058] As Figure 7As shown, the loading area is divided into four quadrant judgment areas, when the center point is loaded, the loading force value tends to be evenly divided, the position control accuracy of each area is about 1% to 3%, the peripheral circuit 6 judges and feeds back the size and position change of the loading force value according to the different change values of the outputs of the three sensors, and the position of the loading point is judged according to Table 1, and the actual position of the loading point in the four areas, i.e., the first, second, third and fourth quadrants, can be effectively reflected through software algorithm processing, and then the size and position information of the force value are obtained.

[0059] The specific process is as follows:

[0060] 1. The host computer software of the dexterous hand distal finger force sensor writes zero point value 0 when not loaded, and writes calibration value 10000 when loaded 1kg, executes automatic calibration, and sequentially calibrates the zero point and full range of each sensor.

[0061] 2. After calibration, check whether the calibration values of each channel are successfully written.

[0062] 3. The boundary positions of the divided four quadrant areas are loaded, and the output coefficients of each sensor when the four quadrants are loaded to the boundary are obtained through software and written into the host computer for execution.

[0063] 4. After three repeated measurements for each boundary condition, the coefficient mean value is taken, and the product is summarized as the coefficient list in Table 1, which is written into the host computer software.

[0064] Table 1: Judgment criteria for 4-region positions

[0065]

[0066] The standard output sum is the average of the output values of multiple sensors obtained during the calibration process.

[0067] For example: The actual outputs of the three sensors of the dexterous hand distal finger force sensor are 999, 1000 and 1001, the total sum is 3000, and the standard output sum is 3000 / 3=1000. During calibration, the sensor is loaded at the center, and the zero point value 0 is written on the software, and the three full ranges are each calibrated to 1000. Therefore, their standard output sum is 1000.

[0068] The range between the upper and lower limits of the coefficient is the area within the corresponding quadrant, and the peripheral circuit 6 judges and feeds back the size and position change of the loading force value according to the different change values of the outputs of the three sensors. As shown in Table 2, the actual position of the loading point in the four areas, i.e., the first, second, third and fourth quadrants, is specifically reflected, and then the size and position information of the force value are obtained.

[0069] Table 2: Judgment of 4-region positions and force value results

[0070]

[0071] Calibrate 6 areas:

[0072] like Figure 8 As shown, the loading area is divided into 6 judgment areas, which are represented by A to F respectively. When the center point is loaded, the loading force value tends to be evenly distributed. The position control accuracy of each area is about 2.5% to 4.5%. The judgment criteria for the position of the 6 areas are shown in Table 3.

[0073] Table 36 Criteria for Determining Regional Location

[0074]

[0075] The peripheral circuit 6 judges and provides feedback on the magnitude and position changes of the loading force value based on the different changes in the output values ​​of the three sensors. According to Table 3, the position of the loading point is determined by an algorithm. Through software algorithm processing, the actual position of the loading point in the six marked areas A to F can be effectively reflected, thereby obtaining the magnitude and position information of the force value. The results are shown in Table 4.

[0076] Table 46 shows the verification results of the loading location in each region.

[0077]

[0078] Calibrate 8 areas:

[0079] like Figure 9 As shown, the loading area is divided into 8 judgment areas, which are represented by A to H respectively. When the center point is loaded, the loading force value tends to be evenly distributed. The position control accuracy of each area is about 4.5% to 5%. The judgment criteria for the position of the 6 areas are shown in Table 5.

[0080] Table 58 Criteria for Determining Regional Location

[0081]

[0082] The peripheral circuit 6 judges and provides feedback on the magnitude and position changes of the loading force value based on the different changes in the output values ​​of the three sensors. According to Table 5, the position of the loading point is determined by an algorithm. Through software algorithm processing, the actual position of the loading point in the marked areas of the eight regions, namely A to H, can be effectively reflected, thereby obtaining the magnitude and position information of the force value. The results are shown in Table 6.

[0083] Table 68 shows the verification results of the loading location in each region.

[0084]

[0085] Calibrate 9 areas:

[0086] As Figure 10 shown, the loading area is divided into 9 determination areas, and 9 positions are respectively indicated by A-I. When the center point is loaded, the loading force value tends to be evenly divided, and the position control accuracy of each area is about 5%-6%. The determination criteria of the 6 area positions are shown in Table 7.

[0087] Table 78 Area Position Determination Criteria

[0088]

[0089] The peripheral circuit 6 determines and feeds back the size of the loading force value and the position change according to the different change values of the three sensor outputs. According to the algorithmic determination of the loading point position in Table 7, the actual position of the loading point in the 8 marked areas A-I can be effectively reflected through software algorithm processing, and then the size and position information of the force value are obtained. The results are verified as shown in Table 8.

[0090] Table 89 Area Loading Position Result Verification

[0091]

[0092] When the rubber finger sleeve 5 of the top protection layer is stressed in different areas, the stress points of the cover plate 4 are different, causing the blades of the pressure elastic body 3 to deform respectively, and the three sensors have different output signals. These signals are transmitted to the peripheral circuit 6 at the back end, which classifies and decouples the sensor signals, and converts the voltage signals into digital signals. The algorithmic determination of the loading point position is finally realized through software algorithm processing, which can effectively reflect the actual position information of the loading point in the 4, 6, 8 and 9 areas, and then obtain the force value information. Of course, when the area is divided into more subdivisions, more determination criteria are needed, and the accuracy of the determination results will gradually decrease.

[0093] For the blade shape of the elastic body 3 in the shapes of "+"", "X" and "H", the loading area can be divided into 4, 6, 8 and 9 areas according to the above method, and calibration and determination can be performed.

[0094] It should be noted that, in the present text, relational terms such as first and second are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article, or apparatus that includes a list of elements does not only include those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0095] It is to be understood that the above description is intended to be illustrative, and not restrictive. Many embodiments and applications other than the examples provided would be apparent to those of skill in the art upon reading the above description. The scope of the application should be determined, not with reference to the above description, but should instead be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. The disclosures of all articles and references, including patent applications and publications, are incorporated by reference for all purposes. The omission in the foregoing description of any aspect of the subject matter disclosed herein is not a disclaimer of such subject matter, nor should it be regarded that the applicant has disclaimed any such subject matter, nor should any such omission be regarded as affecting the scope of the disclosed innovations.

Claims

1. A method of calibrating a distal phalanx force sensor of a dexterous hand for a robot, characterized by, The robot dexterous hand distal finger force sensor comprises, from bottom to top, a phalanx (1), a backing plate (2), an elastomer (3), a cover plate (4) and a protective layer; The backing plate (2) is connected to the top of the phalanx (1), the backing plate (2) is provided with a support boss (8) at the top, the geometric center of the elastomer (3) is connected to the support boss (8), the elastomer (3) extends a plurality of blades from the geometric center, the blades are provided with sensors at the ends, the blades are provided with sensors at the ends, the blades are provided with sensors at the ends, the blades are provided with sensors at the ends, the blades are provided with sensors at the ends, the blades are provided with sensors at the ends, the blades are provided with sensors at the ends, the blades are provided with sensors at the ends, the blades are provided 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with sensors at the ends, the blades are provided with sensors at the ends, the blades are provided with sensors at the ends, the blades are provided with sensors at the ends, the blades are provided with sensors at ​ ​ ​ ​ 2. The method of calibrating a robot dexterous hand distal phalange force sensor according to claim 1, wherein, ​ 3. The method of calibrating a robot dexterous hand distal phalange force sensor according to claim 1, wherein, ​ 4. The method of calibrating a robot dexterous hand distal phalange force sensor of claim 1, wherein, ​ 5. The method of calibrating a robot dexterous hand distal phalange force sensor of claim 1, wherein, ​ 6. The method of calibrating a robot dexterous hand distal phalange force sensor of claim 1, wherein, ​ 7. The method of calibrating a robot dexterous hand distal phalange force sensor of claim 1, wherein, ​ 8. The method of calibrating a robot dexterous hand distal phalange force sensor of claim 1, wherein, ​ 9. The method of calibrating a robot dexterous hand distal phalange force sensor of claim 1, wherein, ​

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