Mechanical glove with visual tactile sensor, operation method and control system

Abstract

The invention provides a mechanical glove with a visual tactile sensor, an operation method and a control system. The mechanical glove comprises at least one finger assembly; the finger assembly comprises at least two structural parts corresponding to different parts of fingers of a user respectively; the at least one finger assembly comprises an information collection module used for collecting activity information on the at least one structural member; a visual touch sensor is arranged on a structural part, corresponding to the fingertip of a user, of at least one finger assembly. A plurality of structural parts are arranged in each finger assembly in the mechanical glove, so that the mechanical glove can realize multi-degree-of-freedom movement; and an information collection module for collecting data is integrated on the finger assembly, so that the activity information of the structural member can be efficiently captured and recorded. Furthermore, a visual tactile sensor is arranged on a structural member corresponding to the fingertip of the user, so that external touch, pressure change and the like can be sensitively sensed, and technical support is provided for application scenes needing fine operation or tactile feedback.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a mechanical glove with visual tactile sensors, an operating method and a control system. Background Art

[0002] In order to better and more conveniently control the five-finger manipulator, robot control gloves have appeared on the market. The operator only needs to wear gloves and control the five-finger manipulator by moving his fingers. The sensing control principle of this kind of robot control gloves is mainly based on optical sensing, which can accurately capture position information and provide good user experience.

[0003] Existing robot control gloves have few degrees of freedom, single functions, and poor user experience. Summary of the invention

[0004] In view of this, the present invention proposes a mechanical glove with visual tactile sensors, an operation method and a control system, and the specific scheme is as follows:

[0005] In the first part, the present invention provides a mechanical glove with visual tactile sensors, comprising: at least one finger assembly;

[0006] The finger assembly includes at least two structural members corresponding to different parts of the user's finger respectively;

[0007] At least one of the finger components includes an information collection module for collecting activity information on at least one of the structural components;

[0008] A visual tactile sensor is arranged on a structural component corresponding to a user's fingertip on at least one of the finger assemblies.

[0009] In a specific embodiment, the structural member includes a fingertip structural member, a rotating structural member, a telescopic structural member and a swinging structural member; one end of the rotating structural member is connected to the fingertip structural member, and the other end is movably connected to the swinging structural member; the telescopic structural member is located on the rotating structural member; the visual tactile sensor is provided on the fingertip structural member;

[0010] The information collection module includes a rotation information collector for collecting movement information of the rotation structure, a swing information collector for collecting movement information of the swing structure, and a telescopic information collector for collecting movement information of the telescopic structure.

[0011] In a specific embodiment, the rotating structure comprises a first rocker arm and a second rocker arm; one end of the first rocker arm is connected to the fingertip structure, and the other end is movably connected to the second rocker arm, so as to drive the fingertip structure to bend or straighten relative to the second rocker arm under the action of an external force; one end of the second rocker arm away from the first rocker arm is movably connected to the swing structure, and the telescopic structure is located between the first rocker arm and the second rocker arm;

[0012] The rotation information collector includes a first rotation information collector for acquiring the first swing arm motion information and a second rotation information collector for acquiring the second swing arm motion information.

[0013] In a specific embodiment, the telescopic structure includes a gear and a rack; one end of the rack is connected to the first rocker arm, and the other end is movably connected to the second rocker arm, and the gear is arranged on the second rocker arm and meshingly connected to the rack.

[0014] In a specific embodiment, the visual-tactile sensor includes a housing, a shooting component, a lighting component and a touch layer, the housing is provided with a transparent portion, and the touch layer is connected to a side of the transparent portion away from the housing;

[0015] The shooting component is arranged in the shell, and the shooting end of the shooting component faces the transparent part; a lighting space is formed in the shell, and the lighting component is arranged in the shell, and the lighting component is used to illuminate the lighting space and the touch layer.

[0016] In a specific embodiment, the touch layer includes an elastic transparent layer, a pattern layer, a background layer and a wear-resistant layer in sequence along the direction from the shooting component to the transparent part; the pattern layer includes one or more specific patterns, and the background layer and the wear-resistant layer are used for shading; the touch layer is used to deform one or more specific patterns on the pattern layer when the wear-resistant layer contacts an object, so that the shooting component captures the changes of the specific patterns on the pattern layer through the elastic transparent layer, and obtains touch information based on the changes.

[0017] In a specific embodiment, the housing includes an upper cover and a lower cover, the upper cover is detachably connected to the lower cover; the transparent portion is connected to a side of the lower cover away from the upper cover; the shooting assembly is disposed in the upper cover, and the lighting assembly is disposed in the lower cover;

[0018] The lower cover is provided with an opening, so that the photographing end of the photographing component passes through the opening and penetrates the transparent part to photograph the touch layer, and the lighting component passes through the opening and penetrates the transparent part to illuminate the touch layer.

[0019] In a specific embodiment, it also includes a base; the base is provided at one end of the finger assembly away from the visual-tactile sensor, and is used to connect the mechanical glove to the outside world.

[0020] In the second part, the present invention provides an operation method of a mechanical glove with a visual tactile sensor, which is applied to a mechanical glove with a visual tactile sensor mentioned in the above technical solution, and the method comprises:

[0021] Wearing the mechanical glove on the user's finger;

[0022] Acquiring the movement data of the user's finger through the information collection module;

[0023] Acquiring touch information data of the user's fingertips through the visual-tactile sensor;

[0024] The motion data and / or the touch information data are subjected to learning analysis to obtain learning training data for other robots.

[0025] In the third part, the present invention provides a robot control system, including a mechanical glove with visual tactile sensors mentioned in the above technical solution.

[0026] Beneficial effects:

[0027] The present invention sets at least two structural parts in each finger assembly of the mechanical glove, so that the mechanical glove can achieve multiple degrees of freedom and strong flexibility, thereby ensuring the flexibility and comfort of the glove; and integrates an information collection module for collecting data on the finger assembly, so that the activity information of the structural parts can be efficiently captured and recorded to provide users with detailed finger movement analysis reports or for controlling external devices. Furthermore, in order to enhance tactile feedback, a visual tactile sensor is set on the structural part corresponding to the user's fingertips, which can sensitively perceive external touch, pressure changes, etc., and provides technical support for application scenarios that require fine operation or tactile feedback. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic diagram of the three-dimensional structure of a mechanical glove according to an embodiment of the present invention;

[0029] Figure 2 is a schematic diagram of the information collection module structure of an embodiment of the present invention;

[0030] Figure 3 is a schematic diagram of the structure of the structural parts of an embodiment of the present invention;

[0031] Figure 4 Schematic diagram of the structure of the visual-tactile sensor according to an embodiment of the present invention.

[0032] Figure markings: 1-finger assembly; 2-structural part; 21-fingertip structural part; 22-rotating structural part; 221-first rocker arm; 222-second rocker arm; 23-telescopic structural part; 231-gear; 232-rack; 24-swinging structural part; 3-information collection module; 31-rotating information collector; 311-first rotating information collector; 312-second rotating information collector; 32-swinging information collector; 33-telescopic information collector; 4-visual tactile sensor; 41-shell; 411-upper cover; 412-lower cover; 42-shooting assembly; 43-lighting assembly; 44-touch layer; 441-elastic transparent layer; 442-pattern layer; 443-background layer; 444-wear-resistant layer; 45-transparent part; 5-base. DETAILED DESCRIPTION

[0033] In the following, various embodiments of the present disclosure will be described more fully. The present disclosure may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present disclosure to the specific embodiments disclosed herein, but the present disclosure should be understood to cover all adjustments, equivalents and / or alternatives that fall within the spirit and scope of the various embodiments of the present disclosure.

[0034] The terms used in the various embodiments disclosed in the present invention are only used for the purpose of describing specific embodiments and are not intended to limit the various embodiments disclosed in the present invention. As used herein, the singular form is intended to also include the plural form, unless the context clearly indicates otherwise. Unless otherwise specified, all terms used herein (including technical terms and scientific terms) have the same meaning as the meanings commonly understood by ordinary technicians in the field of the various embodiments disclosed in the present invention. The terms (such as the terms defined in the generally used dictionary) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning, unless clearly defined in the various embodiments disclosed in the present invention.

[0035] Example 1

[0036] This embodiment provides at least two structural parts in each finger assembly of the mechanical glove, so that the mechanical glove can achieve multiple degrees of freedom and has strong flexibility, thereby ensuring the flexibility and comfort of the glove; and an information collection module for collecting data is integrated on the finger assembly, so that the activity information of the structural parts can be efficiently captured and recorded to provide users with detailed finger movement analysis reports or for controlling external devices. Furthermore, in order to enhance tactile feedback, visual tactile sensors are provided on the structural parts corresponding to the user's fingertips, which can sensitively perceive external touch, pressure changes, etc., and provide technical support for application scenarios that require fine operation or tactile feedback. The specific structure is shown in the attached manual. Figure 1-4 The specific plan is as follows:

[0037] A mechanical glove with visual tactile sensors, comprising: at least one finger assembly 1;

[0038] The finger assembly 1 includes at least two structural members 2 corresponding to different parts of the user's finger;

[0039] At least one finger assembly 1 includes an information collection module 3 for collecting activity information on at least one structural member 2;

[0040] A visual-tactile sensor 4 is provided on a structural component of at least one finger assembly 1 corresponding to the user's fingertip.

[0041] This embodiment provides a mechanical glove with a visual tactile sensor, including at least one finger assembly 1, as shown in the attached Figure 1 As shown, in actual application, five finger assemblies 1 corresponding to the user's fingers are preferably used to fit and assist the movements of each finger of the user. Each finger assembly 1 is further subdivided into at least two precise structural parts 2, which correspond to and fit different parts of the user's fingers, such as knuckles, finger bases, etc., to ensure the flexibility and comfort of the glove.

[0042] In order to improve the intelligence level of the glove, an information collection module 3 for collecting data is integrated on at least one finger component 1. Figure 2 As shown, the information collection module 3 can efficiently capture and record activity information on at least one structural member 2, such as bending angle, movement speed, etc., to provide users with detailed finger movement analysis reports or to control external devices.

[0043] Furthermore, in order to enhance tactile feedback, at least on one finger assembly 1, a visual tactile sensor 4 is provided on the structural member 2 corresponding to the user's fingertip. The visual tactile sensor 4 can sensitively perceive external touch, pressure changes, etc., and provides technical support for application scenarios requiring fine operation or tactile feedback.

[0044] In a specific embodiment, the structural member 2 includes a fingertip structural member 21, a rotating structural member 22, a telescopic structural member 23 and a swinging structural member 24; one end of the rotating structural member 22 is connected to the fingertip structural member 21, and the other end is movably connected to the swinging structural member 24; the telescopic structural member 23 is located on the rotating structural member 22; the fingertip structural member 21 is provided with a visual touch sensor 4;

[0045] The information collection module 3 includes a rotation information collector 31 for collecting movement information of the rotation structure 22 , a swing information collector 32 for collecting movement information of the swing structure 24 , and a telescopic information collector 33 for collecting movement information of the telescopic structure 23 .

[0046] As attached Figure 3 As shown, in this embodiment, the structural member 2 specifically includes a fingertip structural member 21, a rotating structural member 22, a telescopic structural member 23, and a swinging structural member 24. These components work together to achieve complex operation tasks. Among them, one end of the rotating structural member 22 is connected to the fingertip structural member 21, and the other end is movably connected to the swinging structural member 24, so that the structural member 2 can have the dual flexibility of rotation and swing. The telescopic structural member 23 is placed on the rotating structural member 22, and through its telescopic function, the adaptability and operating range of the structural member 2 are further enhanced.

[0047] Furthermore, a visual tactile sensor 4 is specially provided on the fingertip structural member 21, so that the structural member 2 can sense and feedback the information of the contact surface in real time, such as pressure distribution, texture, etc., thereby greatly improving the accuracy and intelligence level of the operation.

[0048] Correspondingly, the rotation information collector 31 is used to collect the motion information of the rotating structure 22, such as the rotation angle, speed, etc.; the swing information collector 32 is used to collect the motion information of the swing structure 24, such as the swing amplitude, frequency, etc.; and the telescopic information collector 33 is responsible for collecting the motion information of the telescopic structure 23, such as the telescopic length, speed, etc. The collection and analysis of this information provides valuable data support for subsequent operation control, ensuring the stable operation and efficient operation of the entire system.

[0049] In a specific embodiment, the rotating structure 22 includes a first rocker arm 221 and a second rocker arm 222; one end of the first rocker arm 221 is connected to the fingertip structure 21, and the other end is movably connected to the second rocker arm 222, so as to drive the fingertip structure 21 to bend or straighten relative to the second rocker arm 222 under the action of an external force; one end of the second rocker arm 222 away from the first rocker arm 221 is movably connected to the swing structure 24, and the telescopic structure 23 is located between the first rocker arm 221 and the second rocker arm 222;

[0050] The rotation information collector 31 includes a first rotation information collector 311 for acquiring motion information of the first swing arm 221 and a second rotation information collector 312 for acquiring motion information of the second swing arm 222 .

[0051] In this embodiment, the rotating structure 22 includes a first rocker arm 221 and a second rocker arm 222. This design makes the rotating structure 22 highly flexible and adaptable. Specifically, one end of the first rocker arm 221 is closely connected to the fingertip structure 21, ensuring a stable connection between the two; and the other end is movably connected to the second rocker arm 222. This design allows the first rocker arm 221 to bend or straighten relative to the second rocker arm 222 under the action of external force, thereby driving the fingertip structure 21 to achieve corresponding movement, greatly increasing the diversity and accuracy of the operation.

[0052] The end of the second rocker arm 222 away from the first rocker arm 221 is movably connected to the swing structure 24, so that the entire structure 2 can perform complex movements in multiple dimensions. The telescopic structure 23 is arranged between the first rocker arm 221 and the second rocker arm 222, and through its telescopic function, the flexibility and operating range of the entire structure are further enhanced.

[0053] Furthermore, in order to fully and accurately grasp the motion state of the rotating structure 22, the rotation information collector 31 includes a first rotation information collector 311 and a second rotation information collector 312. The first rotation information collector 311 is specifically used to obtain the motion information of the first rocker arm 221, such as key parameters such as rotation angle and speed; while the second rotation information collector 312 focuses on collecting the motion information of the second rocker arm 222, ensuring comprehensive monitoring of the overall motion state of the rotating structure 22. This not only improves the accuracy and efficiency of information collection, but also provides strong support for subsequent operation control and data analysis.

[0054] In a specific embodiment, the telescopic structure 23 includes a gear 231 and a rack 232; one end of the rack 232 is connected to the first rocker arm 221, and the other end is movably connected to the second rocker arm 222, and the gear 231 is arranged on the second rocker arm 222 and meshes with the rack 232. This not only improves the overall performance of the structure, but also greatly enhances the flexibility and accuracy of its operation.

[0055] One end of the rack 232 is closely connected to the first rocker arm 221, ensuring a stable connection and synchronous movement between the two; and the other end is movably connected to the second rocker arm 222, so that the rack 232 can slide relative to the second rocker arm 222 when subjected to external force, thereby realizing the telescopic function. The gear 231 is arranged on the second rocker arm 222 and forms a tight meshing connection with the rack 232. This meshing connection not only ensures stable transmission between the gear 231 and the rack 232, but also enables the rack 232 to move linearly when the gear 231 rotates, thereby realizing the telescopic function of the telescopic structure 23. At the same time, since the meshing between the gear 231 and the rack 232 is self-locking, this design can also improve the stability and bearing capacity of the telescopic structure 23 to a certain extent, providing strong support for the performance improvement and diversified operation of the entire structure.

[0056] In a specific embodiment, the visual touch sensor 4 includes a housing 41, a shooting component 42, a lighting component 43 and a touch layer 44, a transparent portion 45 is provided on the housing 41, and the touch layer 44 is connected to a side of the transparent portion 45 away from the housing 41;

[0057] The shooting component 42 is disposed in the shell 41 , and the shooting end of the shooting component 42 faces the transparent portion 45 ; a lighting space is formed in the shell 41 , and the lighting component 43 is disposed in the shell 41 , and the lighting component 43 is used to illuminate the lighting space and the touch layer 44 .

[0058] As attached Figure 4 As shown, the shell 41 serves as the external frame of the entire sensor, protecting the internal components from external interference and damage. The transparent portion 45 is made of a highly light-transmitting material, so that the shooting component 42 can capture image changes on the touch layer 44 without hindrance. The shooting component 42 is located inside the shell 41. In actual applications, the shooting component 42 can be equipped with a camera or an image sensor, and its shooting end is precisely aligned with the transparent portion 45, so that the shooting component 42 can capture the image information transmitted from the touch layer 44 in real time through the transparent portion 45, so that the sensor can clearly identify subtle changes on the touch layer 44.

[0059] Furthermore, a lighting assembly 43 is installed inside the shell 41, and a uniform lighting space is constructed inside the shell; the lighting assembly 43 provides sufficient light for the shooting assembly 42 to ensure the clarity and contrast of image capture; in practical applications, the visibility of the pattern on the touch layer 44 can also be enhanced through a specific light layout.

[0060] In a specific embodiment, the touch layer 44 includes an elastic transparent layer 441, a pattern layer 442, a background layer 443 and a wear-resistant layer 444 in sequence along the direction from the self-shooting component 42 to the transparent portion 45; the pattern layer 442 includes one or more specific patterns, and the background layer 443 and the wear-resistant layer 444 are used for shading; the touch layer 44 is used to deform one or more specific patterns on the pattern layer 442 when the wear-resistant layer 444 contacts an object, so that the shooting component 42 captures the changes of the specific patterns on the pattern layer 442 through the elastic transparent layer 441, and obtains touch information based on the changes.

[0061] The touch layer 44 is the core functional layer of the visual touch sensor, which integrates multiple functional layers to achieve tactile sensing. The wear-resistant layer 444 directly contacts the object, which can effectively resist wear and scratches in daily use and protect the inner structure; the inner layer of the wear-resistant layer 444 is the background layer 443. The background layer 443 and the wear-resistant layer 444 are designed with efficient shading to reduce the interference of ambient light on image capture and improve detection accuracy. The inner layer of the background layer 443 is the pattern layer 442. The pattern layer 442 is a key information carrier, which is provided with a fine specific pattern, designed to produce recognizable deformation in response to touch action, and then captured and analyzed by the shooting component 42; the inner layer of the pattern layer 442 is the elastic transparent layer 441, which is a transparent material used for buffering and conduction to ensure that the changes on the pattern layer 442 can be clearly transmitted to the shooting component 42.

[0062] In actual applications, when the wear-resistant layer 444 contacts an object, the specific pattern on the extruded pattern layer 442 is deformed, so that the camera component 42 captures the changes of the specific pattern on the pattern layer 442 through the elastic layer 441, and analyzes these changes through advanced image processing algorithms to generate detailed touch information. This information can be used in various application scenarios, such as touch screen input, gesture recognition, pressure distribution analysis, etc., to provide users with a rich and intuitive interactive experience.

[0063] In a specific embodiment, the housing 41 includes an upper cover 411 and a lower cover 412, and the upper cover 411 and the lower cover 412 are detachably connected; the transparent portion 45 is connected to the side of the lower cover 412 away from the upper cover 411; the shooting component 42, as the core of capturing image information, is arranged in the upper cover 411, and such a layout ensures the flexibility of the shooting angle and avoids mutual interference with the internal components of the lower cover 412. The lighting component 43 is responsible for providing the necessary lighting conditions and is placed in the lower cover 412, complementing the shooting component 42 to jointly ensure the quality of the shooting effect.

[0064] An opening is provided on the lower cover 412, so that the shooting end of the shooting component 42 passes through the transparent portion 45 through the opening to shoot the touch layer 44, and the lighting component 43 passes through the transparent portion 45 through the opening to illuminate the touch layer 44, thereby greatly improving the shooting effect and recognition accuracy.

[0065] In a specific embodiment, a base 5 is further included; the base 5 is provided at one end of the finger assembly 1 away from the visual touch sensor 4, and is used to connect the mechanical glove to the outside world. Through the base 5, the mechanical glove can be closely connected with other necessary control systems, power supply or signal receiving devices, so as to ensure the full play and efficient operation of the glove functions, which not only enhances the practicality and compatibility of the mechanical glove, but also provides users with a more convenient and stable operating experience.

[0066] Example 2

[0067] This embodiment provides an operating method of a mechanical glove with a visual tactile sensor, which is applied to a mechanical glove with a visual tactile sensor mentioned in the technical solution of Embodiment 1. The method includes:

[0068] Putting the robotic glove on the user's fingers;

[0069] Obtain the user's finger movement data through the information collection module;

[0070] Acquire the touch information data of the user's fingertips through the visual tactile sensor;

[0071] The motion data and / or touch information data are subjected to learning analysis to obtain learning training data for other robots.

[0072] Example 3

[0073] This embodiment provides a robot control system, including a mechanical glove with visual tactile sensors mentioned in the technical solution of Example 1.

[0074] The present invention sets at least two structural parts in each finger assembly of the mechanical glove, so that the mechanical glove can achieve multiple degrees of freedom and strong flexibility, thereby ensuring the flexibility and comfort of the glove; and integrates an information collection module for collecting data on the finger assembly, so that the activity information of the structural parts can be efficiently captured and recorded to provide users with detailed finger movement analysis reports or for controlling external devices. Furthermore, in order to enhance tactile feedback, a visual tactile sensor is set on the structural part corresponding to the user's fingertips, which can sensitively perceive external touch, pressure changes, etc., and provides technical support for application scenarios that require fine operation or tactile feedback.

[0075] Those skilled in the art will appreciate that the accompanying drawings are only schematic diagrams of a preferred implementation scenario, and the modules or processes in the accompanying drawings are not necessarily required for implementing the present invention. Those skilled in the art will appreciate that the modules in the devices in the implementation scenario may be distributed in the devices in the implementation scenario according to the description of the implementation scenario, or may be changed accordingly and located in one or more devices different from the present implementation scenario.

Claims

1. A mechanical glove with visual tactile sensors, characterized in that: include: at least one finger assembly; The finger assembly includes at least two structural members corresponding to different parts of the user's finger respectively; At least one of the finger components includes an information collection module for collecting activity information on at least one of the structural components; A visual tactile sensor is arranged on a structural component corresponding to a user's fingertip on at least one of the finger assemblies.

2. The mechanical glove with visual tactile sensor according to claim 1, characterized in that: The structural member comprises a fingertip structural member, a rotating structural member, a telescopic structural member and a swinging structural member; one end of the rotating structural member is connected to the fingertip structural member, and the other end is movably connected to the swinging structural member; the telescopic structural member is located on the rotating structural member; the visual tactile sensor is arranged on the fingertip structural member; The information collection module includes a rotation information collector for collecting movement information of the rotation structure, a swing information collector for collecting movement information of the swing structure, and a telescopic information collector for collecting movement information of the telescopic structure.

3. The mechanical glove with visual tactile sensor according to claim 2, characterized in that: The rotating structure comprises a first rocker arm and a second rocker arm; one end of the first rocker arm is connected to the fingertip structure, and the other end is movably connected to the second rocker arm, so as to drive the fingertip structure to bend or straighten relative to the second rocker arm under the action of an external force; one end of the second rocker arm away from the first rocker arm is movably connected to the swing structure, and the telescopic structure is located between the first rocker arm and the second rocker arm; The rotation information collector includes a first rotation information collector for acquiring the first rocker arm motion information and a second rotation information collector for acquiring the second rocker arm motion information.

4. The mechanical glove with visual tactile sensor according to claim 3, characterized in that: The telescopic structure includes a gear and a rack; one end of the rack is connected to the first rocker arm, and the other end is movably connected to the second rocker arm; the gear is arranged on the second rocker arm and meshedly connected to the rack.

5. The mechanical glove with visual tactile sensor according to claim 1, characterized in that: The visual-tactile sensor comprises a housing, a shooting component, a lighting component and a touch layer, wherein a transparent portion is provided on the housing, and the touch layer is connected to a side of the transparent portion away from the housing; The shooting component is arranged in the shell, and the shooting end of the shooting component faces the transparent part; a lighting space is formed in the shell, and the lighting component is arranged in the shell, and the lighting component is used to illuminate the lighting space and the touch layer.

6. The mechanical glove with visual tactile sensor according to claim 5, characterized in that: The touch layer includes an elastic transparent layer, a pattern layer, a background layer and a wear-resistant layer in sequence along the direction from the shooting component to the transparent part; the pattern layer includes one or more specific patterns, and the background layer and the wear-resistant layer are used for shading; the touch layer is used to deform one or more specific patterns on the pattern layer when the wear-resistant layer contacts an object, so that the shooting component captures changes in the specific patterns on the pattern layer through the elastic transparent layer and obtains touch information based on the changes.

7. The mechanical glove with visual tactile sensor according to claim 5, characterized in that: The housing comprises an upper cover and a lower cover, wherein the upper cover is detachably connected to the lower cover; the transparent portion is connected to a side of the lower cover away from the upper cover; the shooting assembly is disposed in the upper cover, and the lighting assembly is disposed in the lower cover; The lower cover is provided with an opening, so that the photographing end of the photographing component passes through the opening and penetrates the transparent part to photograph the touch layer, and the lighting component passes through the opening and penetrates the transparent part to illuminate the touch layer.

8. The mechanical glove with visual tactile sensor according to claim 1, characterized in that: It also includes a base; the base is provided at one end of the finger assembly away from the visual-tactile sensor, and is used to connect the mechanical glove to the outside world.

9. A method for operating a mechanical glove with a visual tactile sensor, characterized in that: A mechanical glove with a visual tactile sensor as claimed in any one of claims 1 to 8, the method comprising: Wearing the mechanical glove on the user's finger; Acquiring the movement data of the user's finger through the information collection module; Acquiring touch information data of the user's fingertips through the visual-tactile sensor; The motion data and / or the touch information data are subjected to learning analysis to obtain learning training data for other robots.

10. A robot control system, characterized in that: A mechanical glove with a visual tactile sensor comprising any one of claims 1-8.

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