Humanoid dexterous hand and humanoid robot

Abstract

The present application provides a humanoid dexterous hand and a humanoid robot, which relate to the technical field of manipulators, including: a humanoid hand structure, including a palm-like structure and a plurality of finger-like structures, each of which includes at least one finger joint; a touch system, including a measuring sheet laid on the palm-like structure and each of the finger joints of the plurality of finger-like structures, a signal line connected to the measuring sheet, and a collection device, wherein the measuring sheet is set as a stretchable and bendable thin sheet structure, and the measuring sheet includes a pressure sensor array, and the pixel distance of the pressure sensor array is not greater than 10 mm. The defect of the humanoid dexterous hand in the related art that the information of the target object is inaccurate when grasping the target object is solved.

Description

Technical Field

[0001] The present application relates to the technical field of humanoid robots, and in particular to a humanoid dexterous hand and a humanoid robot. Background Art

[0002] Humanoid dexterous hands can achieve fine grasping, manipulation and perception capabilities by simulating the structure and movement mechanism of human fingers, allowing robots to complete many complex tasks that require manual operation. In the fields of industrial manufacturing, logistics and transportation, humanoid dexterous hands can replace humans in repetitive, high-precision and high-risk work, reducing the safety risks of personnel. Highly humanoid dexterous hands can enable robots to enter more fields that require manual operation, such as medical care, services, education, etc., thereby expanding the application areas of robots. In particular, with the popularization and application of humanoid robots, it will gradually change people's lifestyles and work patterns. For example, in the family, humanoid dexterous hands can assist people in completing housework; in the medical field, it can provide rehabilitation training and assisted living for the disabled, and better serve mankind.

[0003] In order to grasp the target object, the humanoid dexterous hand needs to have the ability to confirm the specific location of contact with the target object, recognize the shape of the target object, and recognize the material properties of the target object.

[0004] At present, there are related technologies that have human-like hand devices combined with force sensing, but they are usually installed near the surface, single-point / low-density arrays, and have a very small coverage area. For example, Chinese patent document CN116460872A discloses a tactile-sensing five-finger manipulator, which includes a palm module, a thumb module, a four-finger module and a tactile integration module. The tactile integration module includes a palm tactile module and a finger tactile module. The finger tactile module includes finger tactile sensors arranged at the fingertips of the thumb module and the four-finger module.

[0005] However, in actual use, the above-mentioned related technologies are found to have certain deficiencies in identifying the specific location of the target object, identifying the shape of the target object, and identifying the material properties of the target object. Specifically: When determining the specific location of contact with the target object: Since single-point near-surface touch can only determine contact at a specified point, the actual contact does not necessarily occur within this small, predetermined range; When identifying the shape of the target: the macroscopic shape of the target is composed of specific positions, so the advantages and disadvantages in judging the contact position with the target will directly translate into the advantages and disadvantages in identifying the shape of the target. The recognition of the microscopic shape is mainly affected by the detection density. Single-point detection cannot achieve high density, so the microscopic shape of the target (such as tips, corners, planes or gently curved surfaces) is not accurately detected; When judging the material properties of the target object: the current method is to apply a varying load to the target object and analyze the relationship between the contact force and displacement. This requires the target object to produce a large deformation and is highly correlated with the overall structure of the target object. If the target object is relatively fragile, it is easy to cause damage to the target object. Summary of the invention

[0006] The purpose of the present application is to provide a humanoid dexterous hand, aiming to solve the technical defects of the related art that the humanoid dexterous hand is not accurate enough in identifying the specific contact position of the target object, the shape of the target object, and the material properties of the target object when performing an action.

[0007] Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

[0008] According to a first aspect of the present application, there is provided a humanoid dexterous hand, characterized in that it comprises: A human hand-simulating structure, including a palm-simulating structure and a plurality of finger-simulating structures, each of which includes at least one finger joint; The touch sensing system comprises a measuring sheet laid on each of the palm-simulating structure and the plurality of finger-simulating structures, a signal line connected to the measuring sheet, and a collection device. The measuring sheet is configured as a stretchable and bendable thin sheet structure. The measuring sheet comprises a pressure sensor array, and a pixel distance of the pressure sensor array is not greater than 5 mm.

[0009] In an exemplary embodiment of the present application, the plurality of measuring sheets include a first measuring sheet laid on the simulated palm structure and a second measuring sheet laid on each of the plurality of simulated finger structures, the pixel distance of the pressure sensor array on the first measuring sheet is not greater than 5 mm, and the pixel distance of the pressure sensor array on the second measuring sheet is not greater than 3 mm.

[0010] In an exemplary embodiment of the present application, the pixel distance of the pressure sensor array on the second measurement chip is 2 mm-5 mm.

[0011] In an exemplary embodiment of the present application, the multiple knuckles on the several finger-imitation structures include fingertip knuckles and non-fingertip knuckles, and the second measuring piece on the fingertip knuckles is configured to wrap around the circumference of the fingertip knuckles and cover the top of the fingertip knuckles; and / or, the second measuring piece on the non-fingertip knuckles is configured to wrap around the circumference of the non-fingertip knuckles.

[0012] In an exemplary embodiment of the present application, the second measuring piece is arranged to be wrapped around the circumference of the corresponding finger joint and is provided with a seam, and the seam is located on the back side of the corresponding finger joint. In an exemplary embodiment of the present application, one or more first measurement sheets are laid on the palm surface and / or the back surface of the palm-imitation structure.

[0013] In an exemplary embodiment of the present application, the human hand imitation structure also includes an imitation wrist structure; several of the measuring pieces also include a third measuring piece laid on the imitation wrist structure, the pixel distance of the pressure sensor array on the third measuring piece is not greater than 10 mm, and the third measuring piece is wrapped around a partial area or a circle of the imitation wrist structure. When the third measuring piece is wrapped around the imitation wrist structure for a circle, a seam is provided, and the seam is located on one side of the imitation thumb structure among the several imitation finger structures.

[0014] In an exemplary embodiment of the present application, the measurement sheet further includes a temperature sensor array and / or a proximity sensor array and / or a shear force sensor.

[0015] In an exemplary embodiment of the present application, the stretchable setting of the measuring piece is stretchable in its flattened direction, allowing the stretching length in the flattened direction to exceed the length of the measuring piece in the free state by 5%-100%, and the original length can be restored after the load is removed; and / or, the bendable setting of the measuring piece is allowed to bend in a single direction, and the single direction is the closing direction of the human hand structure, and when the human hand structure is unfolded, the measuring piece returns to its original state.

[0016] In an exemplary embodiment of the present application, the thickness of the measuring sheet is 0.1 mm-2 mm.

[0017] In an exemplary embodiment of the present application, it further includes a flexible shell disposed on the outside of the human hand-imitation structure, and the measuring sheet is located on the inside or outside of the flexible shell.

[0018] In an exemplary embodiment of the present application, the finger joints in each of the finger-imitation structures are provided in plurality, and joints are provided between adjacent finger joints, and the adjacent finger joints are hinged to each other through the joints; The flexible shell is provided with a pleated structure on both sides of each joint, and the pleated structure can be folded and unfolded in the moving direction of the finger-like structure.

[0019] In an exemplary embodiment of the present application, the surfaces of the palm-imitation structure and the finger-imitation structure are provided with groove structures, and the measurement sheet is laid in the groove structures.

[0020] In an exemplary embodiment of the present application, there is one acquisition device, and all of the measurement sheets are connected to the acquisition device via the signal line.

[0021] In an exemplary embodiment of the present application, the pressure sensor array is a matrix array formed by the intersection of a plurality of rows and a plurality of columns of pressure measurement points; the acquisition device is provided with a plurality of row connection points and a plurality of column connection points; The number of rows of the pressure measurement point arrays of different knuckles of the same finger-imitation structure is the same or different. When the number of rows is the same, the pressure measurement points in the same row on different knuckles are respectively merged into a signal line connected to a row connection point of the acquisition device; when the number of rows is different, each row of pressure measurement points on the knuckle with the least number of rows is respectively merged into a signal line connected to a row connection point of the acquisition device with the same row of pressure measurement points on other knuckles; and / or, The number of columns of the pressure measurement point arrays of the same knuckles on different finger-imitation structures is the same or different. When the numbers are the same, the same column of pressure measurement points on the same knuckles are merged into one signal line connected to one column connection point of the acquisition device. When the numbers are different, each column of pressure measurement points on the knuckles with the least number of columns is merged into one signal line with the same column of pressure measurement points on the same knuckles of other finger-imitation structures and connected to one column connection point of the acquisition device.

[0022] In an exemplary embodiment of the present application, the number of columns of the pressure measurement point arrays on different knuckles of the same imitation finger structure is equal and the number of columns is not greater than the number of rows of the pressure measurement point array on any knuckle of the same imitation finger structure.

[0023] In an exemplary embodiment of the present application, the plurality of finger-imitation structures include a little finger-imitation structure, a ring finger-imitation structure, a middle finger-imitation structure, an index finger-imitation structure and a thumb-imitation structure, and the little finger-imitation structure, the ring finger-imitation structure, the middle finger-imitation structure, the index finger-imitation structure and the thumb-imitation structure each include three knuckles, namely, a first knuckle, a second knuckle and a third knuckle from the palm-imitation structure to a direction away from the palm-imitation structure.

[0024] According to a second aspect of the present application, a humanoid robot is provided, characterized in that it comprises any one of the above-mentioned humanoid dexterous hands.

[0025] In an exemplary embodiment of the present application, an artificial arm structure is further included, the artificial humanoid dexterous hand is connected to the distal end of the artificial arm structure, and the measuring sheet is laid on the artificial arm structure.

[0026] The exemplary embodiments of the present application may have some or all of the following beneficial effects: In the anthropomorphic dexterous hand provided in the example implementation mode of the present application, the measuring sheet itself is a stretchable and bendable thin sheet structure, so that the measurement can be laid on each knuckle of the palm-like structure and several finger-like structures. Compared with the related art in which single-point near-surface tactile sensation can only determine the contact situation at a specified point, a wide range of tactile coverage of the anthropomorphic dexterous hand is achieved, thereby improving the accuracy of identifying the specific contact position of the target object; further, by making the pixel distance of the pressure sensor array on the measuring sheet no more than 5 mm, the measuring sheet can achieve a high-density detection effect, which not only improves the accuracy of identifying the macroscopic shape of the target object, but also improves the accuracy of identifying the microscopic shape of the target object, such as tips, edges, planes or gentle curves.

[0027] Specifically, when confirming the specific location of contact with the target object: by measuring the large coverage of the human hand-mimicking structure with the measuring piece and having a high-density pressure sensor array, there are no strict requirements for the location where the contact occurs, and its specific location can be determined; When identifying the shape of the target object: the advantages and disadvantages in judging the contact position will directly translate into advantages and disadvantages in identifying the shape of the target object; the recognition of microscopic shapes can accurately detect the tip, corners, planes or gentle curves of the target object under the high-density arrangement of pressure sensors, thereby improving the accuracy of the recognition of the target object shape; Identify the material properties of the target object: Using a high-density array of pressure sensors, the material properties can be determined by the distribution of contact force. Compared with existing technologies, it requires a smaller deformation of the target object and is not easily affected by the overall structure of the target object, so even when grasping fragile targets, it is not easy to cause damage to the target object.

[0028] Therefore, through the above content, the anthropomorphic dexterous hand has the effect of improving the accuracy of identifying the specific contact position of the target object, identifying the shape of the target object, and identifying the material properties of the target object when performing an action.

[0029] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0031] Figure 1 A schematic diagram of a humanoid dexterous hand in an embodiment of the present application is shown; Figure 2 A schematic diagram showing the distribution of the measuring pieces in the human hand-mimicking structure in an embodiment of the present application is shown; Figure 3 A partial cross-sectional view of the interior of the finger-mimicking structure in an embodiment of the present application is shown; Figure 4 It shows a schematic diagram of the overall structure of the wiring connection between the measurement point array and the acquisition device in the embodiment of the present application; Figure 5 It shows a schematic diagram of the structure of the connection between the measurement point array and the wiring line of the acquisition device in the embodiment of the present application; Figure 6 A schematic diagram of the structure of the connection between the measurement point array and the collection device wiring array in an embodiment of the present application is shown.

[0032] Description of reference numerals: 1. Human hand-like structure; 11. Palm-like structure; 12. Finger-like structure; 121. Fingertip knuckles; 122. Non-fingertip knuckles; 13. Wrist-like structure; 3. Measuring piece; 31. First measuring piece; 32. Second measuring piece; 33. Third measuring piece; 4. Flexible shell; 5. Joint; 6. Wrinkle structure; 7. Groove structure; 8. Collection device; 9. Signal line. DETAILED DESCRIPTION

[0033] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present application will be comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their detailed descriptions will be omitted. In addition, the drawings are only schematic illustrations of the present application and are not necessarily drawn to scale.

[0034] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of the diagram to another component, these terms are used in this specification only for convenience, such as according to the direction of the examples in the drawings. It is understood that if the device of the diagram is turned upside down, the component described as "upper" will become the component "lower". When a structure is "on" other structures, it may mean that the structure is formed integrally on the other structure, or that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through another structure.

[0035] The terms "a", "an", "the" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "including" and "having" are used to express an open-ended inclusive meaning and mean that additional elements / components / etc. may exist in addition to the listed elements / components / etc.; the terms "first" and "second" are used merely as labels and are not intended to limit the quantity of their objects.

[0036] like Figure 1 and Figure 2 As shown, in an embodiment of the present application, a humanoid dexterous hand is provided, comprising: The human hand imitation structure 1 comprises a palm imitation structure 11 and a plurality of finger imitation structures 12, each of the finger imitation structures 12 comprising at least one finger joint; The touch sensing system comprises a measuring sheet 3 laid on each of the palm-simulating structure 11 and the plurality of finger-simulating structures 12, a signal line 9 connected to the measuring sheet 3, and a collection device 8. The measuring sheet 3 is configured as a stretchable and bendable thin sheet structure. The measuring sheet 3 comprises a pressure sensor array, and a pixel distance of the pressure sensor array is not greater than 10 mm.

[0037] As a preferred implementation of the embodiment of the present application, the plurality of imitating finger structures 12 in the imitating human hand structure 1 include an imitating thumb structure, an imitating index finger structure, an imitating middle finger structure, an imitating ring finger structure and an imitating little finger structure, that is, the imitating human hand structure 1 is a five-finger structure consisting of the thumb and the remaining four fingers. In other implementations, the imitating finger structure 12 can also be the thumb and one, two, or three of the four fingers, or even a one, two, three, or four-finger structure without the thumb. However, no matter how the structure changes, the root of each imitating finger structure 12 must be closely connected to the imitating palm structure 11 to ensure the stability of the structure and the integrity of the function.

[0038] In a preferred embodiment of the present application, each imitation finger structure 12 of the imitation human hand structure 1 is configured to include multiple knuckles, in order to enhance the grasping ability and flexibility of the imitation human hand structure 1, so that it can more accurately manipulate and grasp the target object. However, in other embodiments, it is allowed that one or more imitation finger structures 12 only include one knuckle.

[0039] By adjusting the number of knuckles, the humanoid hand structure 1 can not only simulate the fine movements of the human hand, but also be optimized according to actual needs to adapt to different working environments and task requirements. Whether it is industrial automation, medical assistance, service industry or auxiliary equipment in daily life, it can provide solutions that are more in line with actual needs.

[0040] The humanoid hand detects the target object through the touch system, which can not only determine the specific position and shape of the object, but also sense its material properties, thereby improving the intelligence and adaptability of the humanoid hand during operation. In the embodiment of the present application, since the measuring sheet 3 has the characteristics of being stretchable, bendable and thin-sheet structure, it ensures that a large range of tactile coverage of its surface can be achieved without interfering with the activity of the humanoid hand. Compared with the near-surface tactile sense that can only detect single-point contact in traditional technology, the accuracy of identifying the contact position of the target object is effectively improved. As a result, when the humanoid hand structure 1 grabs the target object, it is not easy to cause damage to the surface of the target object.

[0041] Specifically, when confirming the specific position of contact with the target object, the human hand-simulating structure 1 achieves a wide range of tactile coverage through the measurement sheet 3 and the high-density pressure sensor array laid on its surface, eliminating the strict restrictions on the contact position, so that the specific position of the target object can be quickly and accurately determined no matter where the human hand-simulating structure 1 contacts. When identifying the shape of the target object, the humanoid dexterous hand has good perception capabilities at both the macro and micro levels through a large range and high density of pressure sensors. The advantages and disadvantages of macroscopic shape recognition in judging the contact position will directly translate into advantages and disadvantages in identifying the shape of the target object; while the recognition of microscopic shape, thanks to the high density of pressure sensor arrays, can finely detect the tip, corners, plane or gentle curve of the target object. This keen capture of details greatly improves the accuracy of target shape recognition; When identifying the material properties of the target object, the touch system of the humanoid hand uses its high-density pressure sensor array to obtain the distribution of contact force and thus judge the material properties of the target object. Compared with the existing technology, it effectively reduces the amount of deformation required for the target object and is not easily affected by the overall structure of the target object, so even when grasping fragile targets, it is not easy to cause damage to the target object.

[0042] Therefore, through the above content, the humanoid dexterous hand can improve the accuracy of identifying the specific contact position of the target object, identifying the shape of the target object, and identifying the material properties of the target object when performing an action. It not only enhances the stability and safety of the humanoid dexterous hand when grasping the target object, but also effectively protects the target object and avoids possible damage during the operation.

[0043] In the embodiment of the present application, in order to realize the stretchable and bendable characteristics of the measuring piece 3, the capacitive and tactile sensors disclosed in the patent document WO2020014356A1 can be used, or the design based on the capacitive pressure sensor in the paper "Rational Design of Capacitive Pressure Sensors Based on Pyramidal Microstructures for Specialized Monitoring of Biosignals" can be used, or the design of the flexible edge effect contact sensor and the high-performance capacitive sensor in the paper "Flexible Fringe Effect Capacitive Sensors with Simultaneous High-Performance Contact and Non-Contact Sensing Capabilities" can be used, or a resistive tactile sensor can be used, or a gallium-based liquid metal (LM) can be used to prepare the substrate of the measuring piece. Of course, the above embodiments are not restrictive, and any specific embodiment that can realize the stretchable and bendable flexible characteristics of the measuring piece can be applied to this embodiment.

[0044] Furthermore, by setting the pixel distance of the pressure sensor array on the measuring sheet 3 to no more than 10 mm, the pressure sensors are arranged in a high-density array, which not only improves the accuracy of identifying the macroscopic shape of the target, but also improves the accuracy of identifying the microscopic shape of the target, such as the tip, corner, plane or gentle curved surface of the target, which can play an effective detection role.

[0045] In the embodiment of the present application, the plurality of measuring pieces 3 include a first measuring piece 31 and a second measuring piece 32. Specifically, the first measuring piece 31 is laid on the imitation palm structure 11 to capture comprehensive tactile information. The second measuring piece 32 is laid on each knuckle of each imitation finger structure 12 in a multi-point distribution manner to ensure accurate perception of subtle movements.

[0046] It is worth noting that in order to further improve the accuracy of tactile feedback, the pixel distance of the pressure sensor array equipped on the first measuring sheet 31 is controlled to be no greater than 10 mm, and the pixel distance of the pressure sensor array on the second measuring sheet 32 ​​is controlled to be no greater than 5 mm. This ensures that accurate and sensitive tactile data can be obtained in different application scenarios, whether it is full contact of the palm or fine operation of the fingers, thereby improving the adaptability and operation ability of the humanoid dexterous hand.

[0047] In the embodiment of the present application, the pixel distance of the pressure sensor array on the second measurement sheet 32 ​​is 0.1mm-5mm. As a preferred implementation of the embodiment of the present application, the pixel distance of the pressure sensor array on the second measurement sheet 32 ​​should be controlled at 2mm-5mm.

[0048] like Figure 1 and Figure 3 As shown, in the embodiment of the present application, several finger joints in several finger-imitation structures 12 include fingertip joints 121 and non-fingertip joints 122. Specifically, in several finger-imitation structures 12, the fingertip joint 121 is set as one, and the non-fingertip joint 122 can be set as one or multiple. Specifically, if the non-fingertip joint 122 is set as one, the two ends of the non-fingertip joint 122 are respectively connected to the fingertip joint 121 and the imitation palm structure 11. If the non-fingertip joint 122 is set as multiple, the multiple non-fingertip joints 122 are connected to each other to form a non-connected group, and the non-fingertip joint 122 at one end of the connection group is connected to the fingertip joint 121, and the non-fingertip joint 122 at the other end is connected to the imitation palm structure 11. Each fingertip joint 121 and the non-fingertip joint 122 can realize bending and flattening movement toward the imitation palm structure 11.

[0049] Furthermore, the second measuring piece 32 laid on the fingertip knuckle 121 is arranged to be wound around the entire fingertip knuckle 122, and further extended to cover the finger top, ensuring the all-round capture of the fingertip touch and improving the ability to capture subtle tactile information. For the non-fingertip knuckle 122, the second measuring piece 32 adopts a layout method of winding around its circumference, achieving full coverage of the entire surface of the non-fingertip knuckle 122, and also improving the capture ability of the humanoid dexterous hand. In order to achieve the ability to capture subtle tactile information, at least one of the fingertip knuckle 121 and the non-fingertip knuckle 122 meets the requirement of laying the second measuring piece 32 in the above manner.

[0050] In the embodiment of the present application, the second measuring piece is arranged to wrap around the circumference of the corresponding knuckle and be provided with a seam, and the seam is located on the back of the corresponding knuckle. Specifically, the second measuring piece 32 is provided with a seam at the end-to-end position on both the fingertip knuckle 121 and the non-fingertip knuckle 122. The seam is placed on the back of the fingertip knuckle 121 and the non-fingertip knuckle 122, thereby ensuring the integrity of the second measuring piece 32 on the front of the fingertip knuckle 121 and the non-fingertip knuckle 122, reducing the interference that the seam may cause when perceiving the target object, ensuring the continuity and accuracy of the perception process, and providing smoother and more accurate perception information for the interaction between the fingertip knuckle 121 and the non-fingertip knuckle 122 and the target object.

[0051] In the embodiment of the present application, the first measurement piece 31 can be set as one or more; when the first measurement piece 31 is set as one, the first measurement piece 31 can be laid on the palm surface or the back of the hand of the imitation palm structure 11. When the first measurement piece 31 is set as multiple, the multiple first measurement pieces 31 are laid on the palm surface and the back of the hand respectively.

[0052] In the embodiment of the present application, the human hand-mimicking structure 1 also includes a wrist-mimicking structure 13, and the plurality of measuring pieces 3 also include a third measuring piece 33, which is laid on the wrist-mimicking structure 13. Specifically, the pixel distance of the pressure sensor array provided on the third measuring piece 33 is controlled to be no greater than 10 mm. The third measuring piece 33 can be laid on a partial area of ​​the wrist-mimicking structure 13 or on a circle. When the third measuring piece 33 is laid on the wrist-mimicking structure 13 for a circle, the seam where the end and the end meet is set on the side facing the thumb, which not only ensures that the electronic skin of the wrist-mimicking structure 13 is fully covered, but also reduces the potential interference of the seam on tactile perception. Thus, the interactive perception of the wrist-mimicking structure 13 and the target object is realized.

[0053] In the embodiment of the present application, the measuring piece 3 may further include a temperature sensor, and the measuring range of the temperature sensor may cover the range of -20°C to 120°C.

[0054] In the embodiment of the present application, the measuring piece 3 may further include a proximity sensor, and the measuring range of the proximity sensor is 0.002pF-0.02pF.

[0055] In the embodiment of the present application, the measuring piece 3 may further include a shear force sensor.

[0056] In the embodiment of the present application, the heat transfer characteristics of the target object can be determined by measuring the temperature, thereby making a more accurate judgment on the material properties of the target object. The proximity sensor is used to detect the proximity between the humanoid hand structure 1 and the target object without actual contact. Before grasping or manipulating an object, the proximity sensor provides the humanoid hand structure 1 operating device with the ability to provide the relative position between the target object and the humanoid hand structure 1, which helps to estimate the position, shape and other physical information of the target object, thereby improving the flexibility and accuracy of the humanoid hand structure 1 when operating.

[0057] In the embodiment of the present application, the stretchable and bendable structure allowed by the measuring piece 3 is set to have the performance of stretching and bending in the flattening direction. Specifically, the thickness range of the measuring piece 3 should be 0.1mm-2mm, and the purpose is to ensure that the measuring piece 3 is widely distributed and covered with high density without increasing the volume of the imitation finger structure 12 and the imitation palm structure 11. It is worth mentioning that even if it is stretched in the horizontal direction, the measuring piece 3 can still maintain a normal working state, and it allows the stretching length in the flattening direction to exceed the length of the measuring piece 3 in the free state by 5%-100%; and after the load is removed (that is, after the humanoid dexterous hand is unfolded), the measuring piece 3 can restore its original length. Further, the measuring piece 3 can be completely set to allow bending in a single direction, which should be the direction of the closure of the imitation human hand structure 1. When the imitation human hand structure 1 is unfolded, the measuring piece 3 can be restored to its original state; of course, this is not restrictive, and it is also possible to set the measuring piece 3 to bend in multiple directions.

[0058] In the embodiment of the present application, the anthropomorphic dexterous hand further comprises a flexible shell 4, which is arranged on the outside of the anthropomorphic hand structure 1, and the measuring piece 3 is located on the inside or outside of the flexible shell 4. Specifically, the flexible shell 4 is configured as an electronic skin in the present application, which not only provides protection for the measuring piece 3, but also enables the anthropomorphic dexterous hand to contact the target object in a gentle manner to protect the target object. In addition, the use of electronic skin is intended to simulate the perception function of human skin, and by integrating sensors and flexible materials, it can perceive and respond to physical signals and biological signals generated by the target object. Of course, the flexible shell is not limited to electronic skin.

[0059] In the embodiment of the present application, each finger-imitation structure 12 is provided with a plurality of finger joints, and joints 5 are provided between adjacent finger joints. Adjacent finger joints are connected through the joints 5, and these joints 5 allow the finger joints to be hinged, so that each finger joint can rotate freely toward the direction of the palm-imitation structure 11. Of course, the structure of the finger-imitation structure 12 is not limited to this. The base of each finger-imitation structure 12 is also hinged to the palm-imitation structure 11 through the joints 5, so that the entire finger-imitation structure 12 can be bent and flattened toward the palm-imitation structure 11, simulating the natural bending and stretching movements of the human hand.

[0060] Furthermore, the flexible shell 4 is provided with a pleated structure 6 on both sides of each joint 5, which greatly improves the flexibility and functionality of the human-like hand structure 1. Specifically, the electronic skin has a notch on the fingertip side and the finger back side at each joint 5, and the pleated structure 6 is embedded in the notch, and the pleated structure 6 is fixedly connected to the electronic skin on all sides to ensure the stability of the structure. The pleated structure 6 presents a corrugated shape along the length direction of the finger-like structure 12, so that the pleated structure 6 can be freely folded or unfolded in the direction of the movement of the finger-like structure 12, just like the natural folds of human skin, adapting to the bending and stretching of the fingers.

[0061] By arranging the pleated structures 6 on both sides of the joint 5, the pleated structures 6 can be folded when the finger-like structure 12 is bent, and can be unfolded when the finger-like structure 12 is flattened, just like the skin of a creature in nature, which not only maintains the integrity of the structure but also ensures the free movement of the finger-like structure 12. Not only can the flexible shell 4 seamlessly cover the interior of the human-like hand structure 1, but also avoid any restrictions on the movement of the human-like hand device, thereby ensuring a wide range of movement of the human-like hand structure 1 when performing complex tasks.

[0062] Furthermore, in order to ensure the flatness of the surface of the human hand-simulating structure 1, a groove structure 7 is provided on the surface of the palm-simulating structure 11 and the finger-simulating structure 12, and the measuring piece 3 is located in the groove structure 7. The groove structure 7 makes the measuring piece 3 flush with the flexible housing 4 at the contact position, so that the finger-simulating structure 12 and the palm-simulating structure 11 can be completely fitted with the outer surface of the measuring piece 3, so as to improve the stability of the fitting between the flexible housing 4 and the human hand-simulating structure 1.

[0063] like Figure 2 and Figure 4 As shown, the acquisition device 8 in the tactile system includes several boards, each of which includes a substrate and components. In some embodiments, the several boards can be divided into several first boards and one second board, and the substrate of the first board has components such as a gate, an operational amplifier, and an analog-to-digital converter; when in use, the first board converts the analog signal collected by the measuring piece 3 into a digital signal and outputs the measurement result in the form of a digital signal. The substrate of the second board has components such as FPGA, and the functions of the second board include: controlling the sampling rate, controlling the scanning of the measuring point (also called the sensitive point), performing preprocessing (filtering, zeroing, etc.), and communicating with the host computer (such as a computer or a controller of a humanoid robot).

[0064] In the related art, there are multiple collection devices 8, and each collection device 8 is connected to one or part of the measuring pieces 3 through a signal line 9, which results in a complex wiring structure and a long total line, making it difficult to lay out in the limited space inside the human hand-simulating structure 1.

[0065] To this end, in this embodiment, the acquisition device 8 is set as one, and the measurement point arrays of all the measurement sheets 3 are connected to the acquisition device 8 through the signal line 9. The integration of the acquisition device 8 and the signal line 9 simplifies the wiring structure and shortens the total length of the wiring, which is conducive to laying in the limited space inside the human hand simulation structure 1. In addition, by simplifying the wiring structure and shortening the total length of the wiring, it is also conducive to reducing the risk of signal interference, thereby improving the reliability and stability of the overall system.

[0066] In order to ensure that the anthropomorphic dexterous hand can achieve accurate and comprehensive detection of the target object, in the present embodiment, a measuring piece 3 is laid on each knuckle of a plurality of imitating finger structures 12, and a measuring piece 3 is also laid on the imitating palm structure 11, each measuring piece 3 comprises a pressure sensor array which is a matrix array formed by the intersection of a plurality of rows and columns of pressure measurement points, and a measuring point array is a matrix array formed by the intersection of a plurality of rows and columns of measurement points. Compared with the related art in which the measuring piece 3 is only laid on the front side of the fingertip knuckle 121 of the imitating finger structure 12, the above-mentioned method adopted in the present embodiment realizes a wide range of detection coverage, enhances the perception ability of the anthropomorphic dexterous hand, and enables it to capture more details of the target object, such as improving the accuracy of identifying the specific contact position and the accuracy of identifying the shape of the target object.

[0067] like Figure 1 , Figure 2 and Figure 4 As shown, in order to further simplify the wiring structure and shorten the total length of the wiring, in some implementations of the embodiments of the present application, a plurality of row connection points are provided on the acquisition device 8, the number of rows of the measurement point arrays on different knuckles of each imitation finger structure 12 is set to be the same, and the same row measurement points on different knuckles of the same imitation finger structure 12 are respectively merged into a signal line 9 connected to a row connection point of the acquisition device 8. Here, the "same row" needs to be explained: the same row refers to the row measurement points in the same order in the measurement point arrays of different knuckles, for example Figure 4 As shown in , the imitation little finger has three knuckles, which are the first knuckle, the second knuckle and the third knuckle from bottom to top. The bottom row of the measurement point array of the first knuckle is the first row, and the bottom row of the measurement point array of the second knuckle and the third knuckle is also the first row. The first row of these three knuckles is the same row, and the second row and the third row are similar, which will not be repeated.

[0068] Through the above arrangement, the wiring of the row measurement points of the measurement point array on the plurality of finger-like structures 12 is combined as much as possible to shorten the total line length. Of course, the embodiment of the present application is not limited to the above implementation.

[0069] like Figure 2 , Figure 4 and Figure 5As shown, in some other embodiments, considering the differences in length and function of different knuckles, different numbers of rows can be allocated to each knuckle, so as to more accurately match its specific needs. For example, longer knuckles may require more rows to capture richer information, while shorter knuckles can use fewer rows, thereby enhancing the adaptability of the humanoid dexterous hand to complex environments. In these embodiments, the number of rows of the measurement point array on different knuckles of each of the plurality of finger-like structures 12 can be set to be different according to the lengths of different knuckles. When the number of rows of the measurement point arrays of different knuckles is different, each row of measurement points on the knuckle with the least number of rows is merged with the same row of measurement points on other knuckles into a signal line 9 connected to a row connection point of the acquisition device 8. Through the above settings, even if the number of rows of the measurement point arrays on different knuckles is different, the wiring is merged as much as possible to shorten the total line length.

[0070] To better understand the above-described contents, the following is an exemplary description of the case where the number of rows of the measurement point arrays on different knuckles of the same imitation finger structure 12 is different. Taking the imitation little finger as an example, the number of rows of the measurement point array of the third knuckle is set to 5 rows, the number of rows of the measurement point array of the second knuckle is set to 4 rows, and the number of rows of the measurement point array of the first knuckle is set to 3 rows, then the first knuckle is the knuckle with the least number of rows. Each row of measurement points on the first knuckle is merged with the same row of measurement points on the second knuckle and the third knuckle into a signal line 9, for example, the first row of the first knuckle, the first row of the second knuckle and the first row of the third knuckle are merged into a signal line 9, the second row of the first knuckle, the second row of the second knuckle and the second row of the third knuckle are merged into a signal line 9, the third row of the first knuckle, the third row of the second knuckle and the third row of the third knuckle are merged into a signal line 9, and these merged signal lines 9 are respectively connected to the corresponding row connection points on the acquisition device 8.

[0071] It should be noted that, based on the above-mentioned alignment method, further alignment can be performed, for example, the unaligned row measurement points on the second knuckle (the 4th row) and the unaligned row measurement points on the third knuckle (the 4th row and the 5th row) can be further aligned. The alignment method is the same as the above-mentioned alignment method and will not be repeated here.

[0072] Of course, the row measurement points on the second and third finger joints that are not in parallel may no longer be in parallel, but may be directly connected to different row connection points of the acquisition device 8 through the signal line 9 .

[0073] In order to further simplify the wiring structure and shorten the total length of the wiring, in the embodiment of the present application, when the same number of row measurement points on different finger joints in the same imitation finger structure 12 are merged, in order to further shorten the length of the signal line 9, the same number of column measurement points in the same finger joints on different imitation finger structures 12 can also be merged. In this way, the length of the signal line 9 is effectively shortened while ensuring that each measurement point can be distinguished.

[0074] like Figure 2 and Figure 4 and Figure 6 As shown, in the embodiment of the present application, the number of columns of the measurement point arrays of the same-named knuckles on different imitating finger structures 12 can also be set to the same number or different numbers. Further explained, if multiple different imitating finger structures 12 have three knuckles, the three knuckles of each imitating finger structure 12 are respectively set as the first knuckle, the second knuckle and the third knuckle, the first knuckles in each different imitating finger structure 12 are knuckles of the same name, the second knuckles in each different imitating finger structure 12 are knuckles of the same name, and the third knuckles in each different imitating finger structure 12 are knuckles of the same name.

[0075] Specifically, when they are the same, the same column of measurement points of the same finger joints are respectively merged into one signal line 9 , and then connected to one column connection point of the acquisition device 8 .

[0076] When they are not the same, each column of measurement points on the finger joint with the least number of columns is respectively merged with the same column of measurement points on the same finger joints of other finger-imitation structures 12 to a signal line 9 connected to a row connection point of the collection device 8. The same column of measurement points on the same finger joints of other finger-imitation structures 12 except for the finger joint with the least number of columns can be merged into a signal line 9 again and then connected to a column connection point of the collection device 8; of course, the remaining measurement points can also be directly connected to different column connection points of the collection device 8 through the signal line 9 without merging the columns.

[0077] In the embodiment of the present application, the number of columns of the measurement point arrays on different finger joints of the same imitation finger structure 12 is equal, and the number of columns is not greater than the number of rows of the measurement point array on any finger joint of the same imitation finger structure 12. By arranging the rows and columns of the measurement point arrays as described above, the wiring can be merged to the greatest extent and the length of the bus can be shortened.

[0078] In the embodiment of the present application, the number of columns of the measurement point arrays on different finger joints of the same imitation finger structure 12 is set to be equal, and the number of columns is not greater than the number of rows of the measurement point array on any finger joint of the same imitation finger structure 12. Through the above layout of the rows and columns of the measurement point array, the wiring can be merged to the greatest extent and the length of the bus can be shortened.

[0079] In the embodiment of the present application, in order to ensure the flexibility of the anthropomorphic dexterous hand, the simulated little finger structure, the simulated ring finger structure, the simulated middle finger structure, the simulated index finger structure and the simulated thumb structure all include three knuckles, namely the first knuckle, the second knuckle and the third knuckle from the simulated palm structure 11 to the direction away from the simulated palm structure 11; therefore, it can be understood that the first knuckle and the second knuckle are non-fingertip knuckles 122, and the third knuckle is the fingertip knuckle 121.

[0080] In an embodiment of the present application, a humanoid robot is also provided, comprising any one of the humanoid dexterous hands described above.

[0081] In the embodiment of the present application, the humanoid robot further includes an arm structure, the humanoid dexterous hand is connected to the distal end of the arm structure, and the measuring sheet 3 is laid on the arm structure.

[0082] Those skilled in the art will easily think of other embodiments of the present application after considering the specification and practicing the embodiments of the present application. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that the present application does not apply for. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present application are pointed out by the appended claims.

Claims

1. A humanoid dexterous hand, characterized in that: include: A human hand imitation structure (1) comprising a palm imitation structure (11) and a plurality of finger imitation structures (12), each of the finger imitation structures (12) comprising at least one finger joint; The touch sensing system comprises a measuring sheet (3) laid on each of the knuckles of the palm-simulating structure (11) and the plurality of finger-simulating structures (12), a signal line (9) connected to the measuring sheet (3), and a collection device (8), wherein the measuring sheet (3) is configured as a stretchable and bendable thin sheet structure, and the measuring sheet (3) comprises a pressure sensor array, wherein the pixel distance of the pressure sensor array is not greater than 10 mm.

2. The humanoid dexterous hand according to claim 1, characterized in that: The plurality of measurement sheets (3) comprise a first measurement sheet (31) laid on the simulated palm structure (11) and a second measurement sheet (32) laid on each of the plurality of simulated finger structures (12), wherein the pixel distance of the pressure sensor array on the first measurement sheet (31) is not greater than 10 mm, and the pixel distance of the pressure sensor array on the second measurement sheet (32) is not greater than 5 mm.

3. The humanoid dexterous hand according to claim 2, characterized in that: The pixel distance of the pressure sensor array on the second measurement sheet (32) is 2 mm-5 mm.

4. The humanoid dexterous hand according to claim 2, characterized in that: The plurality of finger joints on the plurality of finger-simulating structures (12) include fingertip joints (121) and non-fingertip joints (122); the second measuring piece (32) on the fingertip joints (121) is arranged to wrap around the circumference of the fingertip joints (121) and cover the top of the fingertip joints (121); and / or the second measuring piece (32) on the non-fingertip joints (122) is arranged to wrap around the circumference of the non-fingertip joints (122).

5. The humanoid dexterous hand according to claim 4, characterized in that: The second measuring piece (32) is arranged to wrap around the circumference of the corresponding finger joint and is provided with a seam, wherein the seam is located on the back side of the corresponding finger joint.

6. The humanoid dexterous hand according to claim 2, characterized in that: One or more of the first measuring sheets (31) are laid on the palm surface and / or the back surface of the imitation palm structure (11).

7. The humanoid dexterous hand according to claim 1, characterized in that: The human-like hand structure (1) further comprises a wrist-like structure (13); the plurality of measurement pieces (3) further comprise a third measurement piece (33) laid on the wrist-like structure (13); the pixel distance of the pressure sensor array on the third measurement piece (33) is not greater than 10 mm; the third measurement piece (33) wraps around a partial area or one circle of the wrist-like structure (13); when the third measurement piece (33) wraps around the wrist-like structure (13) one circle, a seam is provided; and the seam is located on one side of the thumb-like structure among the plurality of finger-like structures (12).

8. The humanoid dexterous hand according to claim 1, characterized in that: The measuring piece (3) further comprises a temperature sensor array and / or a proximity sensor array and / or a shear force sensor.

9. The humanoid dexterous hand according to claim 1, characterized in that: The stretchable configuration of the measuring piece (3) is such that it is stretchable in its flattened direction, allowing the stretching length in the flattened direction to exceed the length of the measuring piece (3) in the free state by 5%-100%, and can restore the original length after the load is removed; and / or, the bendable configuration of the measuring piece (3) allows bending in a single direction or multiple directions, the single direction being the closing direction of the human hand-simulating structure (1), and when the human hand-simulating structure (1) is unfolded, the measuring piece (3) restores to its original state.

10. The humanoid dexterous hand according to claim 1, characterized in that: The thickness of the measuring sheet (3) is 0.1 mm-2 mm.

11. The humanoid dexterous hand according to claim 1, characterized in that: It also comprises a flexible shell (4) arranged on the outside of the human hand imitation structure (1), and the measuring piece (3) is located on the inside or outside of the flexible shell (4).

12. The humanoid dexterous hand according to claim 11, characterized in that: The finger joints in each of the finger-imitation structures (12) are arranged in a plurality, and joints (5) are arranged between adjacent finger joints, and the adjacent finger joints are hingedly connected to each other through the joints (5); The flexible shell (4) is provided with a pleated structure (6) on both sides of each joint (5), and the pleated structure (6) can be folded and unfolded in the moving direction of the finger-like structure (12).

13. The humanoid dexterous hand according to claim 1, characterized in that: The surfaces of the simulated palm structure (11) and the simulated finger structure (12) are provided with groove structures (7), and the measuring sheet (3) is laid in the groove structures (7).

14. The humanoid dexterous hand according to claim 1, characterized in that: There is only one acquisition device (8), and all the measurement sheets (3) are connected to the acquisition device (8) via the signal line (9).

15. The humanoid dexterous hand according to claim 14, characterized in that: The pressure sensor array is a matrix array formed by the intersection of a plurality of rows and a plurality of columns of pressure measurement points; the acquisition device (8) is provided with a plurality of row connection points and a plurality of column connection points; The number of rows of the pressure measurement point arrays of different knuckles of the same simulated finger structure (12) is the same or different. When the numbers are the same, the pressure measurement points in the same row on different knuckles are respectively merged into a signal line (9) connected to a row connection point of the acquisition device (8); when the numbers are different, each row of pressure measurement points on the knuckle with the least number of rows is respectively merged with the pressure measurement points in the same row on other knuckles into a signal line (9) connected to a row connection point of the acquisition device (8); and / or, The number of columns of the pressure measurement point arrays of the same knuckles on different finger-simulating structures (12) is the same or different. When the number of columns is the same, the same column of pressure measurement points on the same knuckles is merged into a signal line (9) connected to a column connection point of the acquisition device (8); when the number of columns is different, each column of pressure measurement points on the knuckle with the least number of columns is merged with the same column of pressure measurement points of the same knuckles of other finger-simulating structures (12) into a signal line (9) connected to a column connection point of the acquisition device (8).

16. The humanoid dexterous hand according to claim 15, characterized in that: The number of columns of the pressure measurement point arrays on different knuckles of the same imitation finger structure (12) is equal and the number of columns is not greater than the number of rows of the pressure measurement point array on any knuckle of the same imitation finger structure (12).

17. The humanoid dexterous hand according to claim 1, characterized in that: The plurality of finger-imitation structures (12) include a pinky-imitation structure, a ring finger-imitation structure, a middle finger-imitation structure, an index finger-imitation structure and a thumb-imitation structure, and the pinky-imitation structure, the ring finger-imitation structure, the middle finger-imitation structure, the index finger-imitation structure and the thumb-imitation structure each include three finger joints, namely a first finger joint, a second finger joint and a third finger joint from the palm-imitation structure (11) to a direction away from the palm-imitation structure (11).

18. A humanoid robot, characterized in that: The invention comprises the humanoid dexterous hand according to any one of claims 1 to 17.

19. The humanoid robot according to claim 18, characterized in that: It also comprises an artificial arm structure, the artificial humanoid dexterous hand is connected to the far end of the artificial arm structure, and the measuring sheet (3) is laid on the artificial arm structure.

Images