Tactile fingers and mechanical hands, robots

Abstract

The application discloses a kind of tactile finger and mechanical palm, robot, wherein tactile finger includes: knuckle base body, the knuckle base body has the installation surface of curved surface arrangement;Tactile perception component includes multiple electrode patch units for sensing external contact state and collecting pressure data, multiple electrode patch units are arranged at the installation surface, and the electrode patch unit includes multiple electrode pieces that are mutually conducted;Flexible cover, multiple electrode patch units are covered by the flexible cover;The present application is arranged by multiple spaced electrode patch units on the knuckle base body with curved surface installation surface, and the sensing area is covered by flexible cover as a whole, realizes the compact integration and effective protection of tactile perception component, both guarantee the distribution rationality and continuity of conduction of perception function, also improve the compliance and adaptation ability of tactile finger overall structure, with good installation adaptability and engineering implementability.

Description

Technical Field

[0001] This invention relates to the field of mechanical finger technology, and particularly to a tactile finger, a mechanical hand, and a robot. Background Technology

[0002] With the development of robotics technology, bionic robotic arms are gradually demonstrating their important value in fields such as intelligent manufacturing, service robots, and medical rehabilitation; tactile sensors, due to their good adaptability and signal response capabilities, have also become key components in building tactile perception systems for bionic robotic arms.

[0003] However, due to limitations in the size, shape, and usage environment of the fingers, achieving multi-point sensing deployment within a limited space and ensuring the effectiveness of sensing still presents many challenges. Therefore, there is an urgent need to provide a mechanical finger structure that can support stable sensing to meet the actual needs of tactile integration functions. Summary of the Invention

[0004] This invention provides a tactile finger, a mechanical hand, and a robot, aiming to solve the problem of low integration of existing tactile sensing fingers.

[0005] To achieve the above objectives, this application proposes a tactile finger, comprising:

[0006] A knuckle base, wherein the knuckle base has a curved mounting surface;

[0007] The tactile sensing component includes multiple electrode bonding units for sensing external contact states and collecting pressure data. The multiple electrode bonding units are spaced apart on the mounting surface, and each electrode bonding unit includes multiple electrode sheets that are interconnected.

[0008] A flexible covering, wherein the flexible covering covers a plurality of the electrode bonding units.

[0009] In some embodiments, the mounting surface includes a first mounting surface located in the middle of the knuckle base, and a second mounting surface and a third mounting surface located on the side of the knuckle base and arranged symmetrically.

[0010] The electrode bonding unit includes a first electrode bonding unit disposed on the first mounting surface, a second electrode bonding unit disposed on the second mounting surface, and a third electrode bonding unit disposed on the third mounting surface.

[0011] In some embodiments, the first mounting surface includes a plurality of first cut surfaces arranged sequentially along the length direction of the knuckle base, and a plurality of electrode sheets of the first electrode bonding unit are sequentially bonded to the plurality of first cut surfaces;

[0012] The second mounting surface includes a plurality of second cut surfaces arranged sequentially along the length direction of the knuckle base, and a plurality of electrode sheets of the second electrode bonding unit are sequentially bonded to the plurality of second cut surfaces;

[0013] The third mounting surface includes a plurality of third cut surfaces arranged sequentially along the length direction of the knuckle base, and the plurality of electrode sheets of the third electrode bonding unit are sequentially bonded to the plurality of third cut surfaces.

[0014] In some embodiments, the plurality of electrode sheets in the first electrode bonding unit, the second electrode bonding unit, and the third electrode bonding unit are connected sequentially.

[0015] In some embodiments, the first electrode bonding unit, the second electrode bonding unit, and the third electrode bonding unit are integrally formed.

[0016] In some embodiments, the flexible covering is made of flexible adhesive and is cast onto the surface of the electrode sheet using a mold.

[0017] In some embodiments, the finger joint base has a process hole for mold casting on the side opposite to the mounting surface.

[0018] In some embodiments, a knuckle connector is further included, one end of which is connected to the root of the knuckle base, and the other end of which is provided with a connector for connecting to a distal joint.

[0019] Furthermore, this application also proposes a mechanical hand, including a mechanical hand body and tactile fingers disposed on the mechanical hand body, wherein the tactile fingers are the aforementioned tactile fingers.

[0020] Furthermore, this application also proposes a robot, including a robot body and a mechanical hand disposed on the robot body, wherein the mechanical hand is the aforementioned mechanical hand.

[0021] The beneficial effects of the present invention are as follows: By setting multiple spaced electrode covering units on a finger joint substrate with a curved mounting surface, and covering the sensing area with a flexible covering, the present invention achieves compact integration and effective protection of the tactile sensing component. This ensures the rational distribution and continuity of the sensing function, and also improves the flexibility and adaptability of the overall structure of the tactile finger, and has good installation adaptability and engineering feasibility. Attached Figure Description

[0022] Figure 1 This is an exploded structural diagram of an embodiment of the tactile finger of the present invention;

[0023] Figure 2This is a schematic diagram of the overall structure of an embodiment of the tactile finger of the present invention;

[0024] Figure 3 This is a schematic diagram of the knuckle base structure of an embodiment of the tactile finger of the present invention;

[0025] Figure 4 This is a schematic diagram of the planar structure of a tactile sensing component according to an embodiment of the tactile finger of the present invention;

[0026] Figure 5 This is a rear view of an embodiment of the tactile finger of the present invention.

[0027] In the figure: 1. Knuckle substrate; 11. Process hole; 2. Tactile sensing component; 21. First electrode bonding unit; 211. Electrode sheet; 212. Connecting section; 22. Second electrode bonding unit; 23. Third electrode bonding unit; 3. Mounting surface; 31. First mounting surface; 311. First cut surface; 32. Second mounting surface; 321. Second cut surface; 33. Third mounting surface; 331. Third cut surface; 4. Flexible covering; 5. Knuckle connector; 51. Connecting seat. Detailed Implementation

[0028] The solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0030] It should also be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component present. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component present.

[0031] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0032] This application provides an embodiment of a tactile finger, referring to... Figure 1 and Figure 2 In one embodiment, the tactile finger includes:

[0033] The knuckle base 1 has a curved mounting surface 3;

[0034] The tactile sensing component 2 includes multiple electrode bonding units for sensing external contact states and collecting pressure data. The multiple electrode bonding units are spaced apart on the mounting surface 3. Each electrode bonding unit includes multiple electrode sheets 211 that are interconnected.

[0035] Flexible covering 4 covers multiple electrode bonding units.

[0036] In this embodiment, the knuckle base 1 can be a hollow or solid structure, and its outer surface has a mounting surface 3. The mounting surface 3 extends along the length of the knuckle base 1 and is arranged in a three-dimensional curved surface for mounting the tactile sensing component 2. The shape of the mounting surface 3 mimics the shape of the fingertip area of ​​the foremost knuckle of a human finger, making the mounting surface 3 narrower near the fingertip and gradually wider towards the root, forming a natural shape transition. At the same time, the mounting surface 3 can be provided with multiple mounting areas to accommodate the attachment of multiple electrode bonding units in different positions, so that the tactile detection coverage is more in line with the force characteristics of the bionic fingertip.

[0037] Reference Figure 1 In this embodiment, the tactile sensing component 2 includes multiple electrode bonding units, which are spaced apart on the mounting surface 3. Each electrode bonding unit may include a metal sheet and an adhesive layer. The metal sheet is used to directly contact external objects and serve as a tactile signal acquisition node, while the adhesive layer securely attaches the metal sheet to the mounting surface 3. The metal sheet can serve as a pressure sensing electrode, reflecting different tactile signals through changes in contact area, deformation, or surface resistance under external force. Multiple metal sheets form a distributed acquisition network in space. When subjected to external contact, each electrode node can generate different electrical signal responses based on the magnitude of the force, the location of the force, or the direction of contact, thereby constituting multi-point detection of tactile information.

[0038] Specifically, adjacent electrode bonding units can be electrically connected through conductive lines or flexible connection structures, enabling the tactile sensing component 2 to continuously acquire signals along the mounting surface 3. When an external object touches a certain location, the corresponding electrode bonding unit will experience changes in electrical parameters such as resistance, capacitance, or contact potential. These changes are transmitted along the electrical connection path to the relevant signal processing module, thereby achieving real-time detection and output of the tactile state. Through the combined arrangement of multiple electrode bonding units, pressure distribution, contact intensity, and directional changes can be collected in different areas of the fingertip, giving the tactile finger a richer and more realistic tactile perception capability.

[0039] Among them, the flexible package accessory 4 can be silicone or thin fabric, which can protect the electrode covering unit and prevent it from being exposed to the external environment for a long time, thus preventing corrosion.

[0040] In this embodiment, because multiple covering units are provided, external objects can be sensed from multiple directions, which can improve the sensitivity of the tactile fingers.

[0041] In this embodiment, there are multiple options for the installation method of the electrode bonding unit and the mounting surface 3. Please refer to the following: Figure 1 In a preferred embodiment, the mounting surface 3 may be provided with a central region and two side regions on the left and right, and three electrode bonding units are installed in the central region and the two side regions on the left and right; each electrode bonding unit includes four electrode pieces 211 arranged in sequence; wherein, the electrode piece 211 located at the top position is a common electrode piece 211 used by the three electrode bonding units. This common electrode piece 211 is located in the upper end region of the mounting surface 3 and serves as the starting electrode piece 211 of the three electrode bonding units; the other three electrode pieces 211 are arranged sequentially downward along their respective regions, so that each electrode bonding unit forms a structure in which four electrode pieces 211 are connected from top to bottom.

[0042] As mentioned above, the flexible covering 4 in this embodiment can be silicone or thin fabric. In a preferred embodiment, the flexible covering 4 can be integrally cast or molded using flexible materials such as silicone, with its inner surface tightly fitted to the mounting surface 3 and the electrode bonding unit, to simulate the tactile structure of a tactile finger, while also protecting the electrode bonding unit and improving its reliability and service life in complex application environments.

[0043] In some embodiments, the knuckle base 1 can be assembled from multiple base segments or it can be a single integrally formed structural component. The inside of the knuckle base 1 can be hollow, so that sensors and connecting lines connected to the sensors can be placed inside the knuckle base 1. When the knuckle base 1 is connected to other knuckles or to a bionic hand, the wiring inside the knuckle base 1 can prevent the sensors and connecting lines connected to the sensors from being exposed outside the knuckle base 1, thus avoiding external wear and also providing a certain degree of aesthetic appeal.

[0044] In other embodiments, the shape of the knuckle base 1 can be adjusted to a semi-circular, elliptical, or flat shape according to usage requirements to adapt to different types of bionic finger application scenarios.

[0045] In this embodiment, the mounting surface 3 serves as the structural basis for mounting the electrode bonding unit on the knuckle substrate 1. When the mounting surface 3 is configured in different forms, the effect of the electrode bonding unit will also be different. For example, when the mounting surface 3 is a single-radius arc surface along the length of the finger, it can simply simulate the structure of human finger bones. When the mounting surface 3 has curvature in both the length and width directions, it can form a spherical structure similar to the fingertip or finger pad, which can more realistically simulate the contact scenario. When the mounting surface 3 is composed of multiple local planes, the bonding effect is improved through the transition of local planes, making it less likely for the flexible electrode sheet 211 to lift up during bonding.

[0046] Different arrangements of the electrode pads 211 and the electrode bonding units can produce different beneficial effects. For example, when multiple electrode pads 211 are connected in series, a local parallel structure can be added to connect multiple sets of series-connected electrode pads 211, making the sensing area more sensitive in a specific direction; when multiple electrode bonding units are arranged in a regular row and column matrix on the mounting surface 3, signal processing and position calibration are facilitated; when adjacent electrode bonding units are staggered on the mounting surface 3, similar to a honeycomb structure, spatial resolution can be improved without increasing the number of electrode bonding units, avoiding blind spots; when the arrangement direction of the electrode bonding units is aligned with the main load-bearing beam or bending axis of the knuckle base 1, it is easier to monitor the stress distribution during bending and gripping more effectively. In addition, the electrode bonding unit can also set the arrangement density according to the frequency of contact with external objects. For example, the electrode pieces 211 in the center of the knuckle base 1 are arranged more densely to enhance the tactile resolution when grasping; the arrangement is slightly sparse and the density is lower in the area near the side edge of the knuckle base 1 to reduce the amount of data. This non-uniform distribution can optimize the sensing performance while controlling the cost.

[0047] In some embodiments, the electrode sheet 211 may be circular, elliptical, strip-shaped, rectangular, polygonal, or other conformal patterns to adapt to curvature changes in different parts and improve adhesion stability.

[0048] Reference Figure 3 The mounting surface 3 includes a first mounting surface 31 located in the middle of the knuckle base 1, and a second mounting surface 32 and a third mounting surface 33 located on the side of the knuckle base 1 and arranged symmetrically. The three are connected continuously in space to form an overall three-dimensional curved surface structure covering the fingertip and the side of the finger, which is used to realize the acquisition and response of tactile signals in multiple directions. The first mounting surface 31 is arranged along the longitudinal direction of the knuckle base 1 and mainly corresponds to the contact area of ​​the fingertip in the positive direction. The second mounting surface 32 and the third mounting surface 33 extend along the left and right arc sides of the knuckle base 1, respectively, which are more suitable for sensing touch or sliding signals from the side.

[0049] The electrode bonding unit includes a first electrode bonding unit 21 disposed on the first mounting surface 31, a second electrode bonding unit 22 disposed on the second mounting surface 32, and a third electrode bonding unit 23 disposed on the third mounting surface 33. The three electrode bonding units are distributed along different areas of the mounting surface 3. Each electrode bonding unit is attached to its corresponding mounting surface 3, and the bonding shape is matched and the spacing is arranged according to the local curvature, tilt angle and surface morphology of its respective mounting surface 3, so that the electrode sheet 211 can be stably bonded on the curved surface without lifting, thereby taking into account both bonding reliability and the complete covering effect of the flexible covering part 4, and realizing effective sensing of different touch directions.

[0050] This embodiment of the application provides multiple mounting surfaces 3 in the middle and left and right sides of the knuckle base 1, and distributes multiple electrode covering units on the mounting surfaces 3. This embodiment can simultaneously cover the tactile information collection areas in the forward, lateral and inclined directions, so that the tactile finger can more realistically simulate the tactile response of the human finger under different contact angles and different force directions, and improve the spatial coverage and directional discrimination ability of the overall tactile perception.

[0051] In some embodiments, the first mounting surface 31, the second mounting surface 32, and the third mounting surface 33 form an angle in the width direction, so that the three together constitute a continuous three-dimensional tactile surface extending from the fingertip to the side of the finger; wherein, the first mounting surface 31 is located at the main bending axis of the knuckle base 1, while the second mounting surface 32 and the third mounting surface 33 are biased towards the lateral bending region. Each mounting surface 3 may have a different curvature distribution, and the second mounting surface 32 and the third mounting surface 33 on the side may have a greater curvature relative to the first mounting surface 31 to accommodate a stronger lateral coverage angle.

[0052] In other embodiments, the second mounting surface 32 and the third mounting surface 33 are naturally connected to the first mounting surface 31 through a smooth transition surface; the transition surface can be a rounded surface, a zigzag surface, or an arc surface, which facilitates the fitting of the flexible covering.

[0053] In other embodiments, the first mounting surface 31 is relatively wide, while the second mounting surface 32 and the third mounting surface 33 are slightly narrower, in order to optimize the size ratio of the electrode attachment area.

[0054] In some embodiments, the number of electrode pieces 211 on the second mounting surface 32 and the third mounting surface 33 is relatively smaller than that on the first mounting surface 31, in order to conform to the natural difference in tactile sensitivity between the actual fingertip area and the lateral area.

[0055] Reference Figure 1 and Figure 3 In this embodiment, the first mounting surface 31 includes a plurality of first cut surfaces 311 arranged sequentially along the length direction of the knuckle base 1. A plurality of electrode pieces 211 of the first electrode attaching unit 21 are sequentially attached to the plurality of first cut surfaces 311. The plurality of electrode pieces 211 of the first electrode attaching unit 21 are sequentially attached to these first cut surfaces 311, so that the plurality of electrode pieces 211 can be arranged in a continuous manner in accordance with the curvature change of the middle part of the fingertip of the knuckle base 1.

[0056] The second mounting surface 32 includes a plurality of second cut surfaces 321 arranged sequentially along the length direction of the knuckle base 1, and a plurality of electrode sheets 211 of the second electrode bonding unit 22 are sequentially bonded to the plurality of second cut surfaces 321.

[0057] The third mounting surface 33 includes a plurality of third cut surfaces 331 arranged sequentially along the length of the knuckle base 1. The plurality of electrode sheets 211 of the third electrode bonding unit 23 are sequentially bonded to the plurality of third cut surfaces 331. Similarly, the second mounting surface 32 and the third mounting surface 33 are located on the left and right sides of the knuckle base 1, respectively. The corresponding second cut surfaces 321 and third cut surfaces 331 form a locally flat area on the basis of the lateral arc surface so that the electrode sheets 211 can be stably bonded.

[0058] The first cut surface 311, the second cut surface 321, and the third cut surface 331 are all locally smooth planes directly machined on the curved mounting surface 3, used as independent attachment base surfaces for multiple electrode pieces 211. Each cut surface corresponds to one electrode piece 211, and multiple electrode pieces 211 are sequentially attached to these cut surfaces along the length direction of their respective mounting surfaces 3, aligned with the bending axis of the mounting surface 3, thereby constructing a continuous sensing path. By constructing multiple cut surfaces distributed along the length direction on different mounting surfaces 3, a precise electrode attachment area can be provided without destroying the integrity of the curved surface, simplifying the installation process and improving the bonding effect.

[0059] In some embodiments, a single cut surface can be used to attach multiple electrode pieces 211. Specifically, adjacent electrode pieces 211 located on the same mounting surface 3 can be jointly attached to the same cut surface, so that a single cut surface can accommodate the arrangement requirements of multiple electrodes, thereby reducing the number of cut surfaces formed during processing, while maintaining the stability and continuity of electrode attachment.

[0060] In other embodiments, the shape of the cut surface can be adapted to the shape and application method of the electrode sheet 211. Specifically, the area of ​​the cut surface can be larger than the area of ​​the electrode sheet 211 to ensure that the electrode sheet 211 can be fully unfolded and flatly applied on the cut surface, avoiding warping, wrinkling or incomplete application caused by local curvature changes, and further improving the consistency of signal acquisition.

[0061] Reference Figure 1 and Figure 3 In this embodiment, the multiple electrode pieces 211 in the first electrode covering unit 21, the second electrode covering unit 22, and the third electrode covering unit 23 are connected in sequence to form an electrical signal transmission path. Specifically, adjacent electrode pieces 211 can be electrically connected through flexible conductors, conductive ink traces, or an integrated conductive structure, so that the first electrode covering unit 21, the second electrode covering unit 22, and the third electrode covering unit 23 all form a continuous tactile response link along their length. This sequential connection structure not only ensures the continuous transmission of pressure signals along the entire path, but also helps to simplify the wiring design inside the knuckle base 1 and improve the stability and consistency of the overall signal acquisition.

[0062] In some embodiments, the connecting wires between adjacent electrode sheets 211 may adopt a flexible wiring structure with a serpentine, arc, or other variable path; this wiring form can generate appropriate deformation when the knuckle is bent or subjected to external force, so as to absorb bending stress and avoid tensile breakage at the connection point, thereby ensuring the stable transmission of electrical signals in the entire electrode bonding unit.

[0063] In some embodiments, the conductive structure connecting each electrode sheet 211 can span between adjacent cut surfaces in a flexible bridging manner. By reserving a small transition area between two adjacent cut surfaces, the conductive structure can maintain continuity while conforming to the curvature, thereby avoiding excessive bending or poor fit of the wires due to changes in the curvature of the mounting surface 3.

[0064] In some embodiments, the first electrode covering unit 21, the second electrode covering unit 22, and the third electrode covering unit 23 may each adopt an independent connection structure, so that the three electrical signal paths do not interfere with each other during the acquisition and transmission process; the independently arranged path structure helps to avoid electromagnetic coupling between adjacent paths and improves the spatial distinguishability of tactile signals.

[0065] In other embodiments, the conduction paths of the first electrode bonding unit 21, the second electrode bonding unit 22, and the third electrode bonding unit 23 can converge into a common connection structure near the end of the knuckle substrate 1 for unified access to the signal acquisition chip or processing module. This common connection structure can reduce the number of internal wirings in the knuckle substrate 1, facilitate overall wiring management, and maintain the independence of each electrode bonding unit at the sensing end.

[0066] In another independent embodiment, the first electrode bonding unit 21, the second electrode bonding unit 22, and the third electrode bonding unit 23 are integrally formed; that is, the first electrode bonding unit 21, the second electrode bonding unit 22, and the third electrode bonding unit 23 can be integrally formed from the same flexible electrode substrate; the multiple electrode bonding units exist in a planar unfoldable structure in the initial state, and after the manufacturing is completed, they are unfolded from the plane and directly bonded to the mounting surface 3 of the knuckle substrate 1; this integrated structure is conducive to mass production and rapid positioning and assembly, while ensuring the precise consistency of electrode arrangement and improving the stability of the bonding process.

[0067] Specifically, multiple electrode bonding units are all processed from a single flexible electrode substrate through precision cutting or etching processes, forming multiple interconnected electrode sheets 211. (Refer to...) Figure 3 Multiple electrode pieces 211 are arranged in a circular pattern, and adjacent electrode pieces 211 are connected to each other by narrow strip-shaped connecting segments 212. The entire electrode assembly forms a network structure radiating outward from a common starting electrode piece 211 located at the top. Electrode paths in three directions extend to the first mounting surface 31, the second mounting surface 32, and the third mounting surface 33, respectively. Multiple electrode pieces 211 on each path are arranged sequentially along the length direction and connected in sequence by connecting segments 212 to form a continuous electrode sequence similar to a branch or chain.

[0068] Reference Figure 4 The common starting electrode 211 is located at the upper end of the electrode assembly, corresponding to the top region of the first mounting surface 31, and serves as the common starting point for the three electrode paths. From the starting electrode 211, three independent routes are formed by diverging outwards to the central region and the left and right side regions, namely the first electrode bonding unit 21, the second electrode bonding unit 22, and the third electrode bonding unit 23. Since the entire electrode network is formed by unfolding an integrated structure, the relative positional relationship between each path has been fixed during the processing stage. This not only facilitates a highly consistent bonding effect on the curved mounting surface 3, but also facilitates the flexible covering 4 to maintain structural integrity and bonding continuity during subsequent encapsulation. This divergent layout centered on a common starting electrode 211 can effectively match the tactile zoning characteristics of the fingertips, so that central pressure, lateral tactile sensation, and end tactile sensation can all be collected through their respective paths.

[0069] The integrated structure facilitates the overall unfolding of electrode patterns in a plane, improving manufacturing controllability and attachment accuracy, and reducing manual alignment errors. It is suitable for the deployment of large-area flexible electrodes on complex three-dimensional curved surfaces.

[0070] In some embodiments, the outer edge of the connecting segment 212 may be provided with a plurality of tiny notches or slots for assisting the unfolding, so that the flexible structure can produce local release deformation during the process of being applied to a complex three-dimensional curved surface, thereby better conforming to the curvature change of the mounting surface 3 of the finger base 1 and avoiding wrinkles, bulges or local lifting during application; the unfolding auxiliary structure improves the conformability and application quality of the electrode assembly on the three-dimensional curved surface without affecting the overall electrode arrangement.

[0071] In some embodiments, the connecting segments 212 in different regions can be designed with different lengths to accommodate the need to cross greater curvature or longer paths during application. By differentiating the lengths of the connecting segments 212, the mechanical bending performance, stress relief capability and signal delay of different signal transmission paths can be optimized, thereby improving the stability and consistency of the overall signal transmission.

[0072] In this embodiment, the flexible covering 4 is made of flexible adhesive and is cast onto the surface of the electrode sheet 211 using a mold. The flexible covering 4 has good deformation adaptability and tactile feedback characteristics. It can be directly constructed onto the outside of multiple electrode sheets 211 through a mold casting process, so that the electrode sheets 211 can be effectively encapsulated and protected while maintaining sensitive response capability, thereby improving the overall stability and durability of the structure.

[0073] In some embodiments, the flexible overlay 4 is formed by a single mold casting, using an elastic material to completely cover the entire knuckle substrate 1 and the tactile sensing component 2 with uniform thickness, which simplifies the process and improves surface consistency.

[0074] In other embodiments, the flexible covering 4 has different thicknesses in different areas, with localized thickening at the fingertips or sides to simulate the soft tissue feel of a real fingertip, while also increasing the cushioning and contact area to maintain gripping flexibility; in addition, the flexible covering 4 can also be made of materials of different hardness in sections to replace the effect of localized thickening.

[0075] In some embodiments, the outer surface of the flexible cover 4 may be provided with a micro-texture structure to enhance friction and tactile biomimetic effect. The micro-texture may mimic the natural skin texture of human fingertips to form circumferential or spiral-shaped fine protrusions, or may adopt regular anti-slip textures or fine stripes. This can improve grip stability while maintaining the overall elasticity of the flexible cover 4, and provide tactile feedback that is closer to that of real fingertips when in contact with external objects.

[0076] Reference Figure 5 In this embodiment, the finger base 1 is provided with a process hole 11 for mold casting on the side away from the mounting surface 3. In order to ensure the positioning accuracy and assembly stability during the overmolding process, the finger base 1 is provided with a process hole 11 for positioning with the mold on the side away from the mounting surface 3. The process hole 11 plays a role in stabilizing the position of the finger base 1 and preventing displacement or rotation during the casting process of the flexible overmolding part 4, thereby helping to achieve uniform coverage of the flexible overmolding layer and improve the subsequent assembly accuracy.

[0077] In some embodiments, the process holes 11 are circular in structure, and multiple process holes 11 are arranged sequentially along the length of the finger base 1. Multiple process holes 11 can play a role in positioning, venting or guiding during the casting process of the flexible covering part 4, so that the posture of the finger base 1 in the mold is kept stable, and defects are avoided in the casting material due to air retention or displacement, thereby improving the quality of covering molding and the overall assembly accuracy.

[0078] Reference Figure 1 and Figure 2 This embodiment also includes a knuckle connector 5. One end of the knuckle connector 5 is connected to the root of the knuckle base 1, and the other end of the knuckle connector 5 is provided with a connector seat 51 for connecting the distal joint. With this structure, the tactile finger can be reliably embedded into the end of the mechanical finger joint, realizing efficient docking between the tactile finger and the mechanical actuator.

[0079] In some embodiments, the knuckle connector 5 can be provided with a variety of different docking interface forms according to installation requirements, such as round hole interface, fork interface, ball socket rotary interface, pin hole interface or dovetail groove snap-fit ​​interface, to adapt to different types of mechanical hand or joint structures; by providing diverse interface forms between the connector 5 and the connector 51, the adaptability of the tactile finger on different platforms and devices can be improved.

[0080] In other embodiments, the knuckle connector 5 may also have a limiting structure and a positioning structure for controlling the assembly direction or range of motion; for example, a positioning boss, a positioning groove or a limiting step may be formed on its surface to ensure that the installation angle of the knuckle base 1 is accurate when it is assembled to the mechanical hand structure, and to limit excessive rotation or excessive bending during use, thereby improving the reliability of the overall structure.

[0081] The tactile finger proposed in this application combines high integration, flexible fit, and realistic biomimetic sensing capabilities. By strategically spacing multiple electrode bonding units on the mounting surface 3 of the biomimetic finger joint substrate 1 and encapsulating them with an integrated flexible covering 4, it not only achieves multi-dimensional external contact and pressure data acquisition in the fingertip area but also ensures the stability and durability of the sensing unit. Furthermore, the planar deployable structure design of the tactile sensing component 2 possesses excellent mass production feasibility and assembly precision, making it suitable for constructing multi-finger tactile sensing systems in various scenarios such as intelligent manufacturing, service robots, and medical rehabilitation.

[0082] In some embodiments, a robotic hand is also proposed, including a robotic hand body and tactile fingers disposed on the robotic hand body, wherein the tactile fingers are the tactile fingers in any of the above embodiments. This robotic hand can perform flexible movements according to different control logics and task requirements, possesses highly human-like tactile perception and feedback capabilities, and is particularly suitable for multi-degree-of-freedom collaborative operation scenarios.

[0083] In other embodiments, a robot is also proposed, including a robot body and a mechanical hand disposed on the robot body, the mechanical hand being the aforementioned mechanical hand. By integrating the tactile finger structure proposed in this application, the robot can simulate the sensory distribution and response logic of a real human hand in performing tasks such as manipulation, grasping, and perception, significantly improving its environmental adaptability and operational accuracy, and meeting the complex application requirements of both high dexterity and high feedback accuracy.

[0084] The above description is only a part or preferred embodiment of the present invention. Neither the text nor the drawings should limit the scope of protection of the present invention. All equivalent structural transformations made using the content of the present invention specification and drawings under the overall concept of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.

Claims

1. A tactile finger, characterized in that, include: A knuckle base, wherein the knuckle base has a curved mounting surface; The tactile sensing component includes multiple electrode bonding units for sensing external contact states and collecting pressure data. The multiple electrode bonding units are spaced apart on the mounting surface, and each electrode bonding unit includes multiple electrode sheets that are interconnected. A flexible covering, wherein the flexible covering covers a plurality of the electrode bonding units; The mounting surface includes a first mounting surface located in the middle of the knuckle base, and a second and a third mounting surface located on the side of the knuckle base and arranged symmetrically. The electrode bonding unit includes a first electrode bonding unit disposed on the first mounting surface, a second electrode bonding unit disposed on the second mounting surface, and a third electrode bonding unit disposed on the third mounting surface; The first mounting surface includes a plurality of first cut surfaces arranged sequentially along the length direction of the knuckle base, and a plurality of electrode sheets of the first electrode bonding unit are sequentially bonded to the plurality of first cut surfaces; The second mounting surface includes a plurality of second cut surfaces arranged sequentially along the length direction of the knuckle base, and a plurality of electrode sheets of the second electrode bonding unit are sequentially bonded to the plurality of second cut surfaces; The third mounting surface includes a plurality of third cut surfaces arranged sequentially along the length direction of the knuckle base, and a plurality of electrode sheets of the third electrode bonding unit are sequentially bonded to the plurality of third cut surfaces; The entire electrode assembly is a network structure radiating outward from a common starting electrode plate located at the top; the electrode paths in three directions extend to the first mounting surface, the second mounting surface, and the third mounting surface, respectively, and multiple electrode plates on each path are arranged sequentially along the length direction; the common starting electrode plate is located at the upper end of the electrode assembly and is correspondingly set in the top region of the first mounting surface, serving as the common starting point of the three electrode paths; from this starting electrode plate, three independent routes are formed by radiating outward from the central region and the left and right side regions, namely the first electrode bonding unit, the second electrode bonding unit, and the third electrode bonding unit; The multiple electrode bonding units exist in a planar unfoldable structure in the initial state. After the fabrication is completed, they are unfolded from the plane and directly bonded to the mounting surface of the knuckle substrate. The flexible covering is made of flexible adhesive and is cast onto the surface of the electrode sheet by a mold. The finger joint base has a process hole for mold casting on the side opposite to the mounting surface.

2. The tactile finger according to claim 1, characterized in that, The plurality of electrode sheets in the first electrode bonding unit, the second electrode bonding unit and the third electrode bonding unit are connected in sequence.

3. The tactile finger according to claim 1, characterized in that, It also includes a knuckle connector, one end of which is connected to the root of the knuckle base, and the other end of which is provided with a connector for connecting to the distal joint.

4. A robotic hand, comprising a robotic hand body and tactile fingers disposed on the robotic hand body, characterized in that, The tactile finger is the tactile finger according to any one of claims 1 to 3.

5. A robot, comprising a robot body and a mechanical hand disposed on the robot body, characterized in that, The robotic hand is the robotic hand described in claim 4.

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