Glove with tactile perception function and dexterous hand

Abstract

The invention discloses a glove with a touch sensing function and a dexterous hand, and the glove comprises a glove body, and a plurality of sensor modules and a controller module which are regularly arranged on the glove body; the plurality of sensor modules are regularly arranged on the front surfaces of the palm part, the finger belly part and the fingertip part of the glove body, and the controller module is regularly arranged on the back surface of the palm part of the glove body. The glove is small, light, convenient to carry and suitable for being used in any occasions, the glove body is made of double-layer fabric, devices are all made of flexible materials, and a patient wears the glove comfortably. The glove integrates various sensors, has the function of detecting lateral force, normal force and temperature, can identify various signals of materials, pressure, temperature and the like of a contact object, has important significance on athlete hand function training research, patient rehabilitation training evaluation and the like, and is also suitable for achieving the tactile perception function after a robot dexterous hand is worn.

Description

Technical Field

[0001] The invention relates to the field of flexible sensing technology, and in particular to a glove and a dexterous hand with tactile sensing function. Background Art

[0002] Tactile perception is an important tool for humans to interact with the surrounding environment. Humans perceive the external environment, obtain information and make feedback through touch. With the development of human-computer interaction technology, the development of intelligent robots and dexterous hands in the field of tactile perception has received widespread attention.

[0003] Human hands have rich tactile perception functions, and can sense the size, shape, hardness, and temperature of objects, and can grasp objects by applying different forces and angles as needed. Giving robot hands rich tactile perception functions has become an important research topic. With the help of robot gloves with tactile perception functions, athletes can be helped to conduct hand function training research and realize rehabilitation training and rehabilitation evaluation for patients with impaired hand motor function.

[0004] The current robot smart gloves are complex and bulky, inconvenient to wear, and most of the components are made of rigid materials, which are less comfortable and can easily cause harm to patients. In terms of function, most of the perception functions of robots on the market are realized through vision, with single functions and low sensitivity, and their intelligence level is not enough. Summary of the invention

[0005] The technical problem solved by the invention is to provide a light, portable glove and a dexterous hand with tactile sensing function.

[0006] The technical solution adopted by the present invention to solve the technical problem is: A glove with tactile sensing function, comprising a glove body, and a plurality of sensor modules and a controller module regularly arranged on the glove body; the plurality of sensor modules are regularly arranged on the front of the palm, fingers and fingertips of the glove body, and the controller module is regularly arranged on the back of the palm of the glove body; The sensor module includes a lateral force sensor, a normal force sensor and a temperature sensor; The lateral force sensor is a flexible capacitive sensor, which is used to sense and identify the surface material and hardness signal of the object contacted by the glove; The normal force sensor is a flexible pressure sensor, which is used to sense the pressure size and pressure distribution signal required when the glove is grasped; The temperature sensor is a flexible temperature sensor, which is used to measure the temperature signal of the object contacted by the glove; The lateral force sensor, the normal force sensor and the temperature sensor are regularly integrated on a first flexible substrate and a second flexible substrate. The first flexible substrate and the second flexible substrate are bonded and integrated together to form the sensor module.

[0007] Furthermore, the lateral force sensor includes a capacitor electrode layer and a high dielectric material layer, the capacitor electrode layer uses conductive ink and is prepared on the upper surface of the first flexible substrate by a coating or printing process; the high dielectric material layer uses a high dielectric material and is prepared on the upper end of the capacitor electrode layer by a coating or printing process.

[0008] Furthermore, a first flexible cover film is bonded to the upper surface of the first flexible substrate via a first adhesive layer, the first adhesive layer surrounds a capacitive sensing area composed of the capacitive electrode layer and the high dielectric material layer, and the first flexible cover film covers and seals the capacitive sensing area via the first adhesive layer; electrode leads of the capacitive electrode layer are led out of the first adhesive layer and the first flexible cover film.

[0009] Furthermore, the normal force sensor includes a pressure electrode layer and a piezoresistive sensitive layer, the pressure electrode layer uses conductive ink and is prepared on the lower surface of the second flexible substrate by a coating or printing process; the piezoresistive sensitive layer uses a composite material containing nano-conductive material and polymer and is prepared on the upper end of the pressure electrode layer by a coating or printing process.

[0010] Furthermore, the temperature sensor includes a temperature electrode layer and a temperature sensitive layer, the temperature electrode layer uses conductive ink and is prepared on the upper surface of the second flexible substrate by a coating or printing process; the temperature sensitive layer uses a composite material of nano-conductive material and polymer and is prepared on the upper end of the temperature electrode layer by a coating or printing process.

[0011] Furthermore, a second flexible cover film is bonded to the lower surface of the second flexible substrate via a second adhesive layer, and the second adhesive layer surrounds a pressure sensing area composed of the pressure electrode layer and the piezoresistive sensitive layer; the second flexible cover film covers and seals the pressure sensing area via the second adhesive layer, and electrode leads of the pressure electrode layer are led out of the second flexible cover film.

[0012] Furthermore, the lower surface of the first flexible substrate and the upper surface of the second flexible substrate are arranged opposite to each other and are bonded and integrated together through a third adhesive layer to form an integrated sensor module.

[0013] Furthermore, the third adhesive layer surrounds the temperature sensing area formed by the temperature electrode layer and the temperature electrode layer, and the third adhesive layer seals the temperature sensing area between the first flexible substrate and the second flexible substrate; the electrode leads of the temperature electrode layer are led out of the first flexible substrate and the second flexible substrate from the third adhesive layer.

[0014] Furthermore, the capacitance sensing area, the pressure sensing area and the temperature sensing area are staggered.

[0015] Furthermore, the controller module includes a bottom shell, a PCB module and a top cover, wherein the PCB module is arranged and installed inside the bottom shell and is assembled and formed by covering the top cover; The PCB module includes a PCB board, on which a main control MCU unit, a sensor interface, a wireless communication unit and a battery unit are integrated; the main control MCU unit includes an MCU chip and peripheral components, which are used for function control of the controller module and for data collection, data processing and analysis of several sensor modules; the sensor interface extends out of the bottom shell and is electrically connected to the several sensor modules through a data cable; the wireless communication unit includes a wireless communication chip and peripheral components, which are used for wireless transmission of data and wireless communication; the battery unit includes a battery and a power chip, which are used to provide a working voltage for the controller module; Alternatively, the controller module includes the bottom shell, the PCB module, the display screen and the top cover; The PCB board also integrates a USB interface and a display interface. The USB interface extends out of the bottom shell and is connected to a host computer via a USB data cable. The controller module provides a working voltage through the USB data cable and the USB interface, and performs data transmission and function control. The controller module displays information and interacts through the display screen.

[0016] A dexterous hand with tactile perception function comprises the sensor module and controller module as described in any one of the above items, wherein the sensor module and the controller module are integrated in a manipulator to realize the tactile perception, temperature perception and pressure perception of the manipulator.

[0017] The beneficial effects of the present invention are: The gloves of the present invention are small and light as a whole, easy to carry, and suitable for use in any occasion. The glove body is a double-layer fabric, and the components are all made of flexible materials, which are comfortable for patients to wear. The gloves integrate multiple sensors, have the detection functions of lateral force, normal force and temperature, and can identify multiple signals such as the material, pressure and temperature of the contact object. They are of great significance for the research on hand function training of athletes, rehabilitation training evaluation of patients, etc., and are also suitable for robot dexterous hands to realize tactile perception function after wearing. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional structural diagram of the present invention; Figure 2 It is a module layout installation diagram of the present invention; Figure 3 for Figure 1 Figure 1. Explosion state diagram of the sensor module. Figure 4 for Figure 3 A top view of the lateral force sensor; Figure 5 for Figure 4 Sectional view in the AA direction; Figure 6 This is a three-dimensional structural diagram of the electrode layer in the lateral force sensor of the present invention under a microscope; Figure 7 A graph showing changes in capacitance signals of the lateral force sensor of the present invention; Figure 8 for Figure 1 Figure 1. Explosion state diagram of the sensor module. Fig. 9 is a diagram of an explosion state of a sensor module in another embodiment; The markings in the figure are: 1. Glove body, 2. Sensor module, 3. Controller module; 21. first flexible substrate, 211. capacitor electrode layer, 212. high dielectric material layer, 213. first adhesive layer, 214. first flexible cover film; 22. second flexible substrate, 221. temperature electrode layer, 222. temperature sensitive layer, 223. pressure electrode layer, 224. piezoresistive sensitive layer, 225. second adhesive layer, 226. second flexible cover film; 23. The third bonding layer; 31. Bottom shell; 32. PCB module, 320. PCB board, 321. main control MCU chip, 322. sensor interface, 323. wireless chip, 324. battery, 325. USB interface; 33. Top cover; 34. Display screen. DETAILED DESCRIPTION

[0019] In order to make the above contents, purposes and beneficial effects of the present invention more obvious and understandable, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0020] It should be noted that, unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0021] like Figure 1-2 As shown, the present invention provides a glove with tactile sensing function, including a glove body 1, and a plurality of sensor modules 2 and a controller module 3 regularly arranged on the glove body 1. Among them, the plurality of sensor modules 2 are regularly arranged on the palm, the belly of the fingers and the fingertips of the glove body 1, and are used to obtain signals such as pressure and temperature during grasping, and to identify the surface material and software and hardware level of the contacted object. The controller module 3 is electrically connected to the plurality of sensor modules 2 through cables, and is used to collect data, process and analyze data, transmit data, and control the functions of the entire glove.

[0022] Furthermore, the sensor module 2 includes an integrated lateral force sensor, a normal force sensor and a temperature sensor. The lateral force sensor is a flexible capacitive sensor, which is used to sense and identify signals such as the surface material and hardness of the object contacted by the glove. The normal force sensor is a flexible pressure sensor, which is used to sense signals such as the pressure required by the glove to grasp the object and the pressure distribution. The temperature sensor is a flexible temperature sensor, which is used to measure the temperature of the object contacted by the glove. The tactile perception function of the glove is realized through the lateral force sensor (flexible capacitive sensor), the normal force sensor (flexible pressure sensor) and the temperature sensor.

[0023] like Figure 3 As shown, it is a specific structural diagram of the sensor module 2 in the present invention. In the present invention, the lateral force sensor, normal force sensor and temperature sensor in the sensor module 2 are regularly integrated on two flexible substrates, and then the two flexible substrates are bonded together to assemble into an integrated flexible sensor module 2 in the present invention.

[0024] Furthermore, the lateral force sensor is arranged on the first flexible substrate 21, including a capacitive electrode layer 211 and a high dielectric material layer 212. The capacitive electrode layer 211 is made of conductive ink (preferably micro-nano metal material) and is prepared on the upper surface (front) of the first flexible substrate 21 by coating, printing and other process methods. The high dielectric material layer 212 is made of high dielectric material (preferably micro-nano structure polymer) and is prepared on the upper end of the capacitive electrode layer 211 by coating, printing and other process methods.

[0025] Further, such as Figure 5 and Figure 6 As shown, it is a three-dimensional structure diagram of the capacitor electrode layer in the lateral force sensor (flexible capacitor sensor). In the present application, the capacitor electrode layer in the lateral force sensor 2 adopts an electrode layer with a three-dimensional columnar structure, and the high dielectric material layer is made of flexible high dielectric material and is arranged on the electrode layer. Among them, the electrode layer with a three-dimensional columnar structure will undergo elastic deformation in the opposite direction of the sensor sliding. According to the interface force conditions, during the contact and sliding process between the sensor and the contact object, the force fluctuation of the sensor will be caused. The lateral force generated during the contact process is different, and the fluctuation caused is also different.

[0026] According to contact dynamics analysis, the signal characteristics of the contact lateral force are closely related to the surface material, roughness, hardness, etc. of the contact object. When the lateral force sensor contacts and slides with contact objects of different materials and hardness, different lateral forces are generated, causing different deformations of the capacitor electrode layer (flexible dielectric material). The capacitance signal of the sensor will change accordingly according to the deformation of the electrode layer (such as Figure 7 as shown).

[0027] like Figure 3 As shown, the test area of ​​the capacitor electrode layer 211 of the present application uses two alternately arranged vortex electrodes. Figure 3-6 As shown, when the sensor module applies lateral force, the three-dimensional columnar electrode of the lateral force sensor will move left and right in the horizontal direction, and the distance d between the two vortex electrodes will change, thereby changing the capacitance signal output by the lateral force sensor. The existing capacitance sensors are mainly sandwich-type upper and lower layer structures. When pressure is applied, the area of ​​the upper and lower layer structures changes, thereby changing the output capacitance signal. The lateral force sensor of the present application uses a three-dimensional columnar structure electrode layer at the micron level, which can detect more subtle force changes, and has better sensitivity and accuracy. At the same time, because of the use of vortex electrodes, capacitance signal detection can be carried out in an all-round manner.

[0028] Furthermore, the height of the capacitor electrode layer 211 is less than 1 mm, the width is less than 1 mm, and the spacing between them is less than 2 mm.

[0029] In order to extract the different capacitance signals output by the sensor as signals of the surface material and hardness of the contact object, we collected the capacitance signal data set output by the sensor during the contact and sliding process of different common materials (such as cloth, silicone, paper, wood, steel plate, plastic, etc.), used machine learning algorithms to distinguish the signals, and used machine learning algorithms such as GBC, XGBoost, and KNN to train and process the sensor signals. Based on these data, a model was generated. When faced with new situations, the model will provide corresponding judgments, thereby continuously improving the accuracy and efficiency of perception and recognition.

[0030] Further, such as Figure 3 As shown, the front side (upper end) of the first flexible substrate 21 is also bonded with a first flexible cover film 214 through a first adhesive layer 213. The first adhesive layer 213 surrounds the capacitive sensing area composed of the capacitive electrode layer 211 and the high dielectric material layer 212, and the first flexible cover film 214 covers and seals the capacitive sensing area through the first adhesive layer 213. The electrode leads of the capacitive electrode layer 211 are led out of the first adhesive layer 213 and the first flexible cover film 214, and are used for subsequent wiring connection to the controller module 3.

[0031] Furthermore, the normal force sensor is a piezoresistive pressure sensor, which is arranged on the second flexible substrate 22, and includes a pressure electrode layer 223 and a piezoresistive sensitive layer 224. The pressure electrode layer 223 uses conductive ink (preferably micro-nano metal material) and is prepared on the lower surface (front) of the second flexible substrate 22 by coating, printing and other process methods. The piezoresistive sensitive layer 224 uses a composite material including nano-conductive material and polymer and is prepared on the upper end of the pressure electrode layer 223 by coating, printing and other process methods. The composite material of nano-conductive material and polymer can cater to the flexible substrate and solve the problem of poor flexibility of traditional sensors.

[0032] Furthermore, the nano-conductive material of the piezoresistive sensitive layer 224 includes one or more of nano-metal materials, carbon nano-materials, and conductive polymer materials. The polymer is one or more of epoxy resin, polyurethane, and polydimethylsiloxane.

[0033] Furthermore, the temperature sensor is a flexible temperature sensor, which is prepared on the upper surface (back side) of the second flexible substrate 22, and includes a temperature electrode layer 221 and a temperature sensitive layer 222. The temperature electrode layer 221 is prepared on the upper surface (back side) of the second flexible substrate 22 using conductive ink (preferably micro-nano metal material) and a coating, printing and other process methods. The temperature sensitive layer 222 is prepared on the upper end of the temperature electrode layer 221 using a composite material of a nano-conductive material (one or more of a nano-metal material, a nano-carbon material, and a nano-semiconductor material) and a polymer (one or more of epoxy resin, polyurethane, and polydimethylsiloxane) using a coating, printing and other process methods.

[0034] Further, such as Figure 3 As shown, the lower surface (front side) of the second flexible substrate 22 is bonded with a second flexible cover film 226 via a second adhesive layer 225. The second adhesive layer 225 surrounds the pressure sensing area composed of the pressure electrode layer 223 and the piezoresistive sensitive layer 224, and the second flexible cover film 226 covers and seals the pressure sensing area via the second adhesive layer 225. The electrode leads of the pressure electrode layer 223 lead out of the second flexible cover film 226 for subsequent wiring connection to the controller module 3.

[0035] Furthermore, the lower surface of the first flexible substrate 21 and the upper surface of the second flexible substrate 22 are arranged opposite to each other, that is, the first flexible substrate and the second flexible substrate are arranged back to back, and are bonded and assembled together by the third adhesive layer 23 to form an integrated sensor module 2. The third adhesive layer 23 surrounds the temperature sensing area composed of the temperature electrode layer 221 and the temperature sensitive layer 222, so that the temperature sensing area is sealed between the first flexible substrate 21 and the second flexible substrate 22 by the third adhesive layer 23. Accordingly, the electrode lead of the temperature electrode layer 221 is led out from the third adhesive layer 23 for subsequent wiring connection to the controller module 3.

[0036] Preferably, in order to ensure the stability and sensitivity of the capacitance sensor, pressure sensor and temperature sensor, the capacitance sensing area, pressure sensing area and temperature sensing area are staggered. Of course, the capacitance sensor, pressure sensing area and temperature sensing area can also be overlapped.

[0037] Preferably, the first flexible substrate 21 and the second flexible substrate 22 are both made of flexible polyimide circuit boards. The first flexible cover film 214 and the second flexible cover film 226 are made of flexible films such as polydimethylsiloxane (PDMS), polyimide (PI), polyethylene terephthalate (PET), polyurethane (PU), polyethylene (PE), etc.

[0038] Furthermore, the glove body 1 adopts a double-layer structure, and the sensor module 2 and the controller module 3 are regularly arranged and installed between the double-layer structure of the glove body 1, that is, in the inner layer of the glove body. Correspondingly, a zipper or Velcro structure is regularly arranged on the side of the glove body, and the double-layer structure of the glove body can be quickly opened by the zipper and Velcro, so as to facilitate the installation and removal of the sensor module 2 and the controller module 3. When the gloves are dirty after long-term use, the sensor module 2 and the controller module 3 can be taken out by unzipping the zipper or Velcro on the side of the gloves, and the glove body 1 can be cleaned, so as to facilitate the repeated use of the gloves.

[0039] Furthermore, the material of the glove body 1 is not limited, and skin-friendly materials are preferably used, including flexible fabrics, leather, imitation leather, etc., so as to facilitate wearing and ensure wearing comfort.

[0040] like Figure 8 As shown, it is a structural diagram of the controller module 3. In the present invention, the controller module 3 includes a bottom shell 31, a PCB module 32 and a top cover 33. Among them, the PCB module 32 includes a PCB board 320, and the PCB board 320 is regularly provided with a main control MCU chip 321, a sensor interface 322, a wireless communication chip 323 and a battery 324. The MCU chip 321 is the core main control of the controller module, which is used for data collection, data processing and analysis of several sensor modules 2, and functional control of the controller module; the sensor interface 322 is electrically connected to several sensor modules 2 through cables; the wireless communication chip 323 is used for data transmission and wireless communication; and the battery 324 is used to power the controller module 3.

[0041] Preferably, the battery 324 is a small and lightweight button battery, which can greatly reduce the volume and weight of the controller module 3, facilitate the wearing of the gloves, and improve the wearing comfort of the gloves. The thickness of the controller module 3 can be within 1 cm, and its length and width can be within 5 cm.

[0042] Furthermore, the button battery is regularly installed on the PCB board 320. In one embodiment, in order to reasonably utilize the internal space of the bottom shell 31, the PCB board 320 adopts a double-sided board, the button battery is arranged and installed on the back of the PCB board 320, and the main control MCU chip 321, the wireless communication chip 323, and the sensor interface 322 are regularly arranged on the front of the PCB board 320.

[0043] Further, in one embodiment, the PCB module 32 is fixedly installed in the bottom case 31 by screws. Therefore, a plurality of PCB support columns for supporting and fixing the PCB board 320 are regularly arranged in the bottom case 31. The upper ends of the PCB support columns are regularly arranged with threaded holes, and correspondingly, the PCB board 320 is regularly arranged with fixing holes at the positions of the plurality of PCB support columns for convenient screws to pass through.

[0044] Furthermore, in another embodiment, the PCB module 32 is pressed and fixed in the bottom shell 31 by the top cover 33, and the top cover 33 and the bottom shell 31 are snap-fitted, so that the top cover 33 can be opened easily, and the installation and maintenance of the PCB module can be facilitated.

[0045] like Fig. 9 As shown, in another embodiment, the controller module 3 adds a USB interface 325 and a display screen 34. The controller module 3 performs power supply, data transmission, function control, etc. through the USB interface 325, and performs display and interactive work through the display screen 34. In this embodiment, compared with the above-mentioned embodiment without a display screen and a USB interface, the overall volume and thickness of the controller module 3 will be increased, so it is necessary to select and configure according to actual use requirements.

[0046] Furthermore, a viewing window for convenient display is regularly provided between the middle of the top cover 33 and the display area of ​​the display screen 34 .

[0047] Furthermore, the above-mentioned plurality of sensor modules 2 and controller module 3 are fixed in the inner layer of the glove body by gluing or sewing.

[0048] The present invention also provides a dexterous hand with tactile perception function, which realizes the tactile perception, temperature perception, pressure perception and other functions of the manipulator by directly integrating the sensor module 2 and the controller module 3 into the manipulator.

[0049] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A glove with tactile sensing function, characterized in that: The invention comprises a glove body (1), and a plurality of sensor modules (2) and a controller module (3) regularly arranged on the glove body (1); the plurality of sensor modules (2) are regularly arranged on the front of the palm, fingers and fingertips of the glove body (1), and the controller module (3) is regularly arranged on the back of the palm of the glove body (1); The sensor module (2) comprises a lateral force sensor, a normal force sensor and a temperature sensor; The lateral force sensor is a flexible capacitive sensor, which is used to sense and identify the surface material and hardness signal of the object contacted by the glove; The normal force sensor is a flexible pressure sensor, which is used to sense the pressure size and pressure distribution signal required when the glove is grasped; The temperature sensor is a flexible temperature sensor, which is used to measure the temperature signal of the object contacted by the glove; The lateral force sensor, the normal force sensor and the temperature sensor are regularly integrated on a first flexible substrate (21) and a second flexible substrate (22); the first flexible substrate (21) and the second flexible substrate (22) are bonded together and integrated to form the sensor module (2).

2. The glove with tactile sensing function according to claim 1, characterized in that: The lateral force sensor comprises a capacitive electrode layer (211) and a high dielectric material layer (212); the capacitive electrode layer (211) uses conductive ink and is prepared on the upper surface of the first flexible substrate (21) by a coating or printing process; the high dielectric material layer (212) uses a high dielectric material and is prepared on the upper end of the capacitive electrode layer (211) by a coating or printing process.

3. The glove with tactile sensing function according to claim 2, characterized in that: A first flexible cover film (214) is also bonded to the upper surface of the first flexible substrate (21) via a first adhesive layer (213); the first adhesive layer (213) surrounds a capacitive sensing area formed by the capacitive electrode layer (211) and the high dielectric material layer (212); the first flexible cover film (214) covers and seals the capacitive sensing area via the first adhesive layer (213); and electrode leads of the capacitive electrode layer (211) are led out of the first adhesive layer (213) and the first flexible cover film (214).

4. The glove with tactile sensing function according to claim 3, characterized in that: The normal force sensor comprises a pressure electrode layer (223) and a piezoresistive sensitive layer (224); the pressure electrode layer (223) uses conductive ink and is prepared on the lower surface of the second flexible substrate (22) by a coating or printing process; the piezoresistive sensitive layer (224) uses a composite material comprising a nano-conductive material and a polymer and is prepared on the upper end of the pressure electrode layer (223) by a coating or printing process.

5. The glove with tactile sensing function according to claim 4, characterized in that: The temperature sensor comprises a temperature electrode layer (221) and a temperature sensitive layer (222); the temperature electrode layer (221) uses conductive ink and is prepared on the upper surface of the second flexible substrate (22) by a coating or printing process; the temperature sensitive layer (222) uses a composite material of a nano conductive material and a polymer and is prepared on the upper end of the temperature electrode layer (221) by a coating or printing process.

6. The glove with tactile sensing function according to claim 5, characterized in that: A second flexible cover film (226) is bonded to the lower surface of the second flexible substrate (22) via a second adhesive layer (225); the second adhesive layer (225) surrounds a pressure sensing area formed by the pressure electrode layer (223) and the piezoresistive sensitive layer (224); the second flexible cover film (226) covers and seals the pressure sensing area via the second adhesive layer (225); electrode leads of the pressure electrode layer (223) are led out of the second flexible cover film (226).

7. The glove with tactile sensing function according to claim 6, characterized in that: The lower surface of the first flexible substrate (21) and the upper surface of the second flexible substrate (22) are arranged opposite to each other and are bonded and integrated together via a third bonding layer (23) to form an integrated sensor module (2).

8. The glove with tactile sensing function according to claim 7, characterized in that: The third adhesive layer (23) surrounds a temperature sensing area formed by the temperature electrode layer (221) and the temperature sensor, and the third adhesive layer (23) seals the temperature sensing area between the first flexible substrate (21) and the second flexible substrate (22); electrode leads of the temperature electrode layer (221) are led out of the first flexible substrate and the second flexible substrate from the third adhesive layer (23).

9. The glove with tactile sensing function according to claim 8, characterized in that: The capacitance sensing area, the pressure sensing area and the temperature sensing area are staggered.

10. The glove with tactile sensing function according to claim 1, characterized in that: The controller module (3) comprises a bottom shell (31), a PCB module (32) and a top cover (33); the PCB module (32) is arranged and installed inside the bottom shell (31) and is covered and assembled by the top cover (33); The PCB module (32) comprises a PCB board (320), on which a main control MCU unit, a sensor interface, a wireless communication unit and a battery unit are integrated; the main control MCU unit comprises an MCU chip and peripheral components, and is used for function control of the controller module (3), and for data collection, data processing and analysis of a plurality of sensor modules (2); the sensor interface extends out of the bottom shell (31), and is electrically connected to the plurality of sensor modules (2) via a data cable; the wireless communication unit comprises a wireless communication chip and peripheral components, and is used for wireless data transmission and wireless communication; the battery unit comprises a battery and a power chip, and is used for providing an operating voltage for the controller module (3); Alternatively, the controller module (3) comprises the bottom shell (31), the PCB module (32), the display screen (34) and the top cover (33); The PCB board (320) is also integrated with a USB interface and a display screen interface. The USB interface extends out of the bottom shell (31) and is connected to a host computer via a USB data cable. The controller module (3) provides operating voltage to the controller via the USB data cable and the USB interface, and performs data transmission and function control. The controller module (3) performs information display and interactive work via the display screen (34).

11. A dexterous hand with tactile perception function, characterized in that: The invention comprises a sensor module (2) and a controller module (3) as described in any one of claims 1 to 10, wherein the sensor module (2) and the controller module (3) are integrated in a manipulator to realize tactile perception, temperature perception and pressure perception of the manipulator.

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