Dynamic bionic robot skin, control method thereof and robot

Abstract

The invention provides a dynamic bionic robot skin, a control method thereof and a robot. The dynamic bionic robot skin is characterized in that a bionic blood vessel network channel is arranged in a dynamic bionic layer; the bionic blood vessel network channel is used for simulating dynamic changes of blood vessels; the bionic blood vessel network channel is an elastic cavity embedded into the dynamic bionic layer; the dynamic blood vessel regulation module is communicated with the bionic blood vessel network through a pipeline, and the dynamic blood vessel regulation module is used for changing the filling degree and / or form of the bionic blood vessel network channel by pumping a fluid medium into and out of the blood vessel network channel or adjusting the internal pressure; the light-transmitting bionic epidermal layer covers the outer surface of the dynamic bionic layer and is fixedly connected with the dynamic bionic layer, and bionic skin textures are arranged on the outer surface of the light-transmitting bionic epidermal layer. The invention further discloses a robot and a skin control method. The method is high in simulation degree, and physiological phenomena such as blood vessel filling contraction and artery rhythm can be achieved.

Description

Technical Field

[0001] This application relates to the field of bionic robot technology, specifically to a dynamic bionic robot skin for human-computer interaction and its control method, and a robot. Background Technology

[0002] With the widespread application of biomimetic robot technology in fields such as human-computer interaction, medical rehabilitation, and social services, endowing robots with a highly human-like appearance and dynamic sense of life has become crucial for establishing natural and intimate interactive experiences. Currently, biomimetic research on robot skin largely focuses on static morphological simulation and basic tactile feedback. This design results in a lack of "life" during robot interaction, failing to meet the needs of human-computer interaction. Furthermore, significant shortcomings remain in achieving dynamic, detailed visual effects at the visual level, resembling the vascular network beneath human skin and linked to physiological states.

[0003] Current robotic skin is mostly static or solidified textured layers. While it can simulate skin color and surface texture to some extent, it cannot reproduce the dynamic changes in subcutaneous blood vessels in real humans caused by factors such as emotions, movement, and environment. For example, it cannot capture vivid details such as facial blood vessels becoming engorged and red when emotionally agitated, or the increased pulsation of the carotid artery after exercise. The lack of these dynamic physiological signals makes robots appear stiff and rigid when expressing emotions or simulating life states, severely limiting the realism and approachability of their interactions.

[0004] Therefore, there is an urgent need in this field for a method that can highly simulate the dynamic visual behavior of the human subcutaneous vascular network, especially to realize physiological phenomena such as vascular filling and contraction and arterial rhythm, so as to comprehensively enhance the lifelike appearance and interactive performance of bionic robots. Summary of the Invention

[0005] The purpose of this application is to solve at least one of the problems existing in the background technology, and to overcome the technical defects of existing robotic skin that cannot realistically simulate the dynamic visual changes of human subcutaneous blood vessels. It provides a dynamic bionic robotic skin and its control method and robot that can highly realistically reproduce physiological phenomena such as vascular contraction, filling and arterial pulsation, and can be coordinated with the robot's emotions and state for control, so as to significantly enhance the robot's sense of life and interactive realism.

[0006] To achieve the above objectives, this application provides a dynamic bionic robotic skin, comprising: a dynamic bionic layer, wherein a bionic vascular network channel is provided inside the dynamic bionic layer; the bionic vascular network channel is used to simulate dynamic changes in blood vessels; the bionic vascular network channel is an elastic cavity embedded inside the dynamic bionic layer;

[0007] A dynamic vascular regulation module is connected to the biomimetic vascular network channel via a pipe. It is used to pump in or extract fluid medium into the vascular network channel or adjust the internal pressure to change the fullness and / or shape of the biomimetic vascular network channel, thereby simulating the dynamic changes of human blood vessels.

[0008] The biomimetic vascular network channels are arranged along the distribution path of subcutaneous blood vessels in the human body. In the forehead and temple areas, it has a tree-like fractal structure, and in the neck area, it is arranged longitudinally along the side of the cervical spine.

[0009] A translucent biomimetic epidermal layer covers the outer surface of the dynamic biomimetic layer and is fixedly connected to the dynamic biomimetic layer. The outer surface of the translucent biomimetic epidermal layer is provided with biomimetic skin texture.

[0010] Furthermore, the robotic skin also includes: a flexible base layer disposed inside the dynamic bionic layer, the flexible base layer being fixedly connected to the dynamic bionic layer by a medical-grade adhesive; at least one flexible heating film is laid between the flexible base layer and the dynamic bionic layer, and temperature sensors are arranged on the flexible heating film corresponding to predetermined areas of the human body; the heating film and temperature sensors are electrically connected to the dynamic vascular regulation module, respectively, for adjusting the power of the heating film according to temperature feedback, so that the skin surface temperature is maintained at 30~36.6℃.

[0011] Furthermore, the elastic cavity is made of transparent or translucent silicone elastomer.

[0012] Furthermore, the dynamic vascular regulation module includes: a fluid drive pump, a fluid storage and transportation unit, a control valve, and a control unit. The fluid drive pump is connected to the fluid storage and transportation unit through a pipeline, the control valve is installed on the pipeline, and the control unit is electrically connected to the fluid drive pump and the control valve respectively, for controlling the start and stop of the fluid drive pump and the on / off state of the control valve.

[0013] Furthermore, the control unit is used to periodically change the pressure or flow rate of the fluid medium to simulate the visual effect of arterial pulsation.

[0014] Furthermore, the biomimetic vascular network channels are distributed in at least one of the temple, forehead, cheek, and neck regions of the biomimetic robot.

[0015] Furthermore, the fluid medium is a colored liquid or a gas; when the fluid medium is a colored liquid, its color is adjusted by a control unit; when the fluid medium is a gas, the gas is a colored inert gas.

[0016] Furthermore, the biomimetic skin texture of the biomimetic epidermis includes nanoscale structures that simulate skin pores, grooves, and ridges.

[0017] According to another aspect of this application, a robot is provided whose outer surface is covered with a dynamic bionic robotic skin. The cover includes at least the outer surface of the robot's head and / or neck region, and the dynamic bionic robotic skin is fixedly connected to the robot body via a flexible base layer.

[0018] According to another aspect of this application, a control method for controlling the skin of a dynamic bionic robot is provided, comprising:

[0019] S1: Receive bionic instructions from the robot's main control system or external interactive devices. The bionic instructions include instruction type, target area, dynamic intensity, and duration. Determine the bionic vascular network channel to be adjusted according to a preset instruction-target channel mapping table.

[0020] S2: Call the preset parameter library according to the bionic instructions;

[0021] S3: The control unit sends commands to the fluid drive pump and control valve;

[0022] S4: Real-time acquisition of skin temperature in the target area via a temperature sensor, and acquisition of pressure within the channel via a vascular pressure sensor;

[0023] S5: The control unit monitors the operating status of the fluid drive pump, the fluid pressure change rate, and temperature sensor data in real time.

[0024] S6: When the duration of the bionic command ends, or when a "stop" command is received, control the fluid drive pump to extract excess fluid from the target channel and restore the blood vessel filling to its original state;

[0025] When the biomimetic command includes simulating arterial pulsation, the control process includes periodically adjusting the fluid medium within the target channel.

[0026] In this embodiment, a dynamic biomimetic layer simulating real skin is used. This layer contains a biomimetic vascular network channel to simulate the visual realism that occurs during emotional fluctuations. The translucent biomimetic epidermis layer further highlights the color of the blood vessels. This invention, through the dynamic vascular regulation module's control of the fluid medium, can realistically simulate the dynamic visual effects of contraction, filling, and arterial pulsation of subcutaneous blood vessels, particularly enabling the visual expression of emotions and physiological states in key areas such as the face and neck. This invention also provides a robot using this skin and a corresponding control method. This solution significantly enhances the robot's sense of life and interactive realism, with high structural integration and flexible control.

[0027] The beneficial effect of this application is that the highly realistic skin can have the visual effect of vasoconstriction, engorgement and pulse dynamics of key parts of the skin when presenting emotional expression and physiological state. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the layered structure of a dynamic bionic robot skin according to an embodiment of this application;

[0029] Figure 2 This is a schematic diagram of the structure of a dynamic blood vessel regulation module of a dynamic bionic robot according to an embodiment of this application;

[0030] Figure 3 This is a flowchart illustrating the logic of a method for controlling the skin of a dynamic bionic robot according to an embodiment of this application.

[0031] Figure labeling: 1-Dynamic bionic layer; 2-Bionic vascular network channel; 3-Dynamic vascular regulation module; 31-Fluid drive pump; 32-Fluid storage and transport unit; 33-Control valve; 34-Control unit; 4-Bionic epidermal layer; 5-Flexible base layer. Detailed Implementation

[0032] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. The components of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0033] It should be noted that the terms "comprising" and "having" and any variations thereof in the specification and claims of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0034] In this application, the terms "upper," "lower," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0035] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0036] Furthermore, the terms "installed," "equipped with," and "connected" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0037] It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of protection of the invention. The present application will now be described in detail with reference to the accompanying drawings and embodiments.

[0038] Example 1

[0039] like Figures 1-2 As shown, this embodiment is a dynamic bionic robot skin that can be applied to robots. It adopts an integrated layered structure, which includes, from the outside to the inside: a bionic epidermal layer 4, a dynamic bionic layer 1, and a flexible base layer 5. The light-transmitting bionic epidermal layer 4 covers the outer surface of the dynamic bionic layer 1 and is fixedly connected to the dynamic bionic layer 1. The outer surface of the light-transmitting bionic epidermal layer 4 is provided with bionic skin texture.

[0040] like Figure 1 As shown, the dynamic bionic layer 1 is attached to the flexible base layer 5, which is fixedly connected to the dynamic bionic layer 1 with a medical-grade adhesive. The thickness of the dynamic bionic layer is approximately 1-3 mm. Within this layer, bionic vascular network channels 2 are prefabricated using micro-nano molding, 3D printing, or soft lithography. These bionic vascular network channels are used to simulate dynamic changes in blood vessels. For example, the bionic vascular network channels 2 of the dynamic bionic layer 1 are prepared using 3D printing technology with medical-grade silicone as the printing material. The control unit 34 uses a microcontroller and is electrically connected to a fluid drive pump (e.g., a peristaltic pump) and a control valve (e.g., a solenoid valve) via an interface. The channels have an elastic tubular structure, made of transparent or semi-transparent silicone-like elastomer, with an inner diameter of approximately 0.3-0.8 mm, simulating the morphology and distribution of subcutaneous veins and arterioles in the human body.

[0041] The biomimetic vascular network channels are used to simulate dynamic changes in blood vessels, thereby simulating the dynamic changes in human blood vessels. The biomimetic vascular network covers at least the forehead, temples, cheeks, and neck areas of the robot's face. In the forehead and temple areas, the channels are designed as a tree-like fractal structure; in the neck area, the channels are arranged longitudinally along the sides of the cervical spine, simulating the course of the external jugular vein and superficial branches of the carotid artery.

[0042] The dynamic vascular regulation module 3 includes a fluid-driven pump 31 (e.g., a peristaltic pump), a fluid storage and transport unit 32 (e.g., a reservoir), a control valve 33 (a miniature solenoid valve or a multi-way valve assembly), and connecting pipes. The fluid medium is a color-tunable liquid, such as a water-based or oil-based fluid containing red or blue-red dyes, with a refractive index close to that of the channel material to reduce optical scattering. The fluid-driven pump, solenoid valve, and storage and transport unit can be embedded in the robot body or the edge of the skin stratum corneum and connected to the vascular network channel via flexible tubing. The dynamic vascular regulation module 3 is connected to the bionic vascular network channel 2, and the dynamic vascular regulation module 3 changes the filling degree and / or morphology of the bionic vascular network channel 2 by pumping in or out the fluid medium or adjusting the pressure.

[0043] The robot's skin also includes a flexible base layer 5 disposed inside the dynamic bionic layer 1. The flexible base layer 5 serves as the mechanical support and substrate for the entire skin and is made of silicone rubber, thermoplastic polyurethane, or other highly elastic, biocompatible polymer materials, with a thickness of approximately 0.5~2mm. This layer possesses good flexibility and deformation recovery capabilities, allowing it to conform to the curved surface of the robot body. It also has internally reserved interfaces and wiring space for the placement of sensors and control circuitry.

[0044] The biomimetic vascular network channel 2 is an elastic cavity embedded inside the dynamic biomimetic layer 1, and the elastic cavity is a transparent or translucent silicone elastomer.

[0045] The dynamic vascular regulation module 3 includes: a fluid drive pump 31, a fluid storage and transportation unit 32, a control valve 33, and a control unit 34. The fluid drive pump 31 is connected to the fluid storage and transportation unit 32 through a pipeline. The control valve 33 is installed on the pipeline. The control unit 34 is electrically connected to the fluid drive pump 31 and the control valve 33. Figure 2 The fluid storage and transportation unit 32 has three liquid storage bladders. The control valve 33 can be a solenoid valve, with a solenoid valve on each connected pipeline. The solenoid valve is electrically connected to the controller for control. The fluid drive pump is connected to the fluid storage and transportation unit through a pipeline, and the solenoid valve is used to control the start and stop of the fluid drive pump and the opening and closing of the control valve.

[0046] The biomimetic vascular network channel 2 is distributed in at least one of the temple, forehead, cheek and neck regions of the biomimetic robot.

[0047] The fluid medium is a colored liquid or a gas; when the fluid medium is a colored liquid, its color is adjusted by the control unit 34. When the fluid medium is a gas, a red inert gas is used, and a miniature air pump is selected as the fluid drive pump, with a pressure adjustment range of 0.01~0.05MPa.

[0048] The biomimetic skin texture of the biomimetic epidermal layer 4 includes nanoscale structures that simulate skin pores, grooves, and ridges. The size of the nanoscale structures is 10~1000nm.

[0049] To achieve a deeper color when the veins are full, the following technical solutions can be used:

[0050] 1. Concentration adjustment method: Two shades of the same dye liquid are set in the fluid storage and transportation unit 32. After mixing, they are pumped into the channel by controlling the proportion valve. When the filling degree increases, the proportion of darker color increases, and the visual effect of "the color becomes darker" is presented. Figure 2 The diagram shows three reservoirs, which are for illustrative purposes only. In a real-world configuration, if two colored liquids are required, two of the three reservoirs can be configured as application reservoirs, and the third as a backup reservoir. The two application reservoirs can hold the target color dye liquid. If an application reservoir malfunctions, the faulty reservoir will be reconfigured as a repair reservoir, and the backup reservoir will be reconfigured as an application reservoir, holding the corresponding color dye liquid, for continued use.

[0051] 2. Layered Channel Method: An auxiliary coloring layer is placed below or alongside the biomimetic vascular network channel 2 in key areas such as the temples and forehead. This layer contains a material whose light transmittance can change with pressure (such as electrochromic gel). When the main channel is filled, the auxiliary layer is triggered to change color simultaneously, and the resulting layer presents a darker color.

[0052] By controlling the start and stop of the pump and the opening and closing of the valve, fluid can be pumped into or extracted into a specific channel, achieving the filling and contraction of the channel cross-section, thereby visually simulating the appearance and disappearance and changes in the thickness of blood vessels. For arterial simulation (such as the carotid artery), a pulsed pumping method can be used, with a frequency of 60-100 times / minute, synchronized with the robot's simulated heartbeat, so that the fluid produces periodic pulsations in the channel, presenting a "pulsating" visual effect.

[0053] Four biomimetic epidermal layers are stacked on top of the dynamic biomimetic layer 1, and are made of highly transparent and elastic silicone or hydrogel materials. Their outer surface replicates the microscopic texture of real skin, including pores, skin grooves, and skin ridges, through micro-transfer printing, laser etching, or molding processes, providing a realistic feel and a degree of hydrophobicity. This layer has a light transmittance exceeding 85%, allowing the color and dynamic changes of the underlying vascular network to be clearly visible.

[0054] To simulate the visual pulsation effect of the carotid artery after strenuous exercise, a main channel simulating the carotid artery is installed within the dynamic biomimetic layer 1 in the neck region, extending longitudinally along the anterior border of the sternocleidomastoid muscle. This channel is connected to a dedicated pump and valve assembly in the dynamic vascular regulation module 3. When the robot system detects "motion state" or receives an "emotional excitement" command, the control unit 34 drives the fluid drive pump 31 to operate in pulse mode, causing the colored liquid to flow back and forth in the channel at a frequency of approximately 70-90 times per minute in a small-amplitude periodic manner. Combined with the elastic deformation of the channel wall, this creates a slightly pulsating visual effect outside the epidermal layer. The amplitude and frequency of the pulsation can be adjusted in real time according to the simulated physiological state.

[0055] The control unit 34 periodically changes the pressure or flow rate of the fluid medium to simulate the visual effect of arterial pulsation.

[0056] The system also includes a control unit 34, which receives status signals (such as emotion mode, movement intensity, and interaction scenario) from the robot's main control system. Based on a preset mapping relationship, the control unit 34 generates control commands and sends them to the dynamic vascular regulation module 3, coordinating the actions of the fluid drive pump 31 and the solenoid valve to achieve independent or coordinated control of the multi-regional vascular network. For example, in the "post-exercise" state, the pulsation intensity of the temple and neck channels is simultaneously enhanced, and the fluid color concentration of the veins in the forehead and temple areas is increased; in the "calm" state, all channels are kept in a low-fill state, and the color returns to a lighter shade.

[0057] Example 2

[0058] Of course, as a further preferred embodiment, the difference from Embodiment 1 is that a flexible heating film is added between the flexible base layer 5 and the dynamic biomimetic layer 1, and temperature sensors are arranged on the flexible heating film corresponding to predetermined areas of the human body. The heating film and temperature sensors are connected to the dynamic vascular regulation module 3. The heating film is made of transparent conductive materials (such as silver nanowires or graphene) and is attached to the surface of the base layer; the temperature sensors are distributed in key areas of the face and neck. The control unit 34 dynamically adjusts the power of the heating film according to the interaction scenario and ambient temperature, so that the skin surface temperature is maintained in the "physiological temperature range" of 30~36℃, and can be dynamically linked with blood vessels: for example, when simulating "blushing", the temperature and vascular fullness of the cheek area are increased at the same time, and the depth of vein color in that area is adjusted accordingly.

[0059] Example 3

[0060] A robot is provided, the outer surface of which is covered with a dynamic bionic robotic skin. The cover includes at least the outer surface of the robot's head and / or neck region, and the dynamic bionic robotic skin is fixedly connected to the robot body via a flexible base layer.

[0061] The robot also includes a torso, a walking mechanism, and an actuator with a human-like structure. The outer surface of the robot is covered with dynamic bionic robot skin. The bionic vascular network channels are distributed at least in the head and neck areas to simulate and reproduce physiological phenomena such as vascular contraction, filling, and arterial pulsation in a highly realistic manner, so as to significantly enhance the robot's sense of life and interactive realism.

[0062] Example 4

[0063] A control method for controlling the skin of a dynamic bionic robot is provided, comprising:

[0064] S1: Receive bionic instructions from the robot's main control system or external interactive devices. The bionic instructions include instruction type (e.g., physiological state type / emotional expression type), target area (e.g., temples, forehead, cheeks, neck), dynamic intensity (e.g., level 1-5), and duration; determine the bionic vascular network channel to be adjusted according to the preset instruction and target channel mapping table.

[0065] S2: Call the preset parameter library according to the bionic instructions;

[0066] For "emotional expression" (such as shyness): the target area is the cheek, with a blood vessel fullness level of 4-5, a red concentration of 70%~90% for the coloring liquid, and the cheek area heating film is activated simultaneously, with a target temperature of 34~36℃;

[0067] For "physiological state" (such as after exercise): the target area is the neck and temples, with a vascular filling level of 3-4, an arterial pulsation cycle of 80-100 beats / minute, a pressure change amplitude of 0.03-0.05 MPa, and a target temperature of 33-35℃ for the heating film;

[0068] If in "calm state": all areas have a vascular filling level of 1-2, the red concentration of the staining liquid is 20%~30%, and the target temperature of the heating film is 30~32℃;

[0069] S3: The control unit sends commands to the fluid drive pump and control valve;

[0070] Open the control valve corresponding to the vascular network channel in the target area, and close the control valve of the channel in the non-target area;

[0071] The fluid-driven pump pumps in / out the coloring liquid according to preset parameters, and adjusts the filling degree of the target channel (inner diameter 0.3~0.8mm).

[0072] If the instruction includes an arterial pulsation simulation, control the fluid drive pump 31 to periodically change the fluid pressure / flow rate, with a period of 0.6~1.0 seconds (corresponding to 60~100 times / minute).

[0073] The color concentration of the coloring liquid is adjusted synchronously (achieved by mixing different concentrations of dye in the fluid storage and transportation unit 32).

[0074] S4: Real-time acquisition of skin temperature in the target area via a temperature sensor, and acquisition of pressure within the channel via a vascular pressure sensor;

[0075] Pressure sensors are pre-installed at key nodes of the biomimetic vascular network channel.

[0076] Temperature feedback: If the actual temperature is lower than the target temperature, increase the power of the heating film in the corresponding area; if it is higher than the target temperature, reduce the power or stop heating.

[0077] Pressure feedback: If the actual pressure is higher than the preset threshold, reduce the flow rate of the fluid drive pump or briefly open the pressure relief valve; if it is lower than the preset threshold, replenish the pressure to the target range to ensure stable vascular filling.

[0078] S5: The control unit monitors the operating status of the fluid drive pump, the fluid pressure change rate, and temperature sensor data in real time.

[0079] If the pressure drops suddenly (rate of change > 0.02 MPa / s), it is determined to be a fluid leak. Immediately stop the fluid drive pump, close all control valves, and send an alarm signal to the robot's main control system.

[0080] If the fluid-driven pump has no flow output for 3 consecutive seconds, it is determined to be a pump failure, and the pump will be stopped and an alarm program will be triggered.

[0081] If the temperature sensor reading is >40℃ or <20℃, it is determined that the sensor is abnormal, the heating film operation is suspended, and the current vascular dynamic parameters are maintained.

[0082] S6: When the duration of the bionic command ends, or when a "stop" command is received, control the fluid drive pump to extract excess fluid from the target channel and restore the blood vessel filling to its original state.

[0083] The fluid-driven pump is controlled to extract excess fluid from the target channel, restoring the vascular filling to level 1.

[0084] The color concentration of the coloring liquid was restored to 20%~30%;

[0085] The heating film power is adjusted to a standby state that maintains a skin temperature of 30~32℃;

[0086] When the biomimetic command includes simulating arterial pulsation, the control process includes periodically adjusting the fluid medium within the target channel.

[0087] In this embodiment, a dynamic biomimetic layer simulating real skin is used. This layer contains a biomimetic vascular network channel to simulate the visual realism that occurs during emotional fluctuations. The translucent biomimetic epidermis layer further highlights the color of the blood vessels. This invention, through the dynamic vascular regulation module's control of the fluid medium, can realistically simulate the dynamic visual effects of contraction, filling, and arterial pulsation of subcutaneous blood vessels, particularly enabling the visual expression of emotions and physiological states in key areas such as the face and neck.

[0088] The beneficial effect of this application is that the highly realistic skin can have the visual effect of vasoconstriction, engorgement and pulse dynamics of key parts of the skin when presenting emotional expression and physiological state.

[0089] 1. Achieved highly realistic dynamic physiological visual biomimicry: By precisely controlling the filling degree and pressure of closed blood vessel channels through fluid media, it is possible to simulate the three-dimensional dynamic visual effect of venous filling and arterial pulsation, with a realistic and natural effect.

[0090] 2. Significantly enhances the robot's emotional expression and the realism of interaction. It is specially designed for key emotional expression areas such as the face and neck, and can realize rich visual expressions of physiological states such as "blushing", "bulging veins" and "carotid artery throbbing", making the robot's emotional output more vivid and credible, and effectively improving the naturalness and affinity of human-computer interaction.

[0091] 3. It provides a programmable and state-coordinated flexible control scheme. The dynamic changes of the skin can be driven in real time by the control unit according to the robot's emotional model, motion state or external interaction instructions, realizing deep coupling between visual bionics and internal state, and supporting complex and adaptive emotional expression.

[0092] 4. High structural integration, easy to integrate with robot platforms. The layered, integrated design results in a compact structure that gives the robot a dynamic, "life-like" appearance without affecting its motion performance. Furthermore, this solution reserves physical and system interfaces for integrating more functions (such as thermal management and tactile sensing) into the biomimetic platform, providing excellent functional scalability.

[0093] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A dynamic bionic robotic skin, characterized in that, include: A dynamic bionic layer (1) is provided inside the dynamic bionic layer (1), and the bionic vascular network channel (2) is used to simulate the dynamic changes of blood vessels; the bionic vascular network channel (2) is an elastic cavity embedded inside the dynamic bionic layer; Dynamic vascular regulation module (3), which is connected to the bionic vascular network channel (2) through a pipe, is used to pump in or extract fluid medium into the vascular network channel or adjust the internal pressure to change the fullness and / or shape of the bionic vascular network channel. A translucent bionic epidermal layer (4) covers the outer surface of the dynamic bionic layer (1) and is fixedly connected to the dynamic bionic layer (1). The outer surface of the translucent bionic epidermal layer (4) is provided with bionic skin texture.

2. The robotic skin according to claim 1, characterized in that, The robot skin also includes a flexible base layer (5) disposed inside the dynamic bionic layer (1), wherein the flexible base layer (5) is connected to the dynamic bionic layer (1) by a medical-grade adhesive. A flexible heating film is laid between the flexible base layer and the dynamic bionic layer, and a temperature sensor is arranged on the flexible heating film corresponding to a predetermined area of ​​the human body. The heating film and the temperature sensor are electrically connected to the dynamic blood vessel regulation module.

3. The robotic skin according to claim 1 or 2, characterized in that, The elastic cavity is made of transparent or translucent silicone elastomer.

4. The robotic skin according to claim 1, characterized in that, The dynamic vascular regulation module (3) includes: a fluid drive pump (31), a fluid storage and transportation unit (32), a control valve (33), and a control unit (34). The fluid drive pump (31) is connected to the fluid storage and transportation unit (32) through a pipeline. The control valve is installed on the pipeline. The control unit is electrically connected to the fluid drive pump and the control valve respectively, and is used to control the start and stop of the fluid drive pump and the opening and closing of the control valve.

5. The robotic skin according to claim 4, characterized in that, The control unit (34) is used to periodically change the pressure or flow rate of the fluid medium to simulate the visual effect of arterial pulsation.

6. The robotic skin according to claim 1, characterized in that, The biomimetic vascular network channel (2) is distributed in at least one of the temple, forehead, cheek and neck regions of the biomimetic robot.

7. The robotic skin according to claim 5, characterized in that, The fluid medium is a colored liquid or a gas; when the fluid medium is a colored liquid, the color of the colored liquid is adjusted by a control unit; when the fluid medium is a gas, the gas is a colored inert gas.

8. The robotic skin according to claim 1, characterized in that, The biomimetic skin texture of the biomimetic epidermis includes nanoscale structural shapes that simulate skin pores, grooves, and ridges.

9. A robot, characterized in that, The outer surface of the robot is covered with a dynamic bionic robot skin as described in any one of claims 1-8, the coverage including at least the outer surface of the robot's head and / or neck region, and the dynamic bionic robot skin is fixedly connected to the robot body through a flexible base layer.

10. A control method for controlling the skin of a dynamic bionic robot, used to control the skin as described in any one of claims 1-8, characterized in that, include: S1: Receive biomimetic instructions from the robot's main control system or external interactive devices, wherein the biomimetic instructions include instruction type, target area, dynamic intensity, and duration; Based on the preset instruction and target channel mapping table, determine the biomimetic vascular network channel to be adjusted; S2: Call the preset parameter library according to the bionic instructions; S3: The control unit sends commands to the fluid drive pump and control valve; S4: Real-time acquisition of skin temperature in the target area via a temperature sensor, and acquisition of pressure within the channel via a vascular pressure sensor; S5: The control unit monitors the operating status of the fluid drive pump, the fluid pressure change rate, and temperature sensor data in real time. S6: When the duration of the bionic command ends, or when a "stop" command is received, control the fluid drive pump to extract excess fluid from the target channel and restore the blood vessel filling to its original state; When the biomimetic command includes simulating arterial pulsation, the control process includes periodically adjusting the fluid medium within the target channel.

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