Electronic skin force calibration method, device and calibration system thereof

Abstract

The invention provides a force calibration method, device and system for electronic skin. The method comprises the steps that external force is applied to the electronic skin; acquiring a first pressure detected by the electronic skin and a second pressure detected by an external force sensor bearing the electronic skin; the first pressure and the second pressure are compared and analyzed, whether the electronic skin meets the testing condition or not is judged, and if the electronic skin does not meet the testing condition, force calibration processing is conducted on the electronic skin. On the basis of the method, the electronic skin is measured and calibrated through the force sensor, the force precision of the electronic skin is improved, for the mechanical dexterous hand provided with the electronic skin, when the mechanical dexterous hand grabs different objects, the magnitude of the force needed for grabbing the objects can be accurately judged through recognition of the electronic skin in the mechanical dexterous hand, and therefore the mechanical dexterous hand is convenient to use. And the gripping power operation performance of the mechanical dexterous hand is improved.

Description

Technical Field

[0001] This application relates to the field of electronic skin technology, and more particularly to a force calibration method, apparatus and calibration system for electronic skin, as well as an electronic device and storage medium for performing the force calibration method of the electronic skin. Background Technology

[0002] Electronic skin is a core sensor component for human-computer interaction, and its performance is crucial for achieving effective human-computer interaction. Currently, there are several dexterous mechanical hands on the market. Some lack electronic skin, resulting in limited gripping methods and mostly position, time, and speed commands when grasping different objects. Different position commands need to be rewritten for different object diameters, requiring a change of commands every time an object is changed. This is inconvenient and can easily lead to problems such as failure to grasp or damage to objects. Some dexterous mechanical hands incorporate electronic skin designed and installed at the fingertips and palm. However, obtaining ideal electronic skin data during actual testing is difficult, limiting its functionality and resulting in poor gripping performance. Summary of the Invention

[0003] In view of this, embodiments of this application provide a force calibration method, apparatus and calibration system for electronic skin, as well as an electronic device and storage medium for performing the force calibration method for electronic skin, which can improve the force accuracy of electronic skin.

[0004] A first aspect of this application provides a force calibration method for electronic skin, comprising: applying an external force to the electronic skin; acquiring a first pressure detected by the electronic skin and a second pressure detected by an external force sensor carrying the electronic skin; comparing and analyzing the first pressure and the second pressure to determine whether the electronic skin meets the test conditions; if the electronic skin does not meet the test conditions, then performing force calibration processing on the electronic skin.

[0005] In one possible implementation, the step of comparing and analyzing the first pressure and the second pressure to determine whether the electronic skin meets the test conditions, and performing force calibration on the electronic skin if the electronic skin does not meet the test conditions, includes: calculating the numerical difference between the first pressure and the second pressure to obtain a first pressure difference; comparing the absolute value of the first pressure difference with a preset test condition threshold to determine whether the absolute value of the first pressure difference is less than the test condition threshold; if the absolute value of the first pressure difference is less than the test condition threshold, the electronic skin is determined to meet the test conditions; otherwise, the electronic skin is determined to not meet the test conditions; and performing force calibration on the electronic skin if the electronic skin does not meet the test conditions.

[0006] In one possible implementation, the step of performing force calibration on the electronic skin when the electronic skin does not meet the test conditions includes: performing magnitude calibration on the first pressure detected by the electronic skin based on the magnitude relationship between the first pressure and the second pressure.

[0007] In one possible implementation, the first pressure and the second pressure are compared and analyzed to determine whether the electronic skin meets the test conditions. If the electronic skin does not meet the test conditions, before the step of force calibration processing of the electronic skin, the method further includes: obtaining a fourth pressure generated by the weight of the electronic skin fixing module that fixes the electronic skin; and correcting the second pressure according to the fourth pressure.

[0008] In one possible implementation, the step of comparing and analyzing the first pressure and the second pressure to determine whether the electronic skin meets the test conditions, and performing force calibration on the electronic skin if the electronic skin does not meet the test conditions, includes: decomposing the first pressure and the second pressure to obtain a first normal force and a first tangential force corresponding to the first pressure, and a second normal force and a second tangential force corresponding to the second pressure; calculating the numerical difference between the first normal force and the second normal force to obtain a second pressure difference, and calculating the numerical difference between the first tangential force and the second tangential force to obtain a third pressure difference; comparing the absolute values ​​of the second pressure difference and the third pressure difference with preset test condition thresholds to determine whether the absolute values ​​of the second pressure difference and the third pressure difference are both less than the test condition thresholds; if the absolute values ​​of the second pressure difference and the third pressure difference are both less than the test condition thresholds, the electronic skin is determined to meet the test conditions; otherwise, the electronic skin is determined to not meet the test conditions; and performing force calibration on the electronic skin if the electronic skin does not meet the test conditions.

[0009] In one possible implementation, when the electronic skin does not meet the test conditions, the step of performing force calibration on the electronic skin includes: performing magnitude calibration and orientation calibration on the first pressure detected by the electronic skin based on the magnitude relationship between the first normal force and the second normal force and the magnitude relationship between the first tangential force and the second tangential force.

[0010] A second aspect of this application provides a force calibration device for electronic skin. The device includes: a pressure application module for applying an external force to the electronic skin; an acquisition module for acquiring a first pressure detected by the electronic skin and a second pressure detected by an external force sensor carrying the electronic skin; and a calibration module for comparing and analyzing the first pressure and the second pressure to determine whether the electronic skin meets the test conditions. If the electronic skin does not meet the test conditions, force calibration processing is performed on the electronic skin.

[0011] A third aspect of this application provides a calibration system for implementing the force calibration method for electronic skin provided in the first aspect. The calibration system includes a pressure device, an electronic skin fixing module, an electronic skin data processor, an external force sensor module, an external data processor, and a server. The pressure device applies an external force to the electronic skin placed on the electronic skin fixing module. The electronic skin fixing module is fixed to the external force sensor module and communicatively connected to the electronic skin data processor, used to place the electronic skin and transmit pressure data generated by the electronic skin to the electronic skin data processor. The external force sensor module is communicatively connected to the external data processor, used to acquire pressure data generated when the pressure device applies an external force to the electronic skin placed on the electronic skin fixing module and transmit the pressure data to the external data processor. The electronic skin data processor is communicatively connected to the server, used to upload the received pressure data to the server. The external data processor is communicatively connected to the server, used to upload the received pressure data to the server. The server performs force calibration processing on the electronic skin based on the pressure data uploaded by the electronic skin data processor and the external data processor.

[0012] A fourth aspect of this application provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the electronic device, wherein the processor executes the computer program to implement the steps of the force calibration method for electronic skin provided in the first aspect.

[0013] A fifth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the force calibration method for electronic skin provided in the first aspect.

[0014] A sixth aspect of this application provides a computer program product that, when run on an electronic device, causes the electronic device to execute the steps of the force calibration method for electronic skin provided in the first aspect.

[0015] The force calibration method, apparatus, and calibration system for electronic skin provided in this application have the following beneficial effects: By simultaneously acquiring the first pressure detected by the electronic skin and the second pressure detected by the external force sensor carrying the electronic skin, the first pressure and the second pressure are compared and analyzed to determine whether the electronic skin meets the test conditions. Furthermore, by performing force calibration on the electronic skin when it does not meet the test conditions, the force accuracy of the electronic skin is improved by measuring and calibrating it using a force sensor. For a mechanical dexterous hand equipped with electronic skin, when the mechanical dexterous hand grasps different objects, the magnitude of the force required to grasp the object can be accurately determined by recognizing the electronic skin in the mechanical dexterous hand, thereby improving the grasping force operation performance of the mechanical dexterous hand. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the 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.

[0017] Figure 1 This is a flowchart illustrating the implementation of a force calibration method for electronic skin, as provided in an embodiment of this application.

[0018] Figure 2 This is a flowchart illustrating one implementation of the force calibration method for electronic skin provided in this application embodiment.

[0019] Figure 3 This is a flowchart illustrating one implementation of the force calibration method for electronic skin provided in this application, which involves correcting the second pressure measured by a force sensor.

[0020] Figure 4 This is a flowchart illustrating another implementation of the force calibration method for electronic skin provided in this application embodiment.

[0021] Figure 5 This is a schematic diagram of the structure of a calibration system provided in an embodiment of this application.

[0022] Figure 6 This is a schematic diagram of the structure of an electronic skin fixation module in the calibration system provided in this application embodiment.

[0023] Figure 7 This is a basic structural block diagram of a force calibration device for electronic skin provided in an embodiment of this application.

[0024] Figure 8This is a basic structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0025] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of this application with unnecessary detail.

[0026] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0027] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0028] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0029] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0030] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized. "A plurality" means "two or more."

[0031] 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.

[0032] In some embodiments of this application, please refer to Figure 1 , Figure 1 This is a flowchart illustrating the implementation of a force calibration method for electronic skin provided in an embodiment of this application. Figure 1 As shown, it may specifically include steps S11 to S13.

[0033] S11: Apply external force to the electronic skin.

[0034] In this embodiment, electronic skin is a novel smart material combining flexible electronics and bionics. It can simulate the sensory functions of human skin, such as touch, temperature, and pressure, and can be applied to robotics, such as dexterous mechanical hands. By designing and installing electronic skin on the fingertips and palm of the dexterous mechanical hand, the hand can accurately determine the required force to grasp different objects. This allows for control of object grasping through force mode, current mode, and PVT (Position-Velocity-Time) mode, improving the hand's gripping performance. PVT is a comprehensive control method that achieves precise motion control by coordinating position, velocity, and time parameters. In this embodiment, when calibrating the electronic skin, it can be placed under a pressure device. Applying external force to the electronic skin by controlling the downward movement of the pressure device can be done manually or by controlling the pressure device via commands.

[0035] S12: Obtain the first pressure detected by the electronic skin and the second pressure detected by the external force sensor carrying the electronic skin.

[0036] In this embodiment, the electronic skin achieves multimodal sensing and interaction functions by integrating sensors, circuits, and a flexible substrate. Specifically, the electronic skin uses the piezoresistive effect of materials such as carbon nanotubes / graphene composites or the capacitance changes of microstructured electrodes for mechanical sensing to achieve pressure detection. In this embodiment, the electronic skin can obtain the pressure generated by the pressure device pressing down through contact detection, i.e., the first pressure. For example, a data processor can be connected to the electronic skin, allowing the electronic skin to convert the detected pressure generated by the pressure device into data and transmit it to the data processor, thus obtaining the first pressure. In this embodiment, the external force sensor is a high-precision force sensor added externally to the electronic skin to support it. For example, a data processor can be connected to the external force sensor, which detects pressure when the electronic skin is subjected to pressure and converts the detected pressure into data and transmits it to the data processor, thus obtaining the second pressure.

[0037] S13: Compare and analyze the first pressure and the second pressure to determine whether the electronic skin meets the test conditions. If the electronic skin does not meet the test conditions, perform force calibration on the electronic skin.

[0038] In this embodiment, the force calibration of the electronic skin is mainly achieved by using an external high-precision force sensor to detect whether the force accuracy of the electronic skin meets the standard, thus testing the mechanical sensing performance of the electronic skin. If the test results do not meet the standard, the electronic skin is calibrated, thereby achieving the standardization of the electronic skin. In this embodiment, during force calibration, pressure data is obtained from the electronic skin or the external force sensor supporting the electronic skin through a data processor, and then uploaded to the server. The server then obtains the first pressure detected by the electronic skin and the second pressure detected by the external force sensor supporting the electronic skin. Before force calibration, the server compares the first and second pressures, analyzes the difference between them, and determines whether the electronic skin meets the test conditions based on the difference. If the difference meets the standard, the electronic skin is deemed to meet the test conditions; otherwise, it is deemed not to. Specifically, a standard threshold can be set to measure the difference. After testing, if it is determined that the electronic skin does not meet the test conditions, it indicates that the mechanical sensing performance of the electronic skin is poor. At this time, the server can issue control commands to perform force calibration on the electronic skin. Understandably, the purpose of force calibration is to control the difference between the first pressure sensed by the electronic skin and the second pressure detected by the external sensor within a certain range.

[0039] As can be seen from the above, the force calibration method for electronic skin provided in this application applies an external force to the electronic skin; obtains the first pressure detected by the electronic skin and the second pressure detected by the external force sensor carrying the electronic skin; compares and analyzes the first pressure and the second pressure to determine whether the electronic skin meets the test conditions; if the electronic skin does not meet the test conditions, force calibration is performed on the electronic skin. Based on this method, the electronic skin can be measured and calibrated using a force sensor, improving the force accuracy of the electronic skin. For a mechanical dexterous hand equipped with electronic skin, when the mechanical dexterous hand grasps different objects, the magnitude of the force required to grasp the object can be accurately determined by recognizing the electronic skin in the mechanical dexterous hand, thereby improving the grasping force operation performance of the mechanical dexterous hand.

[0040] In some embodiments of this application, please refer to Figure 2 , Figure 2 This is a flowchart illustrating one implementation of the force calibration method for electronic skin provided in this application embodiment. For example... Figure 2 As shown, it may specifically include steps S21 to S23.

[0041] S21: Calculate the numerical difference between the first pressure and the second pressure to obtain the first pressure difference;

[0042] S22: Compare the absolute value of the first pressure difference with a preset test condition threshold, and determine whether the absolute value of the first pressure difference is less than the test condition threshold. If the absolute value of the first pressure difference is less than the test condition threshold, it is determined that the electronic skin meets the test conditions; otherwise, it is determined that the electronic skin does not meet the test conditions.

[0043] S23: If the electronic skin does not meet the test conditions, perform force calibration on the electronic skin.

[0044] In this embodiment, the difference in force can be used to measure whether the electronic skin meets the test conditions. Specifically, a test condition threshold can be preset to measure the difference; this threshold is a numerical value representing the pressure magnitude. In this embodiment, the values ​​of the first pressure and the second pressure can be subtracted to obtain a first pressure difference value characterizing the difference between the first and second pressures. When the first pressure is greater than the second pressure, the first pressure difference value is positive; when the first pressure is less than the second pressure, the first pressure difference value is negative. The absolute value of this first pressure difference value can be compared with the preset test condition threshold to determine whether the absolute value of the first pressure difference value is less than the threshold. If the absolute value of the first pressure difference value is less than the threshold, the electronic skin is determined to meet the test conditions; otherwise, it is determined that the electronic skin does not meet the test conditions. In this embodiment, if the electronic skin is determined not to meet the test conditions after comparison, corresponding control commands can be generated based on the first and second pressures, and force calibration processing of the electronic skin can be achieved by issuing control commands. For example, the test conditions can be set as follows: |YX|>M, where Y represents the pressure value collected by the force sensor, X represents the pressure value collected by the electronic skin, and M is a preset test condition threshold. The value of M is related to the required accuracy of the electronic skin; the higher the accuracy requirement, the smaller the value of M; conversely, the larger the value of M. Values ​​of M include, but are not limited to, 0, 0.05, 0.1, 0.15, and 0.2. This relationship is used to determine whether a corresponding calibration command needs to be generated to perform force calibration on the electronic skin. If the relationship is true, a corresponding calibration command is generated to perform force calibration on the electronic skin; otherwise, no corresponding calibration command needs to be generated to perform force calibration on the electronic skin.

[0045] In some embodiments of this application, if data comparison determines that the electronic skin does not meet the test conditions, the magnitude of the first pressure detected by the electronic skin can be calibrated based on the relationship between the first pressure and the second pressure. Specifically, if the difference between the first and second pressures is positive (i.e., the first pressure is greater than the second pressure), a control command is generated based on the first and second pressures to "reduce the pressure detected by the electronic skin by the absolute value of the first pressure difference," and this control command is sent to the electronic skin to achieve force calibration. If the difference between the first and second pressures is negative (i.e., the first pressure is less than the second pressure), a control command is generated based on the first and second pressures to "increase the pressure detected by the electronic skin by the absolute value of the first pressure difference," and this control command is sent to the electronic skin to achieve force calibration.

[0046] In some embodiments of this application, please refer to Figure 3 , Figure 3 This is a flowchart illustrating one implementation of the force calibration method for electronic skin provided in this application, which involves correcting the second pressure measured by a force sensor. Figure 3 As shown, it may specifically include steps S31 to S32.

[0047] S31: Obtain the fourth pressure generated by the weight of the electronic skin fixing module that fixes the electronic skin;

[0048] S32: Correct the second pressure according to the fourth pressure.

[0049] In this embodiment, when calibrating the electronic skin using force, the external force sensor is typically located below the electronic skin during pressure detection. Therefore, the second pressure collected by the external force sensor includes the pressure generated by the weight of the electronic skin. Specifically, an electronic skin fixing module can be used to fix the electronic skin, which is indirectly supported by the external force sensor. Thus, the second pressure includes a fourth pressure generated by the weight of the electronic skin fixing module. In this embodiment, the weight of the electronic skin fixing module can be detected first to obtain the fourth pressure generated by its weight. After the external force sensor detects the second pressure, the fourth pressure generated by the weight of the electronic skin fixing module is subtracted from the detected second pressure to correct it. Then, the corrected second pressure is compared with the first pressure detected by the electronic skin, which avoids the influence of the weight of the electronic skin fixing module on the calibration and improves the accuracy of the calibration. In other embodiments, when correcting the second pressure, the second pressure can also be reduced by the fourth pressure generated by the weight of the electronic skin fixing module and the third pressure generated by the weight of the electronic skin itself.

[0050] In this embodiment, when determining whether the electronic skin meets the test conditions, the test conditions can be set as follows: |YaX|>M, where Y represents the pressure value collected by the force sensor, a represents the fourth pressure generated by the weight of the electronic skin fixing module, and X represents the pressure value collected by the electronic skin. This relationship is used to determine whether a corresponding calibration command needs to be generated to perform force calibration on the electronic skin. If the relationship is true, a corresponding calibration command is generated to perform force calibration on the electronic skin; otherwise, no corresponding calibration command needs to be generated to perform force calibration on the electronic skin.

[0051] In some embodiments of this application, please refer to Figure 4 , Figure 4This is another implementation flowchart of the force calibration method for electronic skin provided in the embodiments of this application, which performs force calibration on the electronic skin. For example... Figure 4 As shown, it may specifically include steps S41 to S44.

[0052] S41: Decompose the first pressure and the second pressure respectively to obtain the first normal force and the first tangential force corresponding to the first pressure, and the second normal force and the second tangential force corresponding to the second pressure;

[0053] S42: Calculate the numerical difference between the first normal force and the second normal force to obtain the second pressure difference value, and calculate the numerical difference between the first tangential force and the second tangential force to obtain the third pressure difference value;

[0054] S43: Compare the absolute values ​​of the second pressure difference and the third pressure difference with the preset test condition threshold respectively, and determine whether the absolute values ​​of the second pressure difference and the third pressure difference are both less than the test condition threshold. If the absolute values ​​of the second pressure difference and the third pressure difference are both less than the test condition threshold, it is determined that the electronic skin meets the test conditions; otherwise, it is determined that the electronic skin does not meet the test conditions.

[0055] S44: If the electronic skin does not meet the test conditions, perform force calibration on the electronic skin.

[0056] In this embodiment, force has vector properties. When calibrating the electronic skin by force, the differences in magnitude and direction of force can be used to measure whether the electronic skin meets the test conditions. In this embodiment, after obtaining the pressure data, the first pressure detected by the electronic skin and the second pressure detected by the external force sensor carrying the electronic skin can be decomposed to obtain the first normal force and the first tangential force corresponding to the first pressure, and the second normal force and the second tangential force corresponding to the second pressure. Through force decomposition, the directions of the first pressure and the second pressure can be unified. After force decomposition, the values ​​of the first normal force and the second normal force are subtracted to obtain a second pressure difference value representing the difference between the first normal force and the second normal force. The values ​​of the first tangential force and the second tangential force are subtracted to obtain a third pressure difference value representing the difference between the first tangential force and the second tangential force. Then, by comparing the absolute values ​​of the second pressure difference value and the third pressure difference value with preset test condition thresholds, it is determined whether the absolute values ​​of the second pressure difference value and the third pressure difference value are both less than the test condition thresholds. If the absolute values ​​of both the second and third pressure differences are less than the test condition threshold, the electronic skin is deemed to meet the test conditions; otherwise, it is deemed not to meet the test conditions. In this embodiment, if the electronic skin is determined not to meet the test conditions after comparison, corresponding control commands can be generated based on the first normal force, the first tangential force, the second normal force, and the second tangential force. Force calibration of the electronic skin can then be performed by issuing these control commands.

[0057] In some embodiments of this application, if data comparison determines that the electronic skin does not meet the test conditions, the magnitude of the first pressure detected by the electronic skin can be calibrated based on the relationship between the magnitude of the first normal force obtained from the first pressure decomposition and the second normal force obtained from the second pressure decomposition. Specifically, if the difference between the first and second normal forces results in a positive second pressure difference (i.e., the first normal force is greater than the second normal force), a control command can be generated based on the first and second normal forces to "reduce the pressure value detected by the electronic skin according to the absolute value of the second pressure difference," and this control command is sent to the electronic skin to calibrate the force magnitude of the electronic skin. If the difference between the first and second normal forces results in a negative second pressure difference (i.e., the first normal force is less than the second normal force), a control command can be generated based on the first and second normal forces to "increase the value of the first pressure detected by the electronic skin according to the absolute value of the second pressure difference," and this control command is sent to the electronic skin to calibrate the force magnitude of the electronic skin. Furthermore, the force direction calibration of the first pressure detected by the electronic skin can be performed based on the magnitude relationship between the first tangential force obtained from the first pressure decomposition and the second tangential force obtained from the second pressure decomposition. Specifically, a spatial coordinate system can be established first, and then the deviation direction of the first pressure relative to the second pressure in the spatial coordinate system can be determined based on the magnitude relationship between the first and second tangential forces. The server also pre-stores a mapping table between pressure difference values ​​and adjustment distance values, and the corresponding adjustment distance value can be obtained by querying the mapping table based on the third pressure difference. Based on the first and second tangential forces and the mapping table, the server can generate a control command to "adjust the direction of the first pressure sensed by the electronic skin according to the determined deviation direction of the first pressure relative to the second pressure and the adjustment distance value obtained by querying the third pressure difference," and send this control command to the electronic skin to achieve force direction calibration of the electronic skin.

[0058] In some embodiments of this application, please refer to Figure 5 , Figure 5 This is a schematic diagram of a calibration system provided in an embodiment of this application. Figure 5As shown, the calibration system includes a pressure device 51, an electronic skin fixation module 52, an electronic skin data processor 53, an external force sensor module 54, an external data processor 55, and a server 56. Specifically: the pressure device 51 applies external force to the electronic skin placed on the electronic skin fixation module 52; the electronic skin fixation module 52 is fixed to the external force sensor module 54 and communicatively connected to the electronic skin data processor 53, used to place the electronic skin and transmit the pressure data generated by the electronic skin to the electronic skin data processor 53; the external force sensor module 54 is communicatively connected to the external data processor 55, used to acquire the pressure data generated when the pressure device applies external force to the electronic skin placed on the electronic skin fixation module and transmit the pressure data to the external data processor 55; the electronic skin data processor 53 is communicatively connected to the server 56, used to upload the received pressure data to the server 56; the external data processor 55 is communicatively connected to the server 56, used to upload the received pressure data to the server 56; and the server 56 performs force calibration processing on the electronic skin based on the pressure data uploaded by the electronic skin data processor 53 and the external data processor 55.

[0059] In other specific embodiments, the calibration system may omit the electronic skin fixing module 52, placing the electronic skin directly on the external force sensor module 54 and connecting it directly to the electronic skin data processor 53 via a communication line, thereby transmitting the pressure data generated by the electronic skin to the electronic skin data processor 53. In this embodiment, as... Figure 5 As shown, the pressure device 51 can be fixed above the external force sensor module 54 by a fixing post 57, and the pressure device 51 can be pressed up and down. Specifically, the pressure device 51 can be a pressure gauge, and the force on the display dial of the pressure device 51 does not exceed the measurement range of the electronic skin and the external force sensor supporting the electronic skin. Furthermore, a small metal part 511 can also be installed at the bottom of the pressure device 51. When the pressure device 51 is pressed down, the metal part 511 at the bottom contacts the electronic skin (not shown) on the electronic skin fixing module 52, which can apply external force to the electronic skin placed on the electronic skin fixing module. Please refer to the following: Figure 6 , Figure 6 This is a schematic diagram of the electronic skin fixation module in the calibration system provided in this application embodiment. Figure 6As shown, the electronic skin fixation module 52 is a customized device designed for electronic skin testing. It primarily provides physical support and enables data transmission via electrical connections or signal interfaces, ensuring the stability and accuracy of the test. Specifically, the electronic skin fixation module 52 may include a fixture 521 and a finger 522. The fixture 521 is used to fix the finger 522, and the electronic skin can be placed on the surface of the finger 522. After an external force is applied to the electronic skin by the pressure device 51, the electronic skin converts the pressure into a digital signal, which is transmitted to the electronic skin data processor 53 via a communication line in the electronic skin fixation module 52. In some other embodiments, the electronic skin fixation module 52 may only include the fixture 521, with the electronic skin placed directly on it. To simplify the force calibration process of the electronic skin and omit the step of correcting the second pressure detected by the external force sensor carrying the electronic skin, the electronic skin fixation module 52 can be made of lightweight materials. The electronic skin data processor 53 is electrically or via a signal interface connected to the electronic skin fixation module 52. It can receive pressure data generated when the electronic skin is subjected to external force from the electronic skin fixation module 52 and upload this pressure data to the server 56. It can also send force calibration commands from the server 56 back to the electronic skin to perform force calibration. The external force sensor module 54 has a base 541 for placing the electronic skin fixation module 52. Placing the electronic skin fixation module 52 on the base 541 makes the external force sensor module 54 a pressure data acquisition device when the electronic skin fixation module 52 is subjected to external force. The external data processor 55 is electrically or via a signal interface connected to the external force sensor module 54. It can receive pressure data generated when the electronic skin is subjected to external force from the external force sensor module 54 and upload this pressure data to the server 56. It can also send force calibration commands from the server 56 back to the external force sensor module 54 to perform force calibration. The server 56 can be a host computer with functions such as data analysis, calculation, and command control. After receiving pressure data from the electronic skin data processor 53 and the external data processor 55, the server 56 can compare and analyze the pressure data from the two data processors. If the force collected by the electronic skin and the force sensor is very small, it indicates that the force collected by the electronic skin itself has a small deviation and is correct. If the force collected by the electronic skin and the force sensor is very large, it indicates that the force accuracy of the electronic skin is poor. In this case, the server needs to issue a calibration command and perform relevant calibration operations according to the calibration command to adjust the force accuracy of the electronic skin.The calibration system allows for the measurement and calibration of the electronic skin using external force sensors, improving the force accuracy of the electronic skin. For mechanical dexterous hands equipped with electronic skin, the electronic skin can be used to accurately determine the force required to grasp different objects, thus improving the gripping performance of the mechanical dexterous hand.

[0060] It is understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0061] In some embodiments of this application, please refer to Figure 7 , Figure 7 This is a basic structural block diagram of a force calibration device for electronic skin provided in an embodiment of this application. In this embodiment, the device is deployed in a calibration system, and the various units included in the device can be used to perform the steps in the above-described method embodiments. Please refer to the relevant descriptions in the above-described method embodiments for details. For ease of explanation, only the parts relevant to this embodiment are shown. Figure 7 As shown, the force calibration device for electronic skin includes a pressure application module 71, an acquisition module 72, and a calibration module 73. The pressure application module 71 applies external force to the electronic skin. The acquisition module 72 acquires a first pressure detected by the electronic skin and a second pressure detected by an external force sensor supporting the electronic skin. The calibration module 73 compares and analyzes the first pressure and the second pressure to determine whether the electronic skin meets the test conditions. If the electronic skin does not meet the test conditions, force calibration is performed on the electronic skin.

[0062] It should be understood that the force calibration device of the above-mentioned electronic skin corresponds one-to-one with the force calibration method of the above-mentioned electronic skin, and will not be described again here.

[0063] In some embodiments of this application, please refer to Figure 8 , Figure 8 This is a basic structural block diagram of an electronic device provided in an embodiment of this application. Figure 8 As shown, the electronic device 8 of this embodiment includes a processor 81, a memory 82, and a computer program 83 stored in the memory 82 and executable on the processor 81, such as a program for a force calibration method for electronic skin. When the processor 81 executes the computer program 83, it implements the steps in each embodiment of the force calibration method for electronic skin described above. Alternatively, when the processor 81 executes the computer program 83, it implements the functions of each module in the embodiment corresponding to the force calibration device for electronic skin described above. Please refer to the relevant descriptions in the embodiments for details, which will not be repeated here.

[0064] For example, the computer program 83 can be divided into one or more modules (units) for performing the various steps in the above method embodiments. The one or more modules are stored in the memory 82 and executed by the processor 81 to complete this application. The one or more modules can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program 83 in the electronic device 8.

[0065] The electronic device may include, but is not limited to, a processor 81 and a memory 82. Those skilled in the art will understand that... Figure 8 This is merely an example of electronic device 8 and does not constitute a limitation on electronic device 8. It may include more or fewer components than shown, or combine certain components, or different components. For example, the electronic device may also include input / output devices, network access devices, buses, etc.

[0066] The processor 81 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0067] The memory 82 can be an internal storage unit of the electronic device 8, such as a hard disk or memory. The memory 82 can also be an external storage device of the electronic device 8, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, the memory 82 can include both internal and external storage units of the electronic device 8. The memory 82 is used to store the computer program and other programs and data required by the electronic device. The memory 82 can also be used to temporarily store data that has been output or will be output.

[0068] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0069] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the steps in the various method embodiments described above. In this embodiment, the computer-readable storage medium can be either non-volatile or volatile.

[0070] This application provides a computer program product that, when run on a mobile terminal, enables the mobile terminal to implement the steps described in the various method embodiments.

[0071] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above device can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0072] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0073] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0074] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A force calibration method for electronic skin, characterized in that, include: Applying external force to the electronic skin; The first pressure detected by the electronic skin and the second pressure detected by the external force sensor supporting the electronic skin are obtained; The first pressure and the second pressure are compared and analyzed to determine whether the electronic skin meets the test conditions. If the electronic skin does not meet the test conditions, the electronic skin is subjected to force calibration.

2. The force calibration method for electronic skin according to claim 1, characterized in that, The step of comparing and analyzing the first pressure and the second pressure to determine whether the electronic skin meets the test conditions, and if the electronic skin does not meet the test conditions, then performing force calibration on the electronic skin, includes: Calculate the numerical difference between the first pressure and the second pressure to obtain the first pressure difference; The absolute value of the first pressure difference is compared with a preset test condition threshold. It is determined whether the absolute value of the first pressure difference is less than the test condition threshold. If the absolute value of the first pressure difference is less than the test condition threshold, it is determined that the electronic skin meets the test conditions; otherwise, it is determined that the electronic skin does not meet the test conditions. If the electronic skin does not meet the test conditions, force calibration is performed on the electronic skin.

3. The force calibration method for electronic skin according to claim 2, characterized in that, When the electronic skin does not meet the test conditions, the step of performing force calibration on the electronic skin includes: The first pressure detected by the electronic skin is calibrated based on the magnitude relationship between the first pressure and the second pressure.

4. The force calibration method for electronic skin according to any one of claims 1-3, characterized in that, Before comparing and analyzing the first pressure and the second pressure to determine whether the electronic skin meets the test conditions, and if the electronic skin does not meet the test conditions, the step of force calibration of the electronic skin further includes: The fourth pressure is obtained by measuring the weight of the electronic skin fixing module that fixes the electronic skin; The second pressure is corrected based on the fourth pressure.

5. The force calibration method for electronic skin according to claim 4, characterized in that, The step of comparing and analyzing the first pressure and the second pressure to determine whether the electronic skin meets the test conditions, and if the electronic skin does not meet the test conditions, then performing force calibration on the electronic skin, includes: The first pressure and the second pressure are decomposed to obtain the first normal force and the first tangential force corresponding to the first pressure, and the second normal force and the second tangential force corresponding to the second pressure. The numerical difference between the first normal force and the second normal force is calculated to obtain the second pressure difference value, and the numerical difference between the first tangential force and the second tangential force is calculated to obtain the third pressure difference value; The absolute values ​​of the second pressure difference and the third pressure difference are compared with preset test condition thresholds. It is determined whether the absolute values ​​of the second pressure difference and the third pressure difference are both less than the test condition threshold. If the absolute values ​​of the second pressure difference and the third pressure difference are both less than the test condition threshold, the electronic skin is determined to meet the test conditions; otherwise, the electronic skin is determined not to meet the test conditions. If the electronic skin does not meet the test conditions, force calibration is performed on the electronic skin.

6. The force calibration method for electronic skin according to claim 5, characterized in that, When the electronic skin does not meet the test conditions, the step of performing force calibration on the electronic skin includes: Based on the magnitude relationship between the first normal force and the second normal force, and the magnitude relationship between the first tangential force and the second tangential force, the first pressure detected by the electronic skin is calibrated in both magnitude and direction.

7. A force calibration device for electronic skin, characterized in that, The device includes: The pressure application module is used to apply external force to the electronic skin; The acquisition module is used to acquire the first pressure detected by the electronic skin and the second pressure detected by the external force sensor carrying the electronic skin; The calibration module is used to compare and analyze the first pressure and the second pressure to determine whether the electronic skin meets the test conditions. If the electronic skin does not meet the test conditions, the electronic skin is subjected to force calibration.

8. A calibration system, characterized in that, The calibration system is used to implement the method as described in any one of claims 1-6, and the calibration system includes a pressure device, an electronic skin fixation module, an electronic skin data processor, an external force sensor module, an external data processor, and a server; wherein: The pressure device is used to apply external force to the electronic skin placed on the electronic skin fixing module; the electronic skin fixing module is fixed to the external force sensor module and communicatively connected to the electronic skin data processor, used to place the electronic skin and transmit the pressure data generated by the electronic skin to the electronic skin data processor; the external force sensor module is communicatively connected to the external data processor, used to acquire the pressure data generated when the pressure device applies external force to the electronic skin placed on the electronic skin fixing module and transmit the pressure data to the external data processor; the electronic skin data processor is communicatively connected to the server, used to upload the received pressure data to the server; the external data processor is communicatively connected to the server, used to upload the received pressure data to the server; the server is used to perform force calibration processing on the electronic skin based on the pressure data uploaded by the electronic skin data processor and the external data processor.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1-6.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1-6.

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