Humanoid robot with flexible electronic touch screen skin

Abstract

The invention discloses a humanoid robot with a flexible electronic touch screen skin, which comprises a robot skeleton and a simulation skin wrapped outside the robot skeleton, the robot skeleton comprises upper limbs, a trunk skeleton, lower limbs and a head, the upper limb arms, the lower limb legs and the head are connected with the trunk framework through servo driving mechanisms and achieve the actions of the four limbs and the head, and the servo driving mechanisms of all joint connecting parts of the robot framework are wrapped with shielding layers. The simulation skin is touch skin made of a flexible touch screen material and comprises an attaching layer, a color-changing display material layer, a sensing layer and an outer coating. Through the flexible electronic touch screen, the color-changing display material, the sensor technology and the innovative waterproof coating, the defects of traditional robot skin in the aspects of touch feedback, appearance simulation and waterproof performance are overcome, and a robot can efficiently and stably operate in a more complex and changeable environment.

Description

Technical Field

[0001] The invention relates to the field of robots, in particular to a humanoid robot with a flexible electronic touch screen skin. Background Art

[0002] With the continuous development of robotics technology, robots are increasingly used in the field of human-computer interaction, especially in the fields of medical care, nursing, and services. Bionic robots are required to simulate human behavior and tactile feedback. In order to enable robots to interact with people more naturally, the development of artificial skin has become one of the key technologies.

[0003] However, despite significant progress in hardware and artificial intelligence technology, robotic skin technology still has many shortcomings, which affect its practical application in complex environments. There are mainly the following significant shortcomings:

[0004] Limitations of tactile feedback: Traditional robot skins are mostly made of rigid or semi-rigid materials, which makes it impossible for robots to accurately sense and simulate the delicate touch of human skin. Existing skin materials can usually only respond to greater touch force for pressure perception, and cannot distinguish the slight difference between light touch and pressing, resulting in low accuracy of tactile feedback. The accuracy of temperature perception is usually above ±5°C, and it is impossible to effectively capture subtle changes in ambient temperature. This is a serious limitation for some application scenarios that require highly precise temperature perception (such as medical care, food processing, etc.). In addition, existing robot skins have almost zero perception of the surface texture of objects, and cannot judge the roughness, smoothness or surface characteristics of objects by touch, and cannot provide a tactile interaction experience similar to that of human fingers.

[0005] Insufficient appearance simulation: Current robot skins often present unnatural colors and rough textures, and it is difficult to simulate the delicate feeling and rich color changes of human skin. Especially when facing different ambient light or specific scene requirements, existing robot skins cannot flexibly adjust their appearance colors, and usually require a lot of time and cost for complex repainting or replacement of large areas of external components. This approach is not only inefficient, but also increases the maintenance cost of the robot, seriously affecting the robot's application adaptability in different environments.

[0006] Poor waterproof performance: Waterproof performance is crucial for the use of robots in humid environments. However, the waterproof protection of traditional robot skin is often insufficient and is easily affected by water immersion or high humidity environments, causing internal electronic components to short-circuit due to moisture, thereby causing frequent failures. This problem greatly limits the application of robots in underwater, rainy or outdoor humid environments. In particular, in scenarios where high reliability is required for robots in the medical and security fields, the lack of waterproof capability has become a key factor restricting its application.

[0007] In order to solve the above problems, the prior art discloses the following solutions:

[0008] 1) Publication No. CN110625618A discloses a service robot based on electronic skin. In this technical application, it includes: a movable base and a robot body. The robot body includes a robot chest and a robot waist equipped with a controller and an information receiving module. The robot shell is provided with an electronic skin layer, and a pressure sensor is provided between the electronic skin layer and the robot shell. A safety circuit and an obstacle avoidance module are provided in the movable base. When the robot encounters an obstacle, the pressure sensed by the pressure sensor increases, and the information receiving module feeds back the pressure signal to the controller to control the robot to stop working and protect the safety of people or objects. At the same time, the safety circuit is used to monitor the operating status of the robot in real time so that it can stop operating immediately; the obstacle avoidance module can detect low obstacles and transparent obstacles to improve the anti-collision effect.

[0009] 2) Publication No. CN116793531A discloses a robot intelligent electronic skin device. In this technical application, it includes an electronic skin component, a skin temperature detection unit, a skin temperature adjustment mechanism, a control unit and a temperature input unit. The skin temperature detection unit is arranged between the electronic skin component and the skin temperature adjustment mechanism, and has a structure capable of detecting skin temperature; the skin temperature adjustment mechanism includes a heating unit and a cooling unit capable of adjusting skin temperature; the temperature input unit is used to preset a target temperature input by a user, and the control unit compares the skin temperature detected by the skin temperature detection unit with the target temperature input by the user of the temperature input unit, and the skin temperature adjustment mechanism adjusts the temperature to the preset target temperature input by the user; the skin temperature can be preset, and the temperature of the inner surface of the electronic skin component can be adjusted according to the preset temperature to reproduce the skin temperature characteristics of the human body.

[0010] 3) Publication No. CN116787493A discloses a flexible high-strength robot sensing skin and a preparation method thereof. In this technical application, it includes a first substrate located at the bottom layer, a flexible elastic matrix is ​​arranged on the first substrate, a conductive layer is arranged on the flexible elastic matrix, and the flexible elastic matrix also includes a sensor electronic chip element unit placed in the flexible elastic matrix, and the sensor electronic chip element unit includes a sensor electronic chip element and a single layer of coupling agent coated on the sensor electronic chip element; a second substrate is arranged on the conductive layer; a preparation method of a flexible high-strength robot sensing skin is also provided. The electronic chip of the present invention can be effectively combined with the matrix material, which is not only beneficial to exert the efficacy of the chip, but also beneficial to expand the application scope of the electronic skin.

[0011] The above existing technologies still have the following problems: they cannot accurately simulate the delicate touch and dynamic feedback of human skin, lack the ability to perceive different pressures, temperatures and surface textures, and have obvious deficiencies in dealing with humid environments and waterproof protection. These defects limit the effectiveness of existing technologies in practical applications, especially in environments that require high-precision feedback and reliable protection. Summary of the invention

[0012] The purpose of the present invention is to provide a humanoid robot with a flexible electronic touch screen skin. Through a flexible electronic touch screen, color-changing display materials, sensor technology and an innovative waterproof coating, the deficiencies of traditional robot skin in terms of tactile feedback, appearance simulation and waterproof performance are solved, thereby enabling the robot to operate efficiently and stably in a more complex and changeable environment.

[0013] To achieve the above object, the present invention provides the following technical solution: a humanoid robot with a flexible electronic touch screen skin, comprising a robot frame and a simulated skin wrapped outside the robot frame, wherein:

[0014] The robot frame includes an upper limb arm, a trunk frame, lower limb legs and a head. The upper limb arm, lower limb legs and head are respectively connected to the trunk frame through a servo drive mechanism to realize the movements of the limbs and the head. The servo drive mechanisms of each joint connection part of the robot frame are all covered with a shielding layer.

[0015] The simulated skin is a touch skin made of flexible touch screen materials. The simulated skin includes a bonding layer, a color-changing display material layer, a sensing layer and an outer coating. The bonding layer is the bottom layer of the simulated skin and is wrapped around the robot frame and the shielding layer. The bonding layer is a thin coating of polydimethylsiloxane, and a color-changing display material layer is arranged on the bonding layer.

[0016] Preferably, sealant and sealing gaskets are provided outside the joint connection part between the simulated skin and the robot frame to play a waterproof role. At the same time, they can provide joint cushioning when the robot frame is impacted to prevent the simulated skin from being pushed into the robot frame and causing damage.

[0017] Preferably, the color-changing display material layer is a quantum dot photochromic layer, a micro laser projection module is embedded inside the quantum dot photochromic layer, and a sensing layer is arranged outside the color-changing display material layer. The quantum dot photochromic layer can achieve millisecond-level color change response, cover the entire visible spectrum, support ultraviolet / infrared environment adaptive camouflage, and has application potential in military and special scenes, while the micro laser projection module enables the skin surface to dynamically display 3D holographic information (such as medical diagnosis results, interactive instructions), expanding the dimension of human-computer interaction.

[0018] Preferably, the sensing layer includes a flexible electronic touch screen and a sensor touch element. The flexible electronic touch screen is a flexible touch screen material with high flexibility, conductivity and optical properties. The sensor touch elements are distributed on the flexible electronic touch screen. The sensor touch elements include a pressure sensor for touch sensing, a temperature sensor and a capacitive touch element.

[0019] Preferably, the outer coating includes a texture layer attached to the outside of the sensing layer and a self-healing nano-waterproof coating, wherein the texture layer is arranged on the bottom layer of the self-healing nano-waterproof coating, and the texture layer is a nano-particle polymer coated on the outside of the sensing layer. By adjusting the particle size and distribution, a micro-texture is created on the screen surface. This coating can imitate the softness and delicacy of the skin when touched, and even add tiny depressions or protrusions on the surface to simulate the fine lines and texture of the skin surface.

[0020] Preferably, microencapsulated polysiloxane is embedded in the self-repairing nano waterproof coating.

[0021] Preferably, a tactile layer for tactile feedback is also provided in the sensing layer. The tactile layer is an electrostrictive material, and the tactile layer is embedded in the substrate of the flexible display screen. By controlling the electric field, the electrostrictive material can drive the surface of the flexible display screen to produce a small bending, simulating tactile feedback, especially when touching and pressing, the texture layer produces a similar effect to the touch of the skin surface. By accurately adjusting the electric field strength, the tactile feeling of various skin textures can be simulated, increasing the tactile interactivity of the robot. In addition, the design of the color-changing display material layer can also simulate the blood vessel flow state when the skin is pressed, so that the robot can be used in medicine as a medical robot.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] The present invention solves the shortcomings of traditional robot skin in tactile feedback, appearance simulation and waterproof performance through a flexible electronic touch screen, color-changing display materials, sensor technology and innovative waterproof coating, thereby enabling the robot to operate efficiently and stably in a more complex and changeable environment, providing solid technical support for the in-depth development of robots in various application fields.

[0024] The specific technical effects include:

[0025] Precise tactile feedback: The present invention integrates electrostrictive materials, pressure sensors, temperature sensors and capacitive touch elements on the surface of the flexible display screen to accurately sense and feedback touch pressure, temperature changes and touch positions. In particular, in terms of distinguishing between light touch and hard pressing, the present invention provides a higher tactile resolution than traditional robot skin, and can simulate the response of human skin to different forces, allowing the robot to more sensitively sense different touch methods.

[0026] Simulate the delicate and soft feeling of skin: Through the texture layer design of micro-nano particles and polymer coating, the present invention can create microscopic concave and convex textures on the screen surface to simulate the delicate and soft feeling of skin. When touched, the microscopic friction generated by these texture layers can simulate the touch of real skin, improve the naturalness and comfort of human-computer interaction, especially the tactile experience when touching and pressing.

[0027] Rich skin color: Through the application of a color-changing display material layer, the robot can maintain the natural skin color in an environment with large light changes, enhancing the realism and adaptability of the robot's skin.

[0028] Adaptive camouflage simulation: The quantum dot photochromic layer can achieve millisecond-level color change response, covering the entire visible spectrum, and supports adaptive camouflage in ultraviolet / infrared environments. It has potential for application in military and special scenarios, while the micro laser projection module can dynamically display 3D holographic information on the skin surface, such as medical diagnosis results and interactive instructions, expanding the dimension of human-computer interaction.

[0029] High waterproof performance: The outer coating of the present invention adopts a self-repairing nano waterproof coating, which effectively improves the waterproof ability of the flexible display screen. Through precise coating design, it can effectively prevent water penetration and protect internal sensors and circuits from moisture damage. The self-repairing nano waterproof coating can release repair agents when the coating surface is damaged, and restore the waterproof performance within 5 minutes, reducing maintenance costs.

[0030] Enhance the robot's tactile interactivity: The technical solution of the present invention not only provides high-precision pressure, temperature and tactile feedback, but also can simulate the tactile feeling of different skin textures by dynamically adjusting the tactile effect. In particular, in multiple touch modes such as pressing, stroking or rubbing, the robot can adjust the feedback effect in real time according to the environment and touch mode, which greatly enhances the robot's interactivity and affinity and improves the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a schematic structural diagram of a humanoid robot of the present invention;

[0032] Figure 2 This is a schematic diagram of the structure of the simulated skin in an embodiment of the present invention;

[0033] Figure 3 This is a diagram showing the composition of simulated skin based on a flexible screen in an embodiment of the present invention.

[0034] In the figure: 1. upper limbs; 2. trunk skeleton; 3. lower limbs; 4. head; 5. simulated skin; 501. bonding layer; 502. color-changing display material layer; 503. sensing layer; 504. texture layer; 505. self-healing nano-waterproof coating. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] In the description of the present invention, it should be noted that the terms "vertical", "up", "down", "horizontal", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0037] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] See also Figure 1 The present invention provides a technical solution: a humanoid robot with a flexible electronic touch screen skin, including a robot skeleton and a simulated skin 5 wrapped outside the robot skeleton.

[0039] See also Figure 1 In this embodiment, the robot skeleton includes an upper limb arm 1, a trunk skeleton 2, a lower limb leg 3 and a head 4. The upper limb arm 1, the lower limb leg 3 and the head 4 are respectively connected to the trunk skeleton 2 through a servo drive mechanism and realize the movements of the limbs and the head 4. The servo drive mechanisms of each joint connection part of the robot skeleton are covered with a shielding layer.

[0040] See also Figure 2 , Figure 3In this embodiment, the artificial skin 5 is a touch skin made of a flexible touch screen material. The artificial skin 5 includes a bonding layer 501, a color-changing display material layer 502, a sensing layer 503 and an outer coating, wherein the bonding layer 501 is the bottom layer of the artificial skin 5 and is wrapped around the robot frame and the shielding layer. The bonding layer 501 is a thin polydimethylsiloxane coating, and the color-changing display material layer 502 is arranged on the bonding layer 501. Sealant and a sealing gasket are also arranged outside the joint connection part between the artificial skin 5 and the robot frame to play a waterproof role. At the same time, it can provide joint buffering when the robot frame is impacted to prevent the artificial skin 5 from hitting the robot frame and causing damage.

[0041] In this embodiment, the color-changing display material layer 502 is a quantum dot photochromic layer, a micro laser projection module is embedded in the quantum dot photochromic layer, and a sensing layer 503 is arranged outside the color-changing display material layer 502. The sensing layer 503 includes a flexible electronic touch screen and a sensor touch element. The flexible electronic touch screen is a flexible touch screen material with high flexibility, conductivity and optical properties. The sensor touch elements are distributed on the flexible electronic touch screen. The sensor touch elements include a pressure sensor for touch sensing, a temperature sensor and a capacitive touch element.

[0042] In this embodiment, the outer coating includes a texture layer 504 attached to the outside of the sensing layer 503 and a self-healing nano-waterproof coating 505, wherein the texture layer 504 is arranged on the bottom layer of the self-healing nano-waterproof coating 505, and the texture layer 504 is a nano-particle polymer coated on the outside of the sensing layer 503. By adjusting the particle size and distribution, a micro-texture is created on the screen surface. This coating can imitate the softness and delicate feel of the skin when touched, and even add tiny depressions or protrusions on the surface to simulate the fine lines and texture of the skin surface.

[0043] In this embodiment, microencapsulated polysiloxane is embedded in the self-repairing nano waterproof coating 505. When the surface is damaged, the microcapsules rupture to release the repair agent, and the waterproof performance of the coating is restored within 5 minutes, reducing maintenance costs. In addition, the self-repairing nano waterproof coating is optimized through molecular-level hydrophobic structure, and the coating can withstand extreme temperatures of -50°C to 200°C and strong acid and alkali environments, and is suitable for deep sea, space and other scenes.

[0044] In this embodiment, a tactile layer (not shown in the figure) for tactile feedback is also provided in the sensing layer 503. The tactile layer is an electrostrictive material, and the tactile layer is embedded in the substrate of the flexible display screen. By controlling the electric field, the electrostrictive material can drive the surface of the flexible display screen to produce a small bending, simulating tactile feedback, especially when touched and pressed, in cooperation with the texture layer 504, an effect similar to the touch of the skin surface is produced. By accurately adjusting the electric field strength, the tactile sensation of various skin textures can be simulated, thereby increasing the tactile interactivity of the robot.

[0045] In this embodiment, a perovskite thin-film solar cell is embedded in the texture layer 504 , and the sensor is powered by ambient light, thereby achieving zero external power supply endurance.

[0046] In this embodiment, the simulated skin 5 at the end of the upper limb 1 (hand) is provided with a bioelectric sensor, which integrates a bionic nerve fiber sensor and can detect electromyographic signals and bioelectric changes, so that the robot can perceive human emotions (such as skin electrical response when nervous) and enhance the authenticity of emotional interaction.

[0047] In this embodiment, the simulated skin 5 at the end of the upper limb 1 (hand) also uses graphene-based piezoelectric materials to increase the pressure resolution to below 0.1g (far exceeding the human skin perception threshold) and support fingerprint-level texture recognition (such as distinguishing silk from sandpaper).

[0048] This embodiment also combines the above-mentioned simulated skin with AI deep learning tactile and visual recognition analysis to dynamically adjust tactile feedback and use blockchain technology to ensure the privacy and security of tactile data. The specific implementation method is as follows:

[0049] 1) Collaboration between tactile feedback and visual recognition:

[0050] Tactile analysis: The robot skin is made of flexible touch screen material, which can sense external touch signals, such as stroking, holding, squeezing, etc. Through the edge computing chip, the robot analyzes tactile data in real time, including the collection and processing of multi-dimensional data such as pressure sensors, temperature sensors, and capacitive touch sensors.

[0051] Visual recognition: The robot is equipped with a high-definition camera that can capture the user's facial expressions, eye changes, movements and other visual information in real time. Through deep learning algorithms, the robot can recognize the user's emotional state, such as tension, relaxation, joy, etc., and dynamically adjust the tactile feedback strategy according to the user's emotional state.

[0052] 2) Closed-loop adjustment of touch and vision:

[0053] When the user shows nervousness, the system can simulate the touch of a baby's skin through gentle touch feedback to help the user relax.

[0054] When shaking hands or comforting, the system will adjust the strength and texture of the tactile feedback according to the changes in the user's emotions. For example, it can simulate the texture of leather to make the user feel reassured.

[0055] Deep learning tactile analysis and dynamic adjustment strategy

[0056] The system uses deep learning algorithms to analyze users' tactile reactions and facial expressions, identifies emotional changes in real time, and optimizes the user experience by adjusting tactile feedback strategies.

[0057] Tactile analysis algorithm: The robot’s built-in edge computing chip processes tactile signals from the skin in real time and combines them with visual data obtained by the camera to infer the user’s emotional state.

[0058] Feedback strategy adjustment: For example, when the user is in an anxious state, the robot will increase the frequency and gentleness of touch to simulate the feeling of mother-child contact to provide emotional comfort; when the user is in a relaxed state, the feedback can become more solid, simulating a leather-like texture to enhance the sense of security.

[0059] 3) Blockchain encryption and privacy protection:

[0060] In medical care scenarios, the patient's tactile data involves personal sensitive information, such as physical condition, emotional response, etc. In order to ensure the privacy and security of the data, this embodiment uses blockchain technology to encrypt, store and manage the tactile data.

[0061] Data on-chain: Every piece of tactile data, including touch time, tactile intensity, user's emotional feedback, etc., will be stored on the blockchain to ensure the security and non-tamperability of the data during transmission.

[0062] Privacy protection: All data storage complies with the compliance requirements of GDPR (General Data Protection Regulation) and CCPA (California Consumer Privacy Act). The patient's tactile data is encrypted and uploaded to the blockchain. Only authorized medical staff or caregivers can access the data to ensure privacy is not leaked.

[0063] 4) Tactile data acquisition: Real-time tactile signals are collected through flexible touch screen sensors and transmitted to edge computing chips for processing.

[0064] Visual data collection: The robot’s camera captures the user’s facial expressions, eye movements, postures and other information in real time, and analyzes the user’s emotional state through a visual recognition model.

[0065] Data processing and feedback strategy generation: Tactile data and visual data are integrated through deep learning algorithms, and the robot adjusts the tactile feedback strategy in real time to provide personalized tactile perception experience based on the user's emotional state.

[0066] Data encryption and storage: All collected tactile data is encrypted and stored through blockchain to ensure user privacy and data security.

[0067] The humanoid robot with flexible electronic touch screen skin proposed in the above embodiment combines advanced flexible electronic technology, sensor technology and tactile feedback technology, and has broad prospects in a variety of complex application scenarios. The following are potential application fields and technical prospects after the implementation of the present invention:

[0068] 1) Medical field:

[0069] Rehabilitation therapy: The robot can be used to help disabled people with rehabilitation training, especially in neuromuscular rehabilitation. Through the bioelectric sensors in the bionic skin, the robot can sense the patient's electromyographic signals in real time, provide more precise emotional interaction and movement feedback, and thus promote the recovery of the patient's muscle activity and nerve function.

[0070] Surgical assistance: The artificial skin can sense changes in external environmental pressure and temperature, which enables the robot to perform delicate operations as a surgical auxiliary tool, such as assisting surgeons in minimally invasive surgery and providing real-time tactile feedback.

[0071] Telemedicine: The robot’s flexible touchscreen skin can sense the patient’s condition through touch sensors, especially in telemedicine applications, providing real-time interaction and treatment to patients through virtual diagnosis or care.

[0072] 2) Education and training:

[0073] Human-computer interactive teaching: In the field of education, robots can conduct interactive teaching through the touch feedback and emotional perception functions of simulated skin, especially in the educational training of language, body movements and emotional cognition, which can provide learners with a more immersive and vivid experience.

[0074] Training simulation: The robot can be used as a training tool to help trainers better cope with actual challenges through perception and tactile feedback in high-risk scenarios such as simulated emergency rescue and military training.

[0075] 3) Entertainment and emotional companionship:

[0076] Emotional companionship robots: Using robots’ perception of emotional changes (such as sensing the electrical skin response of tension through bioelectric sensors), they can provide more realistic emotional companionship, especially for the elderly, autistic patients, etc. Robots can establish a more natural interactive relationship with users through tactile and emotional feedback, and provide emotional support.

[0077] Gaming and virtual reality applications: In the entertainment industry, this simulated skin robot can be used to enhance the interactive experience in virtual reality (VR) and augmented reality (AR). Through highly realistic tactile feedback, it enhances the player's sense of immersion and brings more realistic virtual interactions.

[0078] 4) Service Robots:

[0079] Customer Service and Reception: Combined with the touch sensing capabilities of the robot skin, a more humane reception robot can be designed. These robots can interact with customers by sensing their touch, handshake or pat, providing a more friendly customer experience.

[0080] Household services: In a home environment, robots can play a role in cleaning, security and other fields. The tactile feedback and sensors of bionic skin make robots more flexible in performing tasks, avoiding damage to objects and interacting naturally with human family members.

[0081] 5) Operations in high-risk environments:

[0082] Space and deep-sea exploration: Self-healing nano-waterproof coatings enable robots to work in extreme environments, such as the deep sea or space. Robots can sense environmental changes through sensors and tactile feedback, perform high-risk tasks (such as space station maintenance or deep-sea exploration), and ensure efficient operation and maintenance work.

[0083] 6) Military and rescue:

[0084] In a battlefield environment, emergency rescue and evacuation of injured personnel are crucial. Through the tactile feedback function of simulated skin, the robot can judge the severity of the injury by sensing the physiological state of the injured (such as body temperature, pulse, etc.), and provide real-time data support for the medical team. The bioelectric sensors in the bionic skin can detect electromyographic signals and skin electrical responses, assisting the robot to have effective emotional interaction with the injured, soothing the injured and reducing anxiety.

[0085] In addition, the robot can use its flexible skin to perform efficient handling and first aid tasks in complex battlefield environments. For example, the robot can accurately sense the pressure distribution to avoid further harm to the wounded, and confirm the comfort and safety of the wounded through tactile feedback.

[0086] After a disaster, robots can replace humans in performing dangerous search and rescue missions in complex environments. The robot can sense temperature changes, vibrations or small pressure changes in the environment to locate the position of trapped people. The sensing layer in the simulated skin can determine whether there are signs of life in the ruins through touch sensing, and can even monitor the physiological signals of the trapped person, such as pulse or electromyographic activity, through bioelectric sensors, to further improve the efficiency of rescue. Robots can perform meticulous and precise tasks in post-disaster search and rescue, especially in dangerous environments such as collapsed buildings. The self-healing nano-waterproof coating enables the robot to cope with harsh environments, such as flooding and chemical pollution in the ruins, ensuring that the robot is not damaged when performing tasks.

[0087] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A humanoid robot with a flexible electronic touch screen skin, characterized in that, It comprises a robot frame and a simulated skin (5) wrapped around the robot frame, wherein: The robot frame comprises an upper limb arm (1), a trunk frame (2), a lower limb leg (3) and a head (4); the upper limb arm (1), the lower limb leg (3) and the head (4) are respectively connected to the trunk frame (2) via a servo drive mechanism and realize the movement of the limbs and the head (4); the servo drive mechanism of each joint connection part of the robot frame is coated with a shielding layer; The artificial skin (5) is a touch skin made of a flexible touch screen material. The artificial skin (5) comprises a bonding layer (501), a color-changing display material layer (502), a sensing layer (503) and an outer coating layer. The bonding layer (501) is the bottom layer of the artificial skin (5) and is wrapped around the robot frame and the shielding layer. The bonding layer (501) is a thin polydimethylsiloxane coating. The color-changing display material layer (502) is arranged on the bonding layer (501).

2. The humanoid robot with flexible electronic touch screen skin according to claim 1, characterized in that: Sealing glue and a sealing gasket are also provided outside the joint connection portion between the simulated skin (5) and the robot frame.

3. The humanoid robot with flexible electronic touch screen skin according to claim 1, characterized in that: The color-changing display material layer (502) is a quantum dot photochromic layer, a micro laser projection module is embedded inside the quantum dot photochromic layer, and a sensing layer (503) is arranged outside the color-changing display material layer (502).

4. The humanoid robot with flexible electronic touch screen skin according to claim 3, characterized in that: The sensing layer (503) includes a flexible electronic touch screen and a sensor touch element. The flexible electronic touch screen is a flexible touch screen material with high flexibility, conductivity and optical properties. The sensor touch elements are distributed on the flexible electronic touch screen. The sensor touch elements include a pressure sensor for touch sensing, a temperature sensor and a capacitive touch element.

5. The humanoid robot with flexible electronic touch screen skin according to claim 1, characterized in that: The outer coating layer comprises a texture layer (504) attached to the outside of the sensing layer (503) and a self-repairing nano waterproof coating (505), wherein the texture layer (504) is arranged at the bottom layer of the self-repairing nano waterproof coating (505), and the texture layer (504) is a nanoparticle polymer coated on the outside of the sensing layer (503).

6. The humanoid robot with flexible electronic touch screen skin according to claim 5, characterized in that: Microencapsulated polysiloxane is embedded in the self-repairing nano waterproof coating (505).

7. The humanoid robot with flexible electronic touch screen skin according to claim 1, characterized in that: A tactile layer for tactile feedback is also provided in the sensing layer (503); the tactile layer is an electrostrictive material and is embedded in the substrate of the flexible display screen.

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