Bionic skin of bionic robot and forming method thereof

Abstract

The invention discloses bionic skin of a bionic robot and a forming method of the bionic skin. The forming method comprises the following steps: classifying a target pattern area according to the distribution position of the facial expression pattern of the bionic robot; selecting corresponding preset microstructure types, such as an inverted circle type, an inverted trapezoid type, a honeycomb type or a double-layer lap joint structure, according to the classified different target grain areas; based on the preset age group of the face of the bionic robot, geometric parameters of the microstructure are determined, and the preset microstructure is formed in the bionic skin material. According to the method, the partitioned and differentiated microstructure is prefabricated in the bionic skin, and the complex dynamic pattern generation capability is solidified in the material, so that the highly-vivid dynamic pattern matched with the age and the position can be generated through simple mechanical driving, the'terrorist valley effect 'is effectively solved, and the naturalness and the estrus sharing capability of human-computer interaction are improved.

Description

Technical Field

[0001] This invention relates to the field of bionics technology, specifically to a bionic skin for a bionic robot and a method for forming it. Background Technology

[0002] With the rapid development of the robotics industry, the technology of bionic humanoid robots is also iterating rapidly, becoming a new battleground for competition among various technological fields. Humanoid bionic robots have evolved from initially only being able to perform simple facial expressions such as opening their mouths, blinking, and frowning to a level of richness and freedom, gradually moving towards becoming more human-like and realistic. However, because current humanoid bionic robots are mainly made of silicone or thermoplastic elastomers and have a single-layer structure, lacking the dermal-epidermal layered structure of skin, they cannot simulate the viscoelastic deformation of collagen fibers. Furthermore, artificial materials lack the physiological connection points where facial muscles are embedded in the dermis; they rely solely on mechanical joints for a uniform pulling force, failing to create localized depressions (such as dimples) or natural wrinkles.

[0003] However, while most current technologies for bionic facial expressions have solved the problem of robot facial actuation to some extent, the movement of the skin when a real "human" makes an expression is the result of the combined action of facial muscle contraction pulling on the epidermis, dermis, and subcutaneous tissue. For example, the contraction of the zygomaticus major and risorius muscles pulls on the skin of the cheek to form dimples; the contraction of the orbicularis oculi muscle squeezes the skin around the eyes to form crow's feet; and the frontalis muscle raises the eyebrows to form horizontal lines on the forehead. Currently, various technologies have not structurally designed the artificial materials covering the robot's head, lacking the dermal-epidermal layered structure of skin, and thus cannot create local depressions or natural wrinkles.

[0004] Therefore, it is necessary to design biomimetic skin structures for artificial biomimetic materials to solve the "uncanny valley effect" caused by the lack of subtle changes in skin texture when facial expressions occur, and to improve human-machine empathy. Summary of the Invention

[0005] The purpose of this application is to overcome the above-mentioned technical deficiencies and propose a bionic skin for a bionic robot and a method for forming it, thereby solving the technical problem that the existing bionic skin materials have a single structure and cannot simulate subtle and natural dynamic surface textures.

[0006] To achieve the above-mentioned technical objectives, this application adopts the following technical solution: In a first aspect, this application provides a method for forming bionic robotic skin, comprising the following steps: S1. Classify the target texture area according to the distribution location of the facial expression texture of the bionic robot; S2. For the different target texture regions after classification, select the corresponding preset microstructure type from the structure library containing at least two preset microstructure types; S3. Based on the age group of the bionic robot's face, determine the geometric parameters of the selected preset microstructure type; S4. Based on the determined geometric parameters, the preset microstructure is formed inside the bionic skin material of the bionic robot's face, so that when the bionic skin is driven to deform, a predetermined dynamic texture is formed in the target texture area.

[0007] In some embodiments of this application, the age group is divided into at least three stages: youth and middle-aged youth stage, middle age stage, and middle-aged and elderly stage, with each stage corresponding to a set of independent geometric parameter ranges.

[0008] In some embodiments of this application, the type of the preset microstructure includes a rounded single-layer through-hole structure, which corresponds to at least one of forehead wrinkles, frown lines, crow's feet wrinkles, tear trough wrinkles, marionette lines, or corner-of-the-mouth wrinkles. The geometric parameters of the rounded single-layer through-hole structure include the minor axis length a, the major axis length b, the opening interval length c, and the skin thickness d. When the skin thickness d is m, the values ​​of parameters a, b, and c are all determined based on age group and distribution location.

[0009] In some embodiments of this application, the preset microstructure type includes an inverted trapezoidal or inverted polygonal single-layer through-hole structure, which corresponds to at least one of nasolabial folds, chin wrinkles, or horizontal nose wrinkles. The geometric parameters of the inverted trapezoidal single-layer through-hole structure include the upper base length e, the lower base length f, the opening interval length g, the trapezoidal height h, and the skin thickness l. The geometric parameters of the inverted polygonal single-layer through-hole structure include the equivalent upper side length e, the lower side length f, the opening interval length g, the height h, and the skin thickness l. The values ​​of parameters e, f, g, and h are all determined based on age group and distribution location.

[0010] In some embodiments of this application, the preset microstructure type includes a honeycomb-shaped hollow internal structure, which corresponds to the formation of dimples. The geometric parameters of the honeycomb-shaped hollow internal structure include the hexagonal side length n, the hexagonal spacing o, the support rib width p, and the support rib height q, and the values ​​of parameters n, o, and p decrease with increasing age.

[0011] In some embodiments of this application, the preset microstructure type includes a double-layer overlapping structure, which is used to form at least one of neck wrinkles, vertical lip wrinkles, or brow wrinkles. The geometric parameters of the double-layer overlapping structure include the support interval length r, the bottom thickness s, the column width t, and the column height u, and the values ​​of the parameters r, s, t, and u are determined based on age group and distribution location.

[0012] Secondly, this application also provides a bionic skin for a bionic robot, comprising: Bionic skin basal layer; Multiple pre-designed microstructures are disposed on the surface of the biomimetic skin basal layer; The multiple preset microstructures are arranged in zones according to the distribution of corresponding facial expression lines, including at least one of the following: inverted round single-layer through-hole, inverted trapezoidal single-layer through-hole, honeycomb internal hollow structure, and double-layer overlapping structure.

[0013] In some embodiments of this application, in areas corresponding to the forehead, between the eyebrows, corners of the eyes, tear troughs, marionette lines, or corners of the mouth, the preset microstructure is an inverted rounded single-layer through-hole structure; in areas corresponding to nasolabial folds, chin lines, or horizontal nose lines, the preset microstructure is an inverted trapezoidal or inverted polygonal single-layer through-hole structure; in areas corresponding to cheek dimples, the preset microstructure is a honeycomb-shaped hollow internal structure; and in areas corresponding to the neck, around the lips, or below the eyebrow tail, the preset microstructure is a double-layer overlapping structure.

[0014] In some embodiments of this application, the rounded single-layer through-hole and the inverted trapezoidal single-layer through-hole are slots formed on the surface of the bionic skin basal layer.

[0015] In some embodiments of this application, the honeycomb-shaped internal hollow structure and the double-layer overlapping structure include a plurality of supporting ribs, which overlap on the surface of the biomimetic skin base layer. The material of the supporting ribs includes polyurethane, silicone rubber or thermoplastic elastomer.

[0016] Compared with the prior art, the beneficial technical effects of the technical solution provided in this application include: By scientifically classifying the textures of different areas of a robot's face and matching them with age-differentiated, parameter-adjustable preset microstructures, this design allows simple external mechanical forces to be precisely transformed into highly realistic surface wrinkles and depressions that conform to biomechanical principles. This method fundamentally solves the problem that traditional single materials cannot form natural textures, achieving accurate and high-fidelity simulation of dynamic textures (such as sharp crow's feet, smooth nasolabial folds, and dotted dimples) of bionic robots of different ages and facial expressions. It significantly reduces the "uncanny valley effect" and greatly enhances the realism, approachability, and human-robot empathy of bionic robots. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this application, the accompanying drawings used in the embodiments will be briefly described below: Figure 1 This is a flowchart of a method for forming bionic robot skin according to an embodiment of this application; Figure 2 This is a schematic diagram of a pre-defined microstructure in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of the second preset microstructure in the embodiments of this application; Figures 4A-4B This is a schematic diagram of the third preset microstructure in the embodiments of this application; Figures 5A-5B This is a schematic diagram of the fourth preset microstructure in the embodiments of this application; Figures 6A-6B This is a schematic diagram of the fifth preset microstructure in the embodiments of this application.

[0018] Figure label: 100 - Bionic skin basal layer, 101 - Fixation point, 102 - Deformation point, 103 - Intersection point; 200 - Preset microstructure, 300 - Supporting rib. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0020] Those skilled in the art will understand that, in this specification, the term "comprising" is an open-ended expression, meaning that the stated feature is present but other features are excluded. Directional terms such as "upper," "lower," "left," and "right" refer to exemplary directions based on the accompanying drawings. Features specified as "first" or "second" implicitly include one or more of that feature. Singular expressions can also be used in plural forms. "Multiple" means two or more. The terms "installed," "connected," and "linked" can refer to a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection via an intermediate medium, and it can be a connection within two components. Furthermore, "linked" can include wireless connections.

[0021] The purpose of this application is to overcome the above-mentioned technical deficiencies and propose a bionic skin for a bionic robot and a method for forming it, thereby solving the technical problem that the existing bionic skin materials have a single structure and cannot simulate subtle and natural dynamic surface textures.

[0022] To achieve the above-mentioned technical objectives, this application adopts the following technical solution: like Figure 1 As shown in the figure. This embodiment provides a method for forming bionic skin for a bionic robot. The method aims to create highly realistic skin for bionic robots that can simulate the dynamic textures of human facial expressions. The specific steps are as follows: Step 1: Classify the target texture area.

[0023] First, based on human facial anatomy and the movement patterns of facial muscles, the areas on the bionic robot's face that need to generate dynamic textures are categorized. For example, they can be divided into the following categories: Type A areas (wavy, sharp wrinkles): These include the forehead (producing forehead wrinkles), the area between the eyebrows (producing frown lines), the corners of the eyes (producing crow's feet wrinkles), under the eyes (producing tear trough lines), and the sides of the mouth (producing marionette lines and corner wrinkles). These lines are usually formed by repeated muscle contractions and compression of the skin.

[0024] Type B areas (gentle sloping, flat wrinkles): These include the sides of the nose to the corners of the mouth (producing nasolabial folds), the chin (producing chin wrinkles), and the bridge of the nose (producing bunny lines / horizontal nasal wrinkles). These types of lines are mostly related to subcutaneous tissue structure and large-scale muscle traction.

[0025] Type C area (local depression): cheeks (forming dimples). This is formed by specific muscle fibers directly pulling on the dermis.

[0026] Type D areas (parallel, regular wrinkles): neck (causing neck wrinkles), upper and lower lips (causing vertical lip wrinkles), and below the eyebrow tail (causing drooping eyebrow wrinkles). These types of wrinkles are often related to skin laxity or repeated stretching in a specific direction.

[0027] Step 2: Select the corresponding preset microstructure type 200.

[0028] Establish a structure library containing 200 types of preset microstructures, and select the structure type that best simulates the texture characteristics of the above different regions.

[0029] For Class A regions, select a rounded single-layer through-hole structure (such as...) Figure 2 (As shown).

[0030] For Class B areas, select an inverted trapezoidal or inverted polygonal single-layer through-hole structure (such as...). Figure 3 , Figure 4A , Figure 4B (As shown).

[0031] For Class C areas, choose a honeycomb-type hollow internal structure (such as...) Figure 5A Top view, Figure 5B (As shown in the side view).

[0032] For Class D areas, choose a double-layer overlapping structure (such as...) Figure 6A Top view, Figure 6B (As shown in the side view).

[0033] Step 3: Determine geometric parameters based on age group.

[0034] Based on the age characteristics that the bionic robot needs to simulate, the specific geometric parameters of the selected microstructure are determined. This embodiment divides the age range into three main stages: Y1 stage (youth and young adults, 18-35 years old), Y2 stage (middle age, 35-55 years old), and Y3 stage (middle-aged and elderly, 55 years and older). For example, forehead wrinkles are designed for a middle-aged robot in the Y2 stage, belonging to region A, and a rounded structure is selected. Referring to Table 1, and setting the skin thickness m to 5mm, the geometric parameters can be selected as follows: minor axis length a = 0.5m = 2.5mm, major axis length b = 0.8m = 4mm, and opening interval length c = 0.7m = 3.5mm.

[0035] Step 4: Form a pre-designed microstructure 200 inside the biomimetic skin material.

[0036] By employing appropriate manufacturing processes, such as 3D printing, precision injection molding, laser etching, or micro / nano imprinting, microstructures with the aforementioned geometric parameters can be integrally molded inside biomimetic skin materials (such as platinum silicone, thermoplastic elastomers, TPE, etc.).

[0037] For single-layer through-hole structures (rounded, trapezoidal), a series of cavities or through-holes with specific shapes and sizes are formed inside or on the back of the biomimetic skin base layer 100. For double-layer structures (honeycomb, double-layer overlapping), a structural layer composed of supporting ribs 300 is added to the base layer 100. This structural layer can be integrally formed with the base layer 100, or it can be an independent component made of materials with different hardness, bonded together by means of adhesion or co-vulcanization.

[0038] The core working principle of this method lies in "passive structure-guided deformation." Traditional bionic skin is a homogeneous material, and when stretched or compressed by mechanical actuators, its deformation is relatively uniform, failing to produce concentrated, regular wrinkles. This invention pre-sets microstructures (cavities or supporting ribs 300) with specific geometric shapes within the skin. These microstructures mechanically constitute pre-defined "weak areas" or "guided paths." When an external actuator (simulating facial muscles) applies force, the stress in the bionic skin concentrates in these microstructure areas, preferentially buckling, folding, or indenting along their designed geometric boundaries. The sharp apex of the rounded structure easily forms V-shaped wrinkles; the gentle slope of the inverted trapezoidal structure guides large-area gentle indentations; the honeycomb structure is prone to central point collapse under pressure; and the double-layer overlapping structure forms parallel, regular wrinkles through the synergistic effect between the columns. Therefore, complex facial expressions no longer require complex driving control, but are instead generated in a highly efficient, reliable, and highly realistic manner by activating the pre-programmed structural response within the skin through a simple driving force.

[0039] By classifying the textures and matching them with differentiated preset microstructures 200, accurate and high-fidelity simulation of different types of dynamic textures is achieved, fundamentally solving the problem that traditional single materials cannot form natural wrinkles and significantly reducing the "uncanny valley effect".

[0040] This embodiment divides the age range into three stages: Y1 (18-35 years old), Y2 (35-55 years old), and Y3 (55 years old and above). This division conforms to the general pattern of human skin aging, making parameter design more targeted. In the Y1 stage, wrinkles are shallow or not obvious, corresponding to lower parameter values; in the Y2 stage, wrinkles begin to appear and deepen, with intermediate parameter values; in the Y3 stage, wrinkles are deep and may merge, corresponding to higher parameter values. Each stage corresponds to an independent set of geometric parameter ranges, facilitating modular design and rapid generation of biomimetic skin with specific age characteristics.

[0041] By segmenting age into stages, the texture generation method becomes more systematic and logical, facilitating modular design and rapid customization of bionic robots with different age characteristics, thereby improving development efficiency and product diversity.

[0042] In bionic skin, a rounded, single-layer perforated structure design is used for Type A areas such as the forehead, between the eyebrows, and the corners of the eyes. Figure 2 As shown. The key geometric parameters of this structure are the minor axis length *a*, the major axis length *b*, the opening spacing length *c*, and the skin thickness *d*. To achieve textural differences at different ages and locations, the values ​​of parameters *a*, *b*, and *c* are all related to the skin thickness *m* (*d* = *m*), which are determined according to Table 1 below: Table 1. Design parameters for rounded openings

[0043] Fixed point 101 and deformation point 102 are set opposite each other. By controlling the ratio of the major and minor axes of the rounded semi-ellipse to the length of fixed point 101, the height and width of the wrinkle can be controlled. Utilizing the characteristics of the rounded structure with a prominent central bulge and sharp apex, the wave-like folds formed by repeated muscle contraction and compression are accurately simulated. Through parametric design that links age and location, fine-grained control of the depth, width, and density of the wrinkles is achieved, enhancing the realism of this type of wrinkle.

[0044] For Category B areas such as nasolabial folds and chin lines, an inverted trapezoidal or inverted polygonal single-layer through-hole structure is used, such as... Figure 3 and Figure 4A , 4B As shown. The geometric parameters of the inverted trapezoidal structure include the upper base length e, the lower base length f, the opening spacing length g, the trapezoidal height h, and the skin thickness l.

[0045] Table 2 Design Parameters for Inverted Trapezoidal Opening

[0046] For inverted polygonal structures, such as Figure 4A As shown, parameter f is the length of the longest base side, parameter h is the vertical distance from the base side to the farthest vertex, and parameter e is the equivalent length of the top side. The method for determining e is as follows: draw a perpendicular line through the midpoint of f, dividing the polygon into left and right halves. Take half the sum of the lengths of all sides in the left half as vertex 1, and half the sum of the lengths of all sides in the right half as vertex 2. The length of the line segment connecting vertex 1 and vertex 2 is e. These parameters are also determined according to age group and distribution location, based on Table 2.

[0047] Meanwhile, it should be noted that the structure of this part can be designed not only as a quadrilateral structure (with three inscribed sides), but also as a multi-variable structure, such as a pentagon (with four inscribed sides), a hexagon (with five inscribed sides), an n-sided polygon (with n-1 inscribed sides), or an irregular polygon, all of which can achieve similar effects. The values ​​e, f, g, h, and l vary with age and distribution location as shown in Table 2. However, the values ​​of h and e need to be clarified. The value of h is the distance from the top to the bottom (or vertex); while the value of e is determined as follows: First, draw a perpendicular line through the midpoint of f. This perpendicular line divides the lower half into two parts. Take half the sum of the distances of all line segments to the left of the intersection point 103 as point 1, and take half the sum of the distances of the line segments to the right of the intersection point 103 as point 2. Connect point 1 and point 2. The distance between point 1 and point 2 is denoted as e. The range of values ​​e and f is taken from the reference values ​​in Table 2. The polygon types and the values ​​of e, f, g, h, and l are as follows... Figure 4B As shown.

[0048] By utilizing the "gentle slope" deformation formed by inverted trapezoidal or inverted polygonal structures, the large-area, gently transitioning lines such as nasolabial folds formed by changes in subcutaneous tissue are perfectly reproduced, making the transition of expressions more natural and realistic.

[0049] Table 3 Design parameters for honeycomb structure

[0050] For dimples on the cheeks (Category C area), a honeycomb-shaped hollow internal structure design is used, such as... Figure 5A , 5B As shown in the figure, the structure is composed of multiple regular hexagonal units, and its geometric parameters include the hexagonal side length n, the hexagonal spacing o, the width p of the support rib 300, and the height q of the support rib 300. The characteristic of dimples is that they gradually fade with age; therefore, their parameter design is inversely proportional to age, and the specific parameters are determined according to Table 3.

[0051] The honeycomb structure can produce concentrated local indentations when under pressure, and by adjusting the structural parameters, it can simulate the biological characteristics of dimples gradually fading or even disappearing with age, thus realizing the simulation of dynamic life cycle and greatly enhancing the anthropomorphism.

[0052] For Category D areas such as neck wrinkles and vertical lip lines, a double-layer overlapping structure design is adopted, such as... Figure 6A , 6B As shown, the structure consists of a base, multiple pillars, and a top skin layer. Its geometric parameters include the support spacing length r, the base thickness s, the pillar width t, and the pillar height u. These parameters are finely adjusted according to different age groups and distribution locations, based on Table 4.

[0053] Table 4 Design parameters for double-layer lap joint structure

[0054] The double-layered overlapping structure can form wide and regularly distributed parallel folds, effectively simulating the characteristic lines produced by skin laxity or specific muscle movements in areas such as the neck and around the lips, thus improving the overall coordination of facial expressions.

[0055] This embodiment provides a bionic skin for a bionic robot. The bionic skin includes a base layer 100, typically made of silicone with a Shore hardness in the range of 0A-20A. Crucially, the base layer 100 has multiple pre-defined microstructures 200 arranged internally or on its surface, these microstructures being zoned according to the distribution of facial lines. For example, a complete bionic robot mask skin may have multiple rounded single-layer through-holes on the forehead, inverted trapezoidal single-layer through-holes on the sides of the nose to the corners of the mouth, a honeycomb-shaped hollow internal structure on the cheeks, and a double-layer overlapping structure on the neck.

[0056] By prefabricating partitioned and differentiated microstructures within bionic skin, the ability to generate complex dynamic textures is solidified within the material itself, enabling highly realistic facial expressions to be produced with simple actuation. This represents a fundamental innovation in bionic skin structure design.

[0057] This embodiment is a further refinement of the zoning layout. Specifically: In the corresponding areas of the forehead (frontalis muscle activity area), glabella (corrugator supercilii muscle activity area), corner of the eye (orbicularis oculi muscle activity area), tear trough, marionette lines, and corners of the mouth lines, precisely arrange inverted round single-layer through-hole structures.

[0058] In the areas corresponding to nasolabial folds (areas of activity such as the levator labii superioris and alar muscles), chin lines, and horizontal nose lines, arrange inverted trapezoidal or inverted polygonal single-layer perforated structures.

[0059] Arrange a honeycomb-shaped hollow structure at the location corresponding to the dimple on the cheek (the zygomaticus major muscle traction point).

[0060] Double-layered overlapping structures are arranged in the corresponding areas of the neck (area of ​​platysma muscle activity), around the lips (area of ​​orbicularis oris muscle activity), or below the eyebrow tail.

[0061] This precise region-structure mapping ensures that each dynamic texture is generated by a microstructure best suited to its mechanical properties, greatly enhancing the realism of expressions and the accuracy of details.

[0062] The rounded and trapezoidal single-layer through-hole structures are essentially slots or cavities directly created in the biomimetic skin basal layer 100. During manufacturing, they can be injection molded using molds with corresponding protrusions, or formed on the pre-formed skin blank through laser cutting or machining. These slots, serving as stress concentration and deformation-guiding areas, represent a structural design directly implemented within a single material.

[0063] Designing the microstructure as a 100-in-one slot in the base layer simplifies the manufacturing process, ensures the integrity and durability of the structure, and avoids the risk of delamination or failure that may result from bonding multiple components.

[0064] The honeycomb-shaped internal hollow structure and the double-layer overlapping structure can be designed as independent components attached to the surface of the biomimetic skin base layer 100. These structures consist of multiple support ribs 300, the material of which can be selected according to requirements. For example, polyurethane (PU), which has a higher hardness than the base layer 100, can be used to provide stronger support and resilience, or different grades of silicone rubber or thermoplastic elastomers (TPE) can be used to achieve specific viscoelastic effects. The support ribs 300 can be firmly connected to the base layer 100 by adhesive bonding, co-vulcanization, or mechanical snap-fit.

[0065] By employing composite materials and designs with varying hardness, the mechanical performance of the structure is enhanced, making the formation and recovery of textures more elastic and layered, closer to the viscoelasticity of real skin, and providing greater design freedom for performance optimization.

[0066] The overall working principle of this invention is based on a biomimetic design concept of "structured skin." It abandons the traditional approach of treating biomimetic skin as a homogeneous material, instead designing it as a composite body integrating complex microscopic mechanical structures. This method first establishes a mapping database of "texture features - microstructures" by systematically classifying the types, locations, and age-related evolution of human facial lines. During the manufacturing of the biomimetic skin, based on the target robot's role settings (such as age and typical expressions), the corresponding microstructure types (rounded, trapezoidal, etc.) and geometric parameters are retrieved from the database and precisely "implanted" into the corresponding positions of the skin material using advanced manufacturing technology. When the robot's internal actuators (whether mechanical, hydraulic, or pneumatic) operate, the macroscopic, simple forces they apply are transmitted to the structured skin. The skin's deformation is no longer random and uniform, but guided and constrained by the internal microstructures, resulting in controllable bending, folding, and depression along a preset path. In this way, each microstructure region acts like a passive "texture generator," automatically "decoding" the driving signal into highly realistic dynamic textures with specific shapes and depths.

[0067] Compared with the prior art, the beneficial technical effects of the technical solution provided in this application include: High fidelity and realism: Through zoned and differentiated microstructure design, it can accurately simulate different types of dynamic textures (sharp, smooth, concave, parallel), with effects far exceeding traditional homogeneous skin, fundamentally solving the "uncanny valley effect".

[0068] Age and Personalized Simulation: By quantifying age characteristics into specific geometric parameters, it is possible to easily customize various facial features from youth to old age, and even simulate life cycle features such as dimples that change with age, achieving deep personalization.

[0069] Systematic and efficient development: It provides a complete design process and database from classification and selection to parameter determination, making the design and manufacturing of bionic skin modular and standardized, which greatly improves R&D efficiency.

[0070] Simplified driving and system reliability: The complex texture generation task is transferred from the driving control end to the material structure end, which reduces the requirements for the complexity and control accuracy of the driving system and improves the stability and reliability of the entire expression system.

[0071] Strong scalability: This structured design concept can be seamlessly integrated with cutting-edge technologies such as stimulus-responsive materials, microfluidics, and artificial intelligence optimization, giving bionic skin more advanced functions such as active deformation, physiological state simulation, and self-evolution, demonstrating broad application prospects.

[0072] Those skilled in the art will understand that the steps, measures, and schemes in the various operations, methods, processes, and procedures discussed in this application can be alternated, modified, rearranged, decomposed, combined, or deleted.

[0073] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Any other corresponding changes and modifications made based on the technical concept of this application should be included within the scope of protection of the claims of this application.

Claims

1. A method for forming a bionic robot bionic skin, characterized in that, The method comprises the following steps: According to the distribution position of the facial expression lines of the bionic robot, the target line area is classified; For different target line areas classified, from a structure library containing at least two types of preset microstructure, the corresponding preset microstructure type is selected; Based on the age stage of the bionic robot face, the geometric parameters of the selected preset microstructure type are determined; According to the determined geometric parameters, the preset microstructure is formed inside the bionic skin material of the bionic robot face, so that when the bionic skin is driven to deform, the predetermined dynamic lines are formed in the target line area.

2. The method of claim 1, wherein the biomimetic robotic skin is formed by a process comprising: The age stage is divided into at least three stages: youth and middle youth stage, middle age stage, and middle age and old age stage, each stage corresponding to a group of independent geometric parameter range.

3. The method of claim 1, wherein the biomimetic robotic skin is formed by a process comprising: The type of the preset microstructure includes a rounded single-layer through-hole structure, which corresponds to at least one of a forehead line, a glabella line, a crow's foot, a tear trough line, a puppet line or a corner of the mouth. The geometric parameters of the rounded single-layer through-hole structure include a minor axis length a, a major axis length b, an opening interval length c, and a skin thickness d. When the skin thickness d is m, and the values of parameters a, b, and c are determined based on the age stage and the distribution position.

4. The method of claim 1, wherein the biomimetic robotic skin is formed by a process comprising: The preset microstructure type includes an inverted ladder type or an inverted polygon single-layer through-hole structure, which corresponds to at least one of a command line, a chin line or a transverse nose line. The geometric parameters of the inverted ladder type single-layer through-hole structure include an upper base length e, a lower base length f, an opening interval length g, a trapezoidal height h, and a skin thickness l. The geometric parameters of the inverted polygon single-layer through-hole structure include an equivalent upper edge length e, a lower edge length f, an opening interval length g, a height h, and a skin thickness l, and the values of parameters e, f, g, and h are determined based on the age stage and the distribution position.

5. The method of claim 1, wherein the biomimetic robotic skin is formed by a process comprising: The preset microstructure type includes a honeycomb type internal hollow structure, which corresponds to a dimple. The geometric parameters of the honeycomb type internal hollow structure include a hexagon side length n, a hexagon pitch o, a support rib width p, and a support rib height q, and the values of parameters n, o, and p decrease with the increase of the age stage.

6. The method of claim 1, wherein the biomimetic robotic skin is formed by a process comprising: The preset microstructure type includes a double-layer lap joint structure, which corresponds to at least one of a neck line, a vertical lip line or a brow line. The geometric parameters of the double-layer lap joint structure include a support body interval length r, a bottom thickness s, a column width t, and a column height u, and the values of parameters r, s, t, and u are determined based on the age stage and the distribution position.

7. A bionic skin of a bionic robot, characterized in that, It comprises: A bionic skin base layer; A plurality of preset microstructures arranged on the surface of the bionic skin base layer; Wherein, the plurality of preset microstructures are arranged according to the distribution position of the corresponding facial expression lines, including at least one of a rounded single-layer through-hole, an inverted ladder type single-layer through-hole, a honeycomb type internal hollow structure and a double-layer lap joint structure.

8. The bionic skin of the bionic robot according to claim 7, characterized in that, The preset microstructure is a rounded single-layer through-hole structure in the area corresponding to the forehead, the glabella, the corner of the eye, the tear groove, the marionette lines or the corner of the mouth; the preset microstructure is an inverted ladder-shaped or inverted polygonal single-layer through-hole structure in the area corresponding to the crow's feet, the chin lines or the transverse nasal lines; the preset microstructure is a honeycomb-shaped internal hollow structure in the area corresponding to the cheek dimples; and the preset microstructure is a double-layer lapping structure in the area corresponding to the neck, the perioral region or below the tail of the eyebrow.

9. The bionic skin of the bionic robot according to claim 7, characterized in that, The rounded single-layer through-hole and the inverted ladder-shaped single-layer through-hole are groove holes opened on the surface of the biomimetic skin base layer.

10. The bionic skin of the bionic robot according to claim 7, wherein, The honeycomb-shaped internal hollow structure and the double-layer lapping structure comprise a plurality of support ribs lapped on the surface of the biomimetic skin base layer, and the material of the support ribs comprises polyurethane, silicone rubber or thermoplastic elastomer.

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