A wearable robot skin

Abstract

This application discloses a wearable robot skin, including a silicone sleeve and a magnetic fixing structure. The silicone sleeve covers a metal frame and is divided into multiple modular components. Adjacent modular components are detachably assembled via a tongue-and-groove interlocking structure. The magnetic fixing structure consists of a ferrite sheet pre-embedded in the silicone sleeve and a neodymium iron boron magnet embedded in the metal frame, achieving component adsorption and fixation through a magnetic field. First silicone microbeads are distributed at the contact interface between the silicone sleeve and the metal frame, and second silicone microbeads are distributed around the ferrite sheet, serving to buffer impact stress and enhance interface adhesion. This robot skin employs a dual fixing mechanism of "magnetic attraction + tongue-and-groove interlocking," with both working synergistically to achieve dynamic and static complementarity. The magnetic attraction structure provides flexible fit and dynamic compliance, while the tongue-and-groove interlocking structure ensures rigid support and resistance to shear and torsion, jointly improving impact resistance and connection stability, thereby increasing the service life of the silicone sleeve.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a wearable robotic skin. Background Technology

[0002] Humanoid robots primarily consist of metal shells. Metal surfaces have high thermal conductivity, rapidly absorbing body heat in low-temperature environments, resulting in a cold sensation upon contact. Untreated metal shells have a low coefficient of friction, lacking damping upon contact, and are prone to slippage due to dirt or oil stains during dynamic operation. Metal frame joints or sharp edges may have microburrs due to processing errors, easily causing stinging sensations upon direct skin contact. Furthermore, the original colors of metal (such as silver-gray and titanium black) lack a soft texture, creating visual conflict with the human living environment and reducing psychological affinity. High reflectivity easily creates a mirror effect, interfering with the user's vision in bright light. Scratches on metal shells are difficult to repair; even minor wear can create noticeable color streaks, affecting overall aesthetics. Metal shells lack cushioning; falls or collisions can easily cause structural damage due to stress concentration, and the impact of a fall may be transmitted to precision sensors (such as vision systems).

[0003] Silicone material has an elasticity close to that of human skin, offering a delicate and soft biomimetic feel. It can accurately replicate skin texture and blood vessel details, enhancing the realism of interactive actions such as handshakes and hugs, and improving upon the shortcomings of metal shells. In existing technologies, silicone is directly coated onto metal components to reduce the deficiencies of the metal material, and it can be used as the skin of humanoid robots to compensate for the shortcomings of metal shells. However, the application of silicone to humanoid robots presents several problems. On the one hand, the fixation between silicone and the humanoid robot's metal skeleton mainly relies on the adhesion of silicone. During robot movement, especially in areas prone to impact such as joints or functional zones, the connection between silicone and the metal skeleton is easily unstable due to impact forces, leading to localized stress concentration, which in turn causes material fatigue or even fracture of the silicone, affecting the lifespan of the robot's skin. On the other hand, traditional connection methods struggle to balance flexible fit and rigid support, failing to simultaneously meet the robot's requirements for flexibility and structural stability during dynamic movement. Furthermore, when maintenance or component replacement is needed, the robot's skin cannot be replaced.

[0004] Therefore, there is an urgent need for a wearable robot skin structure that can effectively solve the problem of stress concentration at the interface between the rigid metal skeleton and the flexible silicone, improve impact resistance and connection stability, and facilitate disassembly and assembly. Summary of the Invention

[0005] To address the issue of interfacial stress concentration between a rigid metal frame and flexible silicone, and to achieve precise control over material fatigue during dynamic motion, this application provides a wearable robot skin employing a dual fixation mechanism of "magnetic attraction + interlocking." These two mechanisms work synergistically, forming a highly efficient combination that complements static and dynamic forces. The magnetic attraction mechanism provides uniformly distributed fixation force under static conditions, effectively reducing interfacial stress concentration; while the interlocking structure enhances shear resistance during dynamic motion, suppressing material fatigue failure. This not only optimizes the interfacial stress distribution and improves the interfacial bonding strength and stability, but also enhances the fatigue resistance and lifespan of the wearable device, thus obtaining a wearable and easily replaceable wearable robot skin. The technical solution provided by this application is as follows:

[0006] On one hand, this application provides a wearable robotic skin, comprising:

[0007] The silicone sleeve covers the outer surface of the metal frame and is divided into multiple modular components along the robot joints or functional zones; the seams of adjacent modular components are connected by a tongue-and-groove interlocking structure.

[0008] The magnetic fixing structure includes a ferrite sheet pre-embedded in the silicone sleeve and a neodymium iron boron magnet embedded in the metal frame and cooperating with the ferrite sheet.

[0009] The first silicone microbeads are distributed at the contact interface between the silicone sleeve and the metal skeleton; the second silicone microbeads are distributed around the perimeter of the ferrite sheet.

[0010] In some specific embodiments, the interlocking structure includes a protrusion and a corresponding recess, wherein the mating surfaces of the protrusion and the recess are both progressively inclined surfaces.

[0011] In some specific embodiments, the compression ratio of the first silicone microsphere and the second silicone microsphere is greater than 80%.

[0012] In some specific embodiments, the silicone sleeve comprises, from the outside to the inside:

[0013] The surface layer uses medical-grade liquid silicone rubber and is formed with microstructures that mimic the texture of human skin through 3D microstructure printing technology.

[0014] The middle layer is a tear-resistant silicone layer with a built-in distributed fiber optic strain sensor array;

[0015] The bottom layer is an insulating silicone layer, which integrates a flexible heating circuit and a piezoresistive tactile sensor.

[0016] In some specific embodiments, in the area corresponding to the movable joint, the silicone sleeve adopts a corrugated structure with a wavelength of 5-8mm, a peak height of 2-3mm, and a stretch allowance of 200%-300%.

[0017] In some specific embodiments, the middle layer of the corrugated structure includes two corrugated layers with different wave peaks.

[0018] The corrugated layer includes a reinforcing structure, which is a metal mesh or a nylon fiber mesh.

[0019] In some specific embodiments, the surface of the pleated corrugated structure is provided with a first through hole, which is an inclined hole with an inclination angle of 25° to 40°.

[0020] A second through hole is provided on the corrugated layer near the surface layer.

[0021] In some specific embodiments, a groove with a depth of 1-2 mm is provided on the metal frame in the area corresponding to the non-movable joint to accommodate the first silicone microbeads.

[0022] In some specific embodiments, the surface layer comprises a first silica gel and nano-molybdenum disulfide (MoS2), wherein the content of the first silica gel is 90.0-100.0 wt%, and the content of the nano-molybdenum disulfide is 0.5-0.9 wt%.

[0023] The intermediate layer comprises a second silica gel, a first fumed silica, carbon nanotubes, and cellulose nanofibers, wherein the second silica gel comprises 90.0-100.0 wt%, the first fumed silica comprises 20.0-30.0 wt%, the carbon nanotubes comprise 0.1-2.0 wt%, and the cellulose nanofibers comprise 2.0-3.0 wt%.

[0024] The underlying layer comprises a third silica gel and a second fumed silica, wherein the content of the third silica gel is 90.0-100.0 wt% and the content of the second fumed silica is 8.0-9.0 wt%.

[0025] In some specific embodiments, the first silica microspheres are composed of methyl vinyl silicone rubber, fumed silica, hydroxyl silicone oil, and bis(2,5-dimethyl)sulfide; wherein the content of methyl vinyl silicone rubber is 70.0-80.0 wt%, the content of fumed silica is 15.0-20.0 wt%, the content of hydroxyl silicone oil is 5.0-10.0 wt%, and the content of bis(2,5-dimethyl)sulfide is 0.5-1.0 wt%.

[0026] The second silica microsphere comprises liquid silicone rubber, spherical silica powder, conductive carbon black, and platinum catalyst; wherein the liquid silicone rubber content is 60.0-70.0 wt%, the spherical silica powder content is 20.0-25.0 wt%, the conductive carbon black content is 5.0-10.0 wt%, and the platinum catalyst content is 0.1-0.3% wt%.

[0027] By adopting the above technical solution, the wearable robot skin provided in this application has the following beneficial effects:

[0028] This application presents a robot skin employing a dual fixation mechanism of "magnetic attraction + interlocking," with the two mechanisms complementing each other to achieve a dynamic and static collaborative working mode. The magnetic attraction structure, leveraging the properties of its magnetic field, provides flexible fit and dynamic compliance, perfectly adapting to the complex deformation requirements of various dynamic movements. The interlocking structure, through mechanical interlocking, ensures rigid support and excellent resistance to shear and torsion. The synergistic effect of these two mechanisms enhances the robot skin's impact resistance and connection stability, effectively solving the stress concentration problem at the interface between rigid metal and flexible silicone, extending the lifespan of the silicone sleeve, and providing the robot with a wearable silicone skin, achieving reliable and durable outer protection and flexible movement support.

[0029] Furthermore, a first layer of silicone microspheres is uniformly distributed at the interface between the silicone sleeve and the metal skeleton; simultaneously, a second layer of silicone microspheres is distributed around the ferrite sheet. These two layers of silicone microspheres together form a dual-buffering system, which not only effectively buffers impact stress but also significantly enhances interfacial adhesion, greatly improves interfacial mechanical properties, and reduces the risk of material fatigue. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 A schematic diagram of the robot skin provided in the embodiments of this application;

[0032] Figure 2 This is a schematic diagram of the pleated corrugated structure provided in the embodiments of this application;

[0033] Figure 3 The robot hand model provided in the embodiments of this application;

[0034] Figure 4 A robotic hand model with wearable skin provided in an embodiment of this application.

[0035] The following is supplementary explanation of the attached figures:

[0036] 10-Silicone sleeve; 101-Top layer; 102-Intermediate layer; 103-Bottom layer; 11-Modular component; 20-Interlocking structure; 21-Protrusion; 22-Recess; 31-Ferrite sheet; 40-First silicone microbead; 50-Second silicone microbead; 60-Wrinkled corrugated structure; 61-Corrugated layer; 62-First through hole; 63-Second through hole. Detailed Implementation

[0037] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0038] For the terms defined below, unless a different definition is given elsewhere in the claims or this specification, these definitions shall apply. All numerical values, whether explicitly indicated or not, are defined herein as being modified by the term "about." The term "about" generally refers to a range of numerical values ​​that a person skilled in the art would consider equivalent to the stated values ​​to produce substantially the same properties, functions, results, etc. A range of numerical values ​​indicated by a low value and a high value is defined as including all numerical values ​​included within that range and all subranges included within that range.

[0039] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0040] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0041] Please see Figure 1 This application provides a wearable robotic skin, comprising:

[0042] The silicone sleeve 10 covers the outer surface of the metal frame and is divided into multiple modular components 11 along the robot joints or functional zones; the joints of adjacent modular components 11 are connected by a convex-concave interlocking structure 20.

[0043] The magnetic fixing structure includes a ferrite sheet 31 pre-embedded in a silicone sleeve 10 and a neodymium iron boron magnet embedded in a metal frame and cooperating with the ferrite sheet 31.

[0044] The first silicone microbeads 40 are distributed at the contact interface between the silicone sleeve 10 and the metal skeleton; the second silicone microbeads 50 are distributed around the ferrite sheet 31.

[0045] Specifically, the silicone sleeve 10 is divided into modular components 11, such as the head, torso, and limbs, based on the robot's joint movement characteristics and functional partitioning. Adjacent modules are connected and fitted using a bidirectional symmetrical interlocking structure 20. This structure consists of matching protrusions 21 and recesses 22. The mating surfaces of the protrusions 21 and recesses 22 can be designed as progressively inclined surfaces (such as trapezoidal teeth). Compared to simple adhesive bonding or stitching, the interlocking structure 20 is more effective at resisting interlayer delamination, making it particularly suitable for dynamically moving robot joints. The interlocking structure 20 forms a physical self-locking mechanism, dispersing stress at the joints and reducing the risk of joint cracking caused by repeated deformation (such as bending and stretching) of the silicone sleeve 10. The elasticity of the silicone sleeve 10 and the mechanical constraint of the interlocking structure 20 work together to absorb vibrations during metal component movement, reducing noise and wear.

[0046] The magnetic attraction fixing structure consists of two parts: a ferrite sheet 31 pre-embedded within a silicone sleeve 10 and a neodymium iron boron magnet (N35 grade) embedded in a metal frame. The two parts achieve stable adsorption through a strong magnetic field. The ferrite sheet 31 is embedded in a pre-set cavity within the silicone sleeve 10 in a sheet-like form. The magnetic attraction fixing structure possesses the flexible characteristics of a biomimetic ligament, allowing controllable micro-displacements (such as sliding or rotation) at the joint under external impact. By adaptively adjusting the contact surface through the magnetic field, concentrated stress is converted into multi-directional energy dissipation, effectively avoiding stress concentration in a single direction. Its flexible adsorption capacity can buffer instantaneous impact forces at any angle (such as collisions or falls), making it particularly suitable for complex stress conditions (such as robot rollovers, tumbling, or lateral impacts), thus improving impact resistance. Furthermore, this structure employs a non-contact magnetic attraction design, eliminating physical friction in traditional mechanical connections and extending the lifespan of the silicone sleeve 10. The magnetic seams support a convenient "pull-to-open, stick-to-close" operation mode, facilitating component replacement and cleaning maintenance. Automatic adsorption and alignment are achieved without strict alignment, using magnetic guidance to achieve precise docking at preset positions, greatly simplifying the assembly process of complex robot structures and reducing the difficulty of wearing complex robot structures. This is particularly suitable for connecting seams in interlocking structures 20. The flexible attraction characteristics of the magnetic system effectively absorb high-frequency, low-amplitude vibrations (such as mechanical vibrations generated by micro-motors), dissipating energy through the flexible deformation of the magnetic gap. This reduces long-term fatigue damage to key components such as joints caused by micro-vibrations of moving parts, improving overall system stability and lifespan. Simultaneously, the continuous magnetic attraction force ensures the silicone sleeve 10 adheres tightly to the metal frame, increasing fit and protection, forming a protective barrier that effectively prevents the intrusion of moisture, dust, and debris, enhancing system reliability.

[0047] The interface between the silicone sleeve 10 and the metal frame is provided with first silicone microbeads 40. The application of these microbeads transforms the contact interface from a traditional surface contact to a point contact mode. By reducing the contact area, this effectively disperses the impact force, preventing material fatigue or fracture caused by localized stress concentration. It also reduces the peak stress transmitted to the NdFeB magnet and the metal frame. Understandably, the interface between the silicone sleeve 10 and the metal frame is wholly or partially covered with the first silicone microbeads 40; alternatively, the interface between the silicone sleeve 10 and the metal frame is positioned corresponding to the ferrite sheet 31, with the width of the distributed first silicone microbeads 40 slightly larger than the width of the ferrite sheet 31 to improve the cushioning effect.

[0048] The ferrite sheet 31 is surrounded by second silicone microbeads 50. The surrounding silicone microbeads not only continue the point contact advantage of the main contact surface silicone microbeads, further disperse the impact force and reduce local stress concentration, but also build a surrounding buffer barrier to effectively absorb the lateral impact energy from the periphery of the ferrite sheet 31. This not only enhances the impact resistance of the overall structure, but also provides stable positioning support for the ferrite sheet 31, ensuring that the magnetic fixing structure can maintain accurate alignment under complex stress conditions.

[0049] This application employs a dual fixation system of "magnetic attraction + interlocking". The magnetic attraction structure allows for the flexible positioning of the silicone sleeve 10, achieving multi-directional fit. Brief separation during movement provides cushioning, followed by rapid re-fitting, similar to the function of a ligament, ensuring the silicone sleeve 10 adheres to the metal frame. The interlocking structure 20, building upon the magnetic attraction, provides rigid support against shear and torsion, reducing excessive slippage or even dislocation of the silicone sleeve 10 due to insufficient magnetism in dynamic scenarios such as high-speed robot rotation, vibration, arm bending, and arm / leg movement for support after a fall. The combined dynamic and static coordination and multi-directional cushioning of these two structures enable the application of a long-life modular silicone sleeve 10 in robots.

[0050] Combination Figure 3 and Figure 4 , Figure 3 For the robot hand model, in the initial stage of the project, a low-cost and readily available plastic robot hand model was used for testing to verify feasibility. See [link / reference]. Figure 3 This is a model of the robotic hand before it is worn. Figure 4 This is a model of a robot hand with a skin on. This example does not actually show the wearing and connection structures of the various parts of the robot (the image cannot show some detailed structures). Please refer to the solution provided in this application for details. This example is only used to clearly demonstrate the wearable skin form. Figure 3-4 It can be seen that wearable robotic skin can be easily removed and replaced, enabling rapid coverage and replacement of skin on various robot components, making it a highly promising and feasible structure for the outer layer of robots. It should be noted that... Figure 4 The robotic hand model with a skin is not intended to limit the implementation of different schemes in this application.

[0051] In some specific embodiments, during the preparation of the silicone sleeve 10, when the silicone material has not yet completely solidified, a second silicone microsphere 50 is uniformly distributed on the surface of the silicone sleeve layer by spraying or a similar process, forming a uniform and consistent covering layer on the surface of the silicone sleeve 10, ensuring good bonding strength between the silicone microspheres and the silicone sleeve 10.

[0052] In some specific embodiments, the portion of the silicone sleeve 10 other than the inner layer of silicone microbeads is coated with a polyurea layer. The polyurea layer interacts with the silicone sleeve 10 to form a stable support structure, effectively enhancing the shaping ability of the silicone sleeve 10. At the same time, the high strength and wear resistance of the polyurea layer provide an additional protective barrier for the silicone sleeve 10, which is beneficial to improving the wear resistance of the silicone sleeve 10.

[0053] In some specific embodiments, before covering the silicone sleeve 10 onto the metal skeleton, the surface of the metal skeleton is sandblasted, preferably with an 80-120 mesh sandblasting medium, to achieve a surface roughness Ra of 3.2-6.3 μm, thereby enhancing the adhesion between the silicone sleeve 10 and the metal skeleton. Alternatively, a silane coupling agent (such as KH-550, concentration 1%-3%) can be sprayed onto the surface of the metal skeleton to form -Si-O- chemical bonds on the surface of the metal skeleton through a hydrolysis reaction, thereby improving adhesion. In addition, in high-temperature areas (such as near the motor), a heat-resistant primer with a temperature resistance greater than 150°C can be applied to further enhance the adhesion between the two and prevent the silicone sleeve 10 from peeling off from the metal skeleton.

[0054] In some specific embodiments, the interlocking structure 20 includes a protrusion 21 and a corresponding recess 22, and the mating surfaces of the protrusion 21 and the recess 22 are both progressively inclined surfaces.

[0055] Specifically, the interlocking structure 20 includes a protrusion 21 and a corresponding recess 22. The mating surfaces of both the protrusion 21 and the recess 22 are progressively inclined. This inclined design allows for smooth sliding and engagement under magnetic attraction, reducing assembly difficulty and ensuring precise alignment. The progressive design of the inclined surfaces enhances the torsional resistance at the engagement point. When an external force attempts to rotate the silicone sleeve 10 relative to the metal frame, the inclined structure converts the torque into a component force perpendicular to the contact surface, thereby resisting torsion through a larger contact area and deeper engagement depth, effectively preventing structural displacement or dislocation. Furthermore, the progressively inclined surfaces preferably use trapezoidal teeth, which also possess self-locking characteristics in the axial direction. Even under impact or vibration, the engagement points maintain a stable connection through the wedging effect of the inclined surfaces.

[0056] In some specific embodiments, the compression ratio of the first silicone microbead 40 and the second silicone microbead 50 is greater than 80%.

[0057] Specifically, the use of high-compressibility silicone microspheres allows them to undergo significant deformation under vertical pressure, effectively absorbing impact energy. When the system experiences an external impact, the silicone microspheres can deform significantly through their compressible space, converting the impact kinetic energy into elastic potential energy and releasing it gradually, significantly reducing the peak stress transmitted to the NdFeB magnet and the metal skeleton. Simultaneously, the high compressibility characteristic enables the silicone microspheres to maintain stable resilience under different pressure conditions, ensuring that the initial cushioning effect is maintained even after long-term use.

[0058] For some specific implementation methods, please refer to [link / reference]. Figure 1 The silicone sleeve 10 includes, from the outside to the inside:

[0059] Surface layer 101 uses medical-grade liquid silicone rubber and forms a microstructure that simulates the texture of human skin through 3D microstructure printing technology;

[0060] The middle layer 102 is a tear-resistant silicone layer with a built-in distributed fiber optic strain sensor array;

[0061] The bottom layer, 103, is an insulating silicone layer that integrates a flexible heating circuit and a piezoresistive tactile sensor.

[0062] Specifically, the silicone sleeve 10 adopts a multi-layer composite structure. The outer layer 101 is made of medical-grade liquid silicone rubber material and is precisely molded using 3D microstructure printing technology to form a highly realistic microstructure resembling human skin texture. This not only improves the comfort and anti-slip performance of the touch but also optimizes the stress distribution through micro-texture. The middle layer 102 is a tear-resistant silicone layer with a uniformly distributed fiber optic strain sensor array inside. This array can monitor the deformation of the silicone sleeve 10 under complex stress conditions in real time, providing precise mechanical feedback to the system. Preferably, a fiber optic grating array (FBG) is arranged along the silicone surface, with a spatial resolution of 1-2 cm. This allows for real-time monitoring of the continuous strain distribution of the silicone skin under bending, stretching, or compression, and precise location of the contact point, stress intensity, and deformation range. The bottom layer 103 is an insulating silicone layer that integrates a flexible heating circuit and a piezoresistive tactile sensor. The heating circuit maintains the flexibility and functional stability of the silicone sleeve 10 in low-temperature environments, while the piezoresistive tactile sensor can detect minute pressure changes, providing the system with tactile sensing capabilities. This application integrates biomimetic, intelligent sensing and materials engineering through a multi-layered composite structure, enabling the silicone sleeve 10 to not only possess excellent mechanical properties and durability, but also achieve a comprehensive improvement in environmental adaptability and human-computer interaction capabilities.

[0063] In some specific implementations, the surface layer 101 uses nanoimprinting technology (template precision up to 1μm) to replicate human skin texture (including fingerprints and pore structures), and can selectively spray a silicone diluent (silicone and solvent mixed in a 1:3 ratio) locally to utilize surface tension to form a micron-level textured surface to enhance tactile feedback and visual realism; the bottom layer 103 is sprayed with flesh-colored silicone ink (Pantone color chart 7521C) to simulate natural skin tone, and the middle layer 102 is injected with red dye to construct a simulated capillary network; in addition, a flexible LED array (preferably 0.2mm thick, 5mm spacing) can be embedded inside the silicone sleeve 10 to simulate the light transmission effect of subcutaneous blood vessels, and a graphene heating film (preferably power density 0.5W / cm²) and an NTC temperature sensor can be integrated to achieve precise temperature control of ±1℃; a semiconductor cooling chip (TEC1-12706) can also be configured in local areas to simulate the dynamic changes in skin temperature in cold environments, improving biomimetic performance and interactive experience.

[0064] For some specific implementation methods, please refer to Figure 2 In the area corresponding to the movable joint, the silicone sleeve 10 adopts a pleated corrugated structure 60 with a wavelength of 5-8mm, a peak height of 2-3mm, and a 200%-300% stretch allowance.

[0065] Specifically, for high-frequency joints such as elbows and knees, the silicone sleeve 10 adopts a corrugated structure 60 design with a wavelength of 5-8mm and a peak height of 2-3mm, and is designed with a 200%-300% stretch allowance to accommodate joint movement. This structure generates a pump effect during joint flexion and extension. When the joint bends, the peaks and troughs of the corrugated structure undergo periodic deformation, forming continuous airflow channels and accelerating air convection circulation; while during extension, it promotes reverse airflow, thus forming an efficient dynamic ventilation mechanism, promoting air convection heat dissipation, thereby improving the durability and fatigue resistance of the silicone sleeve 10, extending its service life, and facilitating heat dissipation in high-heat-generating areas such as moving joints.

[0066] For some specific implementation methods, please refer to [link / reference]. Figure 2 The middle layer 102 of the pleated corrugated structure 60 includes two corrugated layers 61 with different wave crests.

[0067] The corrugated layer 61 includes a reinforcing structure, which is a metal mesh or a nylon fiber mesh.

[0068] Specifically, the middle layer 102 of the corrugated structure 60 consists of two corrugated layers 61 with different wave crests. Each corrugated layer 61 incorporates a reinforcing structure, which can be a metal mesh or a nylon fiber mesh. The overlapping of corrugated layers 61 with different wave crests creates a more complex deformation and recovery mechanism, enhancing the elasticity and adaptability of the silicone skin. Simultaneously, the high strength and rigidity of the metal mesh, or the high strength, high toughness, and lightweight properties of the nylon fiber mesh, can enhance the tensile and shear resistance of the corrugated layer 61, enabling it to maintain its integrity under complex motion and stress conditions, effectively mitigating the impact of external pressure and impact on the robot's internal structure.

[0069] For some specific implementation methods, please refer to [link / reference]. Figure 2 The surface layer 101 of the pleated corrugated structure 60 has a first through hole 62, which is an inclined hole with an inclination angle of 25° to 40°.

[0070] A second through hole 63 is provided on the corrugated layer 61 near the surface layer 101.

[0071] Specifically, the surface layer 101 of the corrugated structure 60 has a first through-hole 62 with an inclination angle of 25° to 40°, and the corrugated layer 61 on the side closer to the surface layer 101 has a second through-hole 63. When the structure is bent, the through-holes form airflow channels, promoting air convection and heat dissipation, thereby improving heat dissipation capacity and effectively reducing heat accumulation in large heat-generating areas such as joints. The first through-hole 62 is designed with an inclination angle of 25°-40° to prevent dust from entering, while the corrugated layer 61 on the side away from the surface layer 101 does not have any holes to prevent dust and other debris from entering at the joints.

[0072] In some specific embodiments, in the area corresponding to the non-movable joint, a groove is provided on the metal frame, the groove having a depth of 1-2 mm, for accommodating the first silicone microbeads 40.

[0073] Specifically, in the non-active joint corresponding area (i.e., the area surrounding the corrugated structure 60 of active joints such as fingers and elbows, and the surface of the metal skeleton other than the seams and magnetic structures), a groove with a depth of 1-2 mm is machined to cooperate with the pre-placed first silicone microbead 40. The groove constraint mechanism prevents the silicone microbead from slipping and shifting during dynamic movement. Preferably, in active joints such as the knee joint that require frequent bending, a trapezoidal groove is used that is consistent with the main bending direction of the joint. The trapezoidal groove structure, through its wedge-shaped cross-section characteristics, allows the silicone microbead to move directionally along the inclined surface of the trapezoidal groove and fill the groove space when the joint bends. This not only disperses stress in accordance with the joint movement direction, but also forms a mechanical interlocking effect by increasing the contact area, thereby improving the interface bonding strength. At the same time, the special geometry of the trapezoidal groove physically restricts the lateral displacement of the silicone microbead. During processes such as leg torsion around the axis, the constraint effect of the groove wall on the silicone microbead prevents unexpected deformation, guides the silicone sleeve 10 to deform in an orderly manner along the set direction, and prevents material fatigue damage caused by excessive torsion, thereby achieving structural stability and motion compliance of the joint.

[0074] In some specific embodiments, the particle size range of the silicone microspheres is preferably 1-5 mm, wherein the silicone microspheres used in conjunction with the groove structure are preferably 1-3 mm in size, and the anti-torsion function is achieved by precisely matching the groove size; while the silicone microspheres used for filling are preferably 3.1-5 mm in size, which can not only enhance the overall wear resistance of the silicone microspheres, but also effectively increase the gap between the silicone microspheres to achieve gas heat dissipation.

[0075] In some specific embodiments, the surface layer 101 comprises a first silica gel and nano-molybdenum disulfide (MoS2), wherein the content of the first silica gel is 90.0-100.0 wt%, and the content of nano-molybdenum disulfide is 0.5-0.9 wt%.

[0076] The intermediate layer 102 comprises a second silica gel, a first fumed silica, carbon nanotubes, and cellulose nanofibers, wherein the second silica gel comprises 90.0-100.0 wt%, the first fumed silica comprises 20.0-30.0 wt%, the carbon nanotubes comprise 0.1-2.0 wt%, and the cellulose nanofibers comprise 2.0-3.0 wt%.

[0077] The bottom layer 103 consists of third silica gel and second fumed silica, wherein the content of third silica gel is 90.0-100.0 wt% and the content of second fumed silica is 8.0-9.0 wt%.

[0078] Specifically, the composition of surface layer 101 involves adding an appropriate amount of nano-molybdenum disulfide (MoS2) to the silicone matrix material. The two-dimensional layered structure of nano-MoS2 forms a multi-layered physical barrier in the silicone matrix, effectively improving the hydrophobicity of the coating by extending the water vapor penetration path. Its layered structure enhances the material's resistance to ultraviolet aging by reflecting and scattering ultraviolet rays. During dynamic friction, the MoS2 sheets reduce the surface friction coefficient of silicone through directional slippage. At the same time, its nanoscale dispersion characteristics can uniformly bear external loads, effectively disperse local stress concentration, inhibit the initiation and propagation of microcracks, and improve the wear resistance of the silicone layer. In addition, MoS2, as a highly efficient catalyst, can accelerate the cross-linking reaction kinetics of silicone, promote chemical bonding between molecular chains, and improve the surface coating strength.

[0079] The intermediate layer 102 is composed of silica gel with 20.0-30.0 wt% fumed silica, 0.1-2.0 wt% carbon nanotubes, and 2.0-3.0 wt% cellulose nanofibers.

[0080] The addition of fumed silica serves several purposes. First, its excellent UV absorption capacity prevents the silicone layer from aging and fading under prolonged UV exposure, improving UV resistance and weather resistance. Second, a high content of fumed silica improves the tensile strength, tear resistance, and abrasion resistance of silicone rubber products, while also increasing viscosity. It also fills the cross-linked network of silicone, reducing volume shrinkage during curing and preventing interfacial debonding due to shrinkage stress. Furthermore, it fills micropores to form continuous heat conduction paths, reducing interfacial thermal resistance. In addition, the high specific surface area and porous structure of fumed silica increase the thermal conductivity paths of silicone, improving thermal efficiency. It also fills internal voids and defects in silicone, preventing localized electric field concentration and breakdown risks caused by air gaps, thereby improving overall insulation performance. Carbon nanotubes possess high electrical conductivity, high strength, and high thermal conductivity, and are linearly distributed. Together with one-dimensional particulate fillers such as fumed silica, they readily form a high-strength cross-linked network with silica gel, improving mechanical strength, tear resistance, and overall electrical and thermal conductivity as well as antistatic properties. However, excessive use can lead to excessively high costs, excessive strength and conductivity, and increased hardness, negatively impacting texture. Below a certain range, their performance is difficult to achieve. Cellulose nanofibers, as low-cost one-dimensional linear nanomaterials, are beneficial for cost reduction. Their surface hydroxyl groups enhance interfacial chemical bonding. Together with zero-dimensional particulate fillers such as fumed silica, they readily form a high-strength cross-linked network with silica gel, improving mechanical strength. Simultaneously, when combined with carbon nanotubes, they achieve a balance between rigidity and toughness, enhancing rigidity, toughness, tear resistance, and tensile strength. Furthermore, they partially replace the fiber reinforcement function of carbon nanofibers, effectively reducing the amount of carbon nanotubes used, while simultaneously improving tensile properties while maintaining thermal and electrical conductivity.

[0081] The bottom layer 103 incorporates a small amount of fumed silica into the silicone rubber. This reduces silicone layer shedding, and the excellent UV absorption capacity of fumed silica prevents aging and fading of the silicone layer bonded to the metal under prolonged UV exposure (natural or UV-induced repair), improving UV resistance and weather resistance. Furthermore, the addition of fumed silica improves the tensile strength, tear resistance, and abrasion resistance of silicone rubber products. Its high specific surface area and porous structure increase the thermal conductivity path of the silicone, effectively enhancing thermal conductivity. Fiber silica fills the voids and defects within the silicone, preventing localized electric field concentration and breakdown risks caused by air gaps, thus improving overall insulation performance. Fiber silica also improves the physical adhesion of the silicone, facilitating bonding with the metal skeleton. The thermal expansion coefficient of its main component, SiO2, is between that of metal and silicone, reducing interfacial thermal stress caused by temperature changes and maintaining long-term thermal stability. Simultaneously, the addition of fumed silica enhances insulation properties.

[0082] In some specific embodiments, the first silicone microbead 40 comprises methyl vinyl silicone rubber, fumed silica, hydroxyl silicone oil, and bis(2,5-dimethyl)sulfide; wherein the content of methyl vinyl silicone rubber is 70.0-80.0 wt%, the content of fumed silica is 15.0-20.0 wt%, the content of hydroxyl silicone oil is 5.0-10.0 wt%, and the content of bis(2,5-dimethyl)sulfide is 0.5-1.0 wt%.

[0083] The second silica microsphere 50 is composed of liquid silicone rubber, spherical silica powder, conductive carbon black and platinum catalyst; wherein, the content of liquid silicone rubber is 60.0-70.0 wt%, the content of spherical silica powder is 20.0-25.0 wt%, the content of conductive carbon black is 5.0-10.0 wt%, and the content of platinum catalyst is 0.1-0.3% wt%.

[0084] Specifically, both the first silica microsphere 40 and the second silica microsphere 50 are porous, highly porous silica (SiO2) microsphere materials with the chemical formula mSiO2·nH2O. They belong to amorphous inorganic compounds and have characteristics such as high specific surface area (350-500 m² / g), specific pore size (e.g., 10 nm), high hardness, high temperature resistance (up to 500℃), and chemical inertness (insoluble in water and common solvents, with excellent stability except for strong alkalis and hydrofluoric acid). Among them, the first silica microsphere 40 uses methyl vinyl silicone rubber (70.0-80.0 wt%), fumed silica (15.0-20.0 wt%), hydroxyl silicone oil (5.0-10.0 wt%), and bis(2,5-5) sulfide agent (0.5-1). The first component is a composite material consisting of 0 wt% silica gel, with a Shore hardness controlled at 20A-30A (soft cushioning) and a resilience of ≥90%. It achieves good bonding with the silicone sleeve 10 through the principle of similar compatibility and is mainly used to provide interfacial cushioning. The second silica gel microbead 50 is composed of liquid silicone rubber (60.0-70.0 wt%), spherical silica powder (20.0-25.0 wt%), conductive carbon black (5.0-10.0 wt%), and platinum catalyst (0.1-0.3 wt%). It has a Shore hardness of 40A-50A (medium hardness) and high wear resistance (wear loss <0.02 cm³ / 1.61 km). The thermal conductivity can be further improved by adding thermally conductive materials, making it suitable for applications requiring magnetic absorption buffering and high-heat areas.

[0085] The above description is only an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A wearable robotic skin, characterized in that, include: A silicone sleeve (10) covers the outer surface of the metal skeleton and is divided into multiple modular components (11) along the robot joints or functional zones; the seams of adjacent modular components (11) are connected by a convex-concave interlocking structure (20); The magnetic fixing structure includes a ferrite sheet (31) pre-embedded in the silicone sleeve (10) and a neodymium iron boron magnet embedded in the metal frame and cooperating with the ferrite sheet (31). The first silicone microbeads (40) are distributed at the contact interface between the silicone sleeve (10) and the metal skeleton; the second silicone microbeads (50) are distributed around the ferrite sheet (31).

2. The wearable robotic skin according to claim 1, characterized in that, The interlocking structure (20) includes a protrusion (21) and a corresponding recess (22), wherein the mating surfaces of the protrusion (21) and the recess (22) are both progressive slopes.

3. The wearable robotic skin according to claim 1, characterized in that, The compression ratio of the first silicone microbead (40) and the second silicone microbead (50) is greater than 80%.

4. The wearable robotic skin according to claim 1, characterized in that, The silicone sleeve (10) comprises, from the outside to the inside, the following components: The surface layer (101) is made of medical-grade liquid silicone rubber and is formed by 3D microstructure printing technology to simulate the texture of human skin. The intermediate layer (102) is a tear-resistant silicone layer with a built-in distributed fiber optic strain sensor array; The bottom layer (103) is an insulating silicone layer that integrates a flexible heating circuit and a piezoresistive tactile sensor.

5. The wearable robotic skin according to claim 4, characterized in that, In the area corresponding to the active joint, the silicone sleeve (10) adopts a pleated corrugated structure (60), the wavelength of the pleated corrugated structure (60) is 5-8mm, the peak height is 2-3mm, and a stretching allowance of 200%-300% is reserved.

6. The wearable robotic skin according to claim 5, characterized in that, The middle layer (102) of the pleated corrugated structure (60) includes two corrugated layers (61) with different wave crests. The corrugated layer (61) includes a reinforcing structure, which is a metal mesh or a nylon fiber mesh.

7. The wearable robotic skin according to claim 6, characterized in that, The surface layer (101) of the pleated corrugated structure (60) is provided with a first through hole (62), which is an inclined hole with an inclination angle of 25° to 40°. A second through hole (63) is provided on the corrugated layer (61) on the side close to the surface layer (101).

8. The wearable robotic skin according to claim 1, characterized in that, In the area corresponding to the non-movable joint, the metal skeleton has a groove with a depth of 1-2 mm to accommodate the first silicone microbead (40).

9. The wearable robotic skin according to claim 4, characterized in that, The surface layer (101) comprises a first silica gel and nano-molybdenum disulfide (MoS2), wherein the content of the first silica gel is 90.0-100.0 wt%, and the content of the nano-molybdenum disulfide is 0.5-0.9 wt%. The intermediate layer (102) comprises a second silica gel, a first fumed silica, carbon nanotubes, and cellulose nanofibers, wherein the second silica gel comprises 90.0-100.0 wt%, the first fumed silica comprises 20.0-30.0 wt%, the carbon nanotubes comprise 0.1-2.0 wt%, and the cellulose nanofibers comprise 2.0-3.0 wt%. The bottom layer (103) comprises a third silica gel and a second fumed silica, wherein the content of the third silica gel is 90.0-100.0 wt% and the content of the second fumed silica is 8.0-9.0 wt%.

10. The wearable robotic skin according to claim 1, characterized in that, The first silica microsphere (40) comprises methyl vinyl silicone rubber, fumed silica, hydroxyl silicone oil, and bis(2,5-dimethyl)sulfide; wherein the content of methyl vinyl silicone rubber is 70.0-80.0 wt%, the content of fumed silica is 15.0-20.0 wt%, the content of hydroxyl silicone oil is 5.0-10.0 wt%, and the content of bis(2,5-dimethyl)sulfide is 0.5-1.0 wt%. The second silica microsphere (50) comprises liquid silicone rubber, spherical silica powder, conductive carbon black, and platinum catalyst; wherein the liquid silicone rubber content is 60.0-70.0 wt%, the spherical silica powder content is 20.0-25.0 wt%, the conductive carbon black content is 5.0-10.0 wt%, and the platinum catalyst content is 0.1-0.3% wt%.

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