Robot nose wrinkle forming device based on deformation guide constraint and control method

Abstract

The invention provides a robot nose wrinkle forming device based on deformation guide constraint and a control method. The robot nose wrinkle forming device comprises a bionic elastomer module fixed to a nose bearing structure; the far end of the traction rope is connected with a nose target area of the bionic elastomer module; the driving module is connected with the near ends of the traction mechanisms and used for independently controlling traction and release of traction ropes of the traction mechanisms. The driving module applies traction force to the traction mechanism to drive the nose target area to deform to form wrinkles; the deformation guiding and restraining structure is fixedly arranged on the nose bearing structure; and when the bionic elastomer module deforms, the deformation guide constraint structure guides and drives the skin layer of the bionic elastomer module to generate wrinkles. According to the invention, high-simulation-degree complex nose expression simulation is realized through a simple under-actuated structure, and the technical problems that the expression is stiff, the mechanism is distorted and the exquisite nose wrinkling action cannot be simulated in the traditional scheme are solved.

Description

Technical Field

[0001] This application relates to the field of biomimetic robot technology, specifically to a robot nose wrinkle formation device and control method based on deformation-guided constraints. Background Technology

[0002] The wrinkled nose expression is a key micro-expression used by humans and many animals to express disgust, dissatisfaction, focus, or sniffing. This expression is mainly achieved by the coordinated contraction of the nasal and surrounding muscle groups (such as the depressor supercilii, nasalis, and transverse nasalis), resulting in characteristic longitudinal, transverse, and oblique complex wrinkles on the skin of the bridge, root, and wings of the nose.

[0003] Currently, facial expression simulation in bionic robots mainly focuses on the mouth and eyes, with less attention paid to and less achieved in nasal expressions, especially the subtle "wrinkling" motion. Existing technical solutions have the following limitations:

[0004] 1. Drive-driven, distorted mechanism: Most of them use micro-links and servo motors to directly drive the rigid structure of the nose, which can only achieve simple opening and closing of the nostrils or overall displacement of the bridge of the nose. They cannot reproduce the natural, non-linear wrinkles produced by the soft tissue of the skin under the coordination of multiple muscles and multi-directional traction.

[0005] 2. Insufficient realism: Existing technologies often require the arrangement of many drive units to achieve simple nasal movements, resulting in complex structures, large space occupation, and easy motion interference.

[0006] 3. Uncontrollable wrinkles: Existing solutions cannot actively guide the skin to produce wrinkles with specific directions and locations that conform to anatomical features. The deformation is random, which seriously affects the realism of emotional communication in human-computer interaction.

[0007] In summary, there is an urgent need to propose a biomimetic solution that is compact, responsive, highly realistic, and can accurately simulate the complex skin deformation and muscle coordination mechanisms when a human wrinkles their nose. Summary of the Invention

[0008] The purpose of this application is to address at least one of the problems existing in the background technology and provide a robotic bionic nasal expression simulation scheme based on a combination of "multi-directional traction input" and "fixed deformation guidance constraint". Its core concept lies in not only simulating the coordinated contractile force of multiple muscle groups (depressor supercilii, nasalis, and transverse nasalis), but also, crucially, introducing a "deformation guidance constraint structure" fixed to the nasal skeletal structure. This structure, acting as a static "mechanical mold", actively intervenes in the flow and bending direction of the skin material when multiple traction mechanisms apply multi-directional tension, thereby transforming multi-directional mechanical input into precise multi-directional skin wrinkle output that conforms to biomechanical principles.

[0009] To achieve the above objectives, this application provides a robot bionic nose wrinkle forming device based on deformation-guided constraints, used to simulate surface changes in the nose region, comprising: a bionic elastomer module adapted and fixed to the nose bearing structure of the robot's face;

[0010] At least one traction mechanism, each traction mechanism including a flexible traction rope, the distal end of which is connected to the nose target area of ​​the bionic elastomer module;

[0011] A drive module is connected to the proximal end of the traction mechanism and is used to independently control the pulling and releasing of the traction ropes of each traction mechanism; the drive module applies traction force to the traction mechanism to cause deformation of the target area of ​​the nose to form wrinkles.

[0012] A deformation-guided constraint structure is fixedly mounted on the nose-bearing structure; the slider of the deformation-guided constraint structure is connected to the strain layer of the bionic elastomer module; when the bionic elastomer module undergoes deformation, the deformation-guided constraint structure guides and drives the skin layer of the bionic elastomer module to generate one or more transverse, longitudinal, or complex folds.

[0013] Preferably, the deformation guiding constraint structure includes a constraint slot fixed to the nose bearing structure; the inner side of the strain layer of the biomimetic elastomer module is provided with a slider that corresponds to and cooperates with the constraint slot, and the slider is connected to the strain layer of the biomimetic elastomer module.

[0014] The constraint slot restricts the slider from moving along the axis of the constraint slot, thereby causing the strain layer at the connection point with the slider to displace, forcing the unconstrained area to concentrate and bulge outwards towards the skin, forming a nose wrinkle deformation with a predetermined direction.

[0015] Preferably, the strain layer of the biomimetic elastomer module is also connected to the skin layer; the strain layer is embedded with a biomimetic reinforcing fiber network, the distal end of the traction rope is fixed in the strain layer of the target area of ​​the nose, and is interwoven or fixedly connected with the biomimetic reinforcing fiber network, transmitting traction force through the guiding effect of the fiber network; the orientation of the biomimetic reinforcing fiber network matches the anatomical orientation of the muscles related to nasal wrinkles.

[0016] Preferably, the traction rope is one or more combinations of high-strength fiber rope, flexible nylon rope, or flexible webbing.

[0017] Preferably, the drive module includes: a controller, multiple motors, and multiple transmission mechanisms; the controller is used to control the operation of the motors according to the target expression parameters, and the motors convert rotational motion into tightening and releasing of the traction rope through the transmission mechanisms; the multiple motors are electrically connected to the controller, and the controller is used to coordinate the actions of each motor to control the corresponding traction mechanism to perform coordinated traction.

[0018] Preferably, the nasal target area includes: a nasal root target area, a nasal dorsum target area, and a nasal middle target area; the nasal root target area is used to simulate the downward traction force of the depressor supercilii muscle, the nasal dorsum target area is used to simulate the lateral convergent traction force of the transverse nasal muscle, and the nasal middle target area is used to simulate the oblique upward traction force of the nasal muscles; at least two sets of traction ropes of the traction mechanism are respectively connected to two or more different areas of the nasal root target area, the nasal dorsum target area, and the nasal middle target area.

[0019] Preferably, the traction mechanism comprises three groups: a first traction mechanism, a second traction mechanism, and a third traction mechanism; the first traction mechanism has a downward vector component in its traction direction, and its traction rope is connected to the target area at the root of the nose; the third traction mechanism has an upward vector component in its traction direction, and its traction rope is connected to the target area in the middle of the nose; the second traction mechanism has a horizontal vector component in its traction direction, and its traction rope is connected to the target area on the bridge of the nose.

[0020] According to another aspect of this application, a corresponding control method is provided. The core of this method lies in establishing a mapping model that includes the properties of biomimetic elastomer materials, geometric parameters of the deformation-guided constraint structure, and the cooperative relationship of multiple muscles. This provides a robotic nose wrinkling expression control method, applied to a deformation-guided constraint robotic biomimetic nose wrinkling formation device, comprising:

[0021] S1: Receive facial expression commands and parse them to obtain the target deformation parameters of each target area of ​​the nose in multiple directions;

[0022] S2: Based on a pre-established mapping model that includes the nonlinear characteristics of the biomimetic elastomer module material, the geometric parameters of the deformation-guided constraint structure, and the muscle synergy relationship, the target deformation parameters are converted into the target control parameters of the traction mechanism.

[0023] S3: Control the drive module to drive each of the traction mechanisms to perform coordinated traction with specific timing and force according to the target control parameters;

[0024] S4: Under the combined guidance of the multi-directional traction force of the traction mechanism and the deformation guiding constraint structure, the target area of ​​the nose of the bionic elastomer module undergoes a composite deformation, forming a natural and realistic wrinkled nose expression.

[0025] S5: After the expression has been maintained for a preset time, the drive module is controlled to release the tension of each traction mechanism, and the bionic elastomer module automatically resets itself based on its own elasticity and the restoring force of the internal fiber network.

[0026] According to another aspect of this application, a robot is provided, including a head body and a robot bionic nose wrinkle forming device, the device being fixed to the nose position of the head body for simulating nose wrinkle expressions in human-computer interaction.

[0027] The beneficial effects of this application are as follows: compared with the prior art, the number of driving units of this invention is reduced, the structural volume is reduced, and the accuracy of wrinkle direction is ≥90% (the consistency with the wrinkle direction of the human nose wrinkling expression is verified by image comparison).

[0028] 1. Innovative Principle: The biomimetic facial expression simulation is elevated from simple "driving displacement" to a level that combines "multi-directional mechanical input" and "fixed geometric constraint guidance", which is closer to the real biomechanical process.

[0029] 2. High realism: It can dynamically simulate complex wrinkles with specific directions (horizontal, vertical, and oblique) generated by the coordinated contraction of multiple muscles in the nose, resulting in delicate and natural facial expressions.

[0030] 3. Simple and controllable structure: Through ingenious deformation-guided constraint design, high-dimensional facial expression output is achieved with fewer driving units, wrinkle morphology is actively controllable, and the system has high reliability. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of a robot nose wrinkle forming device based on deformation-guided constraints according to an embodiment of this application.

[0032] Figure 2 This is a schematic diagram of the structure of the biomimetic elastomer module according to an embodiment of this application;

[0033] Figure 3 This is a schematic diagram of the connection structure between the drive module and the traction mechanism in an embodiment of this application;

[0034] Figure 4 This is a schematic diagram of the constraint slot in the nose area according to an embodiment of this application;

[0035] Figure 5 This is a schematic diagram of the deformation-guided constraint structure (lateral constraint slot) according to an embodiment of this application.

[0036] Figure 6 A logic flowchart of a robot nose wrinkling expression control method according to an embodiment of this application;

[0037] Explanation of reference numerals in the attached figures: 1-Bionic elastomer module; 12-Strain layer; 13-Skin layer; 2-Nose bearing structure; 3-Traction mechanism; 31-Traction rope; 4-Nose target area; 41-Nose root target area; 42-Nose bridge target area; 43-Nose middle target area; 5-Drive module; 51-Controller; 52-Motor; 53-Transmission mechanism; 6-Deformation guiding constraint structure; 61-Constraint slot; 61a-First constraint slot; 61b-Second constraint slot; 61c-Third constraint slot; 62-Slider. Detailed Implementation

[0038] 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.

[0039] 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.

[0040] In this application, the terms "upper," "front," "rear," "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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] Example 1

[0045] This embodiment discloses a robot bionic nose wrinkle forming device based on deformation-guided constraints, used to simulate the facial changes of the nasal region and to accurately simulate the human nose wrinkling expression. The core design idea of ​​this device is to combine the biomechanical principle of "multiple muscle synergistic traction" with the mechanical innovation principle of "fixed constraint guided deformation". The robot bionic nose wrinkle forming device includes: a bionic elastomer module 1, which is adapted and fixed to the nasal support structure of the robot's face; the nasal support structure is a rigid support skeleton made of ABS plastic, and its shape matches the contour of the human nasal bone.

[0046] In this embodiment 1, there are three traction mechanisms. The traction mechanism 3 includes a flexible traction rope 31, the distal end of which is connected to the nasal target area 4 of the biomimetic elastomer module 1; the nasal target area 4 is as follows: Figure 1 As shown, the target areas of the nose include: the root of the nose target area 41, the dorsum of the nose target area 42, and the middle of the nose target area 43; the root of the nose target area 41 is used to simulate the downward traction force of the depressor supercilii muscle, the dorsum of the nose target area 42 is used to simulate the lateral convergence traction force of the transverse nasal muscle, and the middle of the nose target area 43 is used to simulate the oblique upward traction force of the nasal muscles; the traction rope 31 of each traction mechanism is connected to the root of the nose target area 41, the dorsum of the nose target area 42, and the middle of the nose target area 43 respectively.

[0047] Deformation-guided constraint structure 6 is fixedly mounted on the nasal support structure; such as Figure 4 and Figure 5 As shown, the deformation guiding constraint structure 6 consists of a constraint slot 61 and multiple sliders 62. The sliders 62 are fitted into the constraint slot 61 and can slide along the axial direction of the constraint slot 61. The sliders 62 are connected to the strain layer of the biomimetic elastomer module 1. When the biomimetic elastomer module 1 undergoes deformation, the deformation guiding constraint structure 6 guides and drives the skin layer 13 of the biomimetic elastomer module 1 to generate one or more transverse, longitudinal, or complex wrinkles.

[0048] like Figure 5 As shown, the deformation-guided constraint structure 6 includes a constraint slot 61 and a slider 62 fixed to the nose-bearing structure. The slider 62 is adapted to the constraint slot 61 and can move along the direction of the constraint slot 61. The inner side of the strain layer 12 of the biomimetic elastomer module 1 is fixedly connected to the slider 62. The slider 62 is connected to the strain layer 12 of the biomimetic elastomer module 1.

[0049] The constraint slot 61 restricts the slider 62 to move in the axial direction of the constraint slot 61, so as to cause the strain layer 12 connected to the slider 62 to be displaced. When two adjacent sliders 62 come into contact, they will force the area that is not strictly constrained to concentrate and bulge outward of the skin, forming a nose wrinkle deformation with a preset direction.

[0050] The drive module 5 is connected to the proximal end of the traction mechanism 3 and is used to independently control the pulling and releasing of the traction rope 31 of each traction mechanism. The drive module 5 applies traction force to the traction mechanism 3, causing the nose target area 4 to deform, thereby forming wrinkles.

[0051] like Figure 3 As shown, the drive module 5 includes: a controller 51, multiple motors 52 (such as micro servo motors 52) and multiple transmission mechanisms 53 (micro reels); the controller 51 is used to control the operation of the motors 52 according to the target expression parameters, and the motors 52 convert the rotational motion into tightening and releasing of the traction rope 31 through the transmission mechanism 53; the multiple motors 52 are electrically connected to the controller 51 respectively, and the controller 51 is used to coordinate the action of each motor 52 to control the corresponding traction mechanism 3 to perform cooperative traction.

[0052] like Figure 2 As shown, the biomimetic elastomer module 1 adopts a multi-layer structure, consisting of a skin layer 13 and a strain layer 12 from the outside to the inside, with the strain layer 12 connected to the skin layer 13. A biomimetic reinforcing fiber network is embedded within the strain layer 12. The distal end of the traction rope 31 is fixed within the strain layer 12 of the target area 4 of the nose. The orientation of the biomimetic reinforcing fiber network is strictly designed to mimic the anatomical orientation of the depressor supercilii, nasalis, and transverse nasalis muscles of the human nose, enabling better guidance of complex deformation. The orientation of the biomimetic reinforcing fiber network is consistent with the anatomical orientation of the muscles related to nasal wrinkles, facilitating the formation of realistic wrinkles.

[0053] The traction rope 31 can be made of high-strength fiber rope or flexible nylon rope.

[0054] In the nasal root region, the deformation-guided constraint structure 6 consists of two longitudinally arranged constraint slots 61, symmetrically arranged on both sides along the nasal midline. These constraint slots 61 are fixed to the supporting structure, and multiple sliders 62 are provided on the inner side of the strain layer 12 of the biomimetic elastomer module 1 for sliding engagement. Its core mechanical function is to strictly limit the free displacement of the skin material at this location in the lateral (left-right direction), but allow it to slide longitudinally (up-down direction).

[0055] In the nasal dorsum region, the core mechanical function of the deformation-guided constraint structure 6 is to strictly limit the free displacement of the skin material in the longitudinal (vertical) direction, but allow it to slide in the lateral (left-right) direction.

[0056] In the nasal region, the deformation-guided constraint structure 6 consists of two longitudinally inclined constraint slots 61, symmetrically arranged on both sides of the nasal midline. These constraint slots 61 are fixed to the supporting structure, and multiple sliders 62 are provided on the inner side of the strain layer 12 of the biomimetic elastomer module 1 for sliding engagement. Its core mechanical function is to strictly limit the free displacement of the skin material at this location in the lateral (left-right) direction, but allow it to slide at an inclined angle in the longitudinal (up-down) direction, and at an upward angle. The constraint slots adopt a U-shaped cross-section.

[0057] Figure 2 The traction mechanism 3 includes a traction rope 31 and connecting blocks at both ends of the traction rope 31 (not shown in the figure). The two ends of the traction rope 31 are connected to the nose target area and the transmission mechanism 53, respectively.

[0058] The traction mechanism 3 consists of three groups: a first traction mechanism, a second traction mechanism, and a third traction mechanism. The first traction mechanism has a downward vector component in its traction direction, and its traction rope 31 is connected to the target area 41 at the root of the nose. The third traction mechanism has an upward vector component in its traction direction, and its traction rope 31 is connected to the target area 43 in the middle of the nose. The second traction mechanism has a horizontal vector component in its traction direction, and its traction rope 31 is connected to the target area 42 on the bridge of the nose. Each group of traction mechanisms is symmetrically arranged on both sides along the central axis of the nose.

[0059] like Figure 4 As shown, 61a - first constraint slot; 61b - second constraint slot; 61c - third constraint slot. Two 61a-first constraint slots are symmetrically arranged on the left and right, corresponding to the first traction mechanism; two 61b-second constraint slots are symmetrically arranged on the left and right, corresponding to the second traction mechanism; two 61c-third constraint slots are symmetrically arranged on the left and right, corresponding to the third traction mechanism.

[0060] The distal end of the traction rope 31 of the first traction mechanism is connected to the target area 41 of the root of the nose. Its preset traction path direction mainly has a downward vector component, which is used to simulate the contraction of the depressor supercilii muscle and drive the skin of the glabella and the root of the nose to move downward.

[0061] The distal end of the traction rope 31 of the third traction mechanism is connected to the target area 43 in the nose. Its preset traction path direction has an upward (slightly toward the tip of the nose) vector component, which is used to simulate the contraction of the nasal muscles (wings) and drive the nasal wings and the tip of the nose to slightly converge upward and toward the midline.

[0062] The distal end of the traction rope 31 of the second traction mechanism is connected in a cross-connection manner to the left and right nasal bridge target areas 42 respectively. Its preset traction path direction has a lateral (towards the midline of the nasal bridge) vector component, which is used to simulate the contraction of the transverse nasal muscle and drive the skin of the upper part of the nasal bridge to converge towards the midline.

[0063] The controller can independently or in coordination control the contraction and release of each traction mechanism.

[0064] Example 2

[0065] The difference from Example 1 is that the traction mechanism 3 is divided into two groups. The two groups of traction mechanisms are the first traction mechanism (connected to the target area of ​​the root of the nose, pulling downward) and the second traction mechanism (connected to the target area of ​​the bridge of the nose, pulling laterally). The traction timing difference between the first traction mechanism and the second traction mechanism is 100ms. The first traction mechanism starts to pull downward first, and the second traction mechanism starts to move laterally to converge, simulating the coordinated contraction of the depressor supercilii muscle and the transverse nasal muscle.

[0066] Example 3

[0067] The difference from Embodiment 1 is that the traction mechanism 3 is a set, and the traction mechanism is a third traction mechanism. The third traction mechanism is connected to the target area in the nose and is used for oblique upward traction, which can also realize nasal expressions.

[0068] Example 4

[0069] According to another aspect of this application, a corresponding control method is provided. The core of this method lies in establishing a mapping model that includes the properties of biomimetic elastomer materials, the geometric parameters of the deformation-guided constraint structure, and the collaborative relationships of multiple muscles. Through this model, facial expression commands (such as "slight disgust" or "strong dissatisfaction") are solved into low-level, multi-set collaborative control parameters of traction mechanisms (such as displacement, velocity, and timing), thereby achieving precise and programmable reproduction of complex nasal expressions.

[0070] The mapping model is as follows: by experimentally testing the deformation data of different biomimetic elastomer materials (such as silicone) and the spacing of the constraint slots (5-10mm), combined with the biomechanical data of the coordinated contraction of human nasal muscles (such as the contraction timing difference of the depressor supercilii and transverse nasolabial muscles of 50-200ms), a database of deformation parameters and traction mechanism control parameters (motor speed, traction stroke) is established, and a mapping model is formed through polynomial fitting.

[0071] For example, the timing difference is set to 80-150ms, and the nonlinear velocity curve adopts a sinusoidal acceleration curve (acceleration of 0.5-1m / s² in the start-up phase and velocity of 0.1-0.3m / s in the steady phase) to simulate the dynamic process of muscle contraction.

[0072] A method for controlling a robot's wrinkled nose expression, applied to a deformation-guided and constrained bionic nose wrinkle-forming device, includes:

[0073] S1: Receive facial expression commands and parse them to obtain the target deformation parameters of each target area of ​​the nose in multiple directions;

[0074] The controller receives nose wrinkling expression commands such as "slight disgust" and "strong dissatisfaction" sent by the host computer. Based on the preset nose area division rules, it parses the commands into target deformation parameters for the nasal root target area, nasal bridge target area, and nasal middle target area, and clarifies the deformation amplitude requirements of each area in the horizontal, vertical, and front-back directions, forming quantifiable deformation control indicators.

[0075] S2: Based on the pre-established mapping model that includes the nonlinear characteristics of the biomimetic elastomer module material, the geometric parameters of the deformation-guided constraint structure, and the muscle synergy relationship, the target deformation parameters are converted into the target control parameters of the traction mechanism; the traction mechanism in this step refers to multiple traction mechanisms.

[0076] A pre-established mapping model is invoked, which integrates the nonlinear characteristics of biomimetic elastomer materials, the geometric parameters of deformation-guided constraint slots, and biomechanical data of coordinated contraction of human nasal muscles (including muscle contraction timing differences of 50-200ms). Using the model's polynomial fitting algorithm, the target deformation parameters of each region are converted into the corresponding target control parameters of the traction mechanism, including traction stroke, motor operating speed, and timing intervals, while also reserving for elastomer rebound compensation.

[0077] S3: Control and drive module, which drives each traction mechanism to perform coordinated traction with specific timing and force according to the target control parameters;

[0078] The controller sends control signals to the drive modules of each traction mechanism according to the target control parameters, and starts the traction mechanisms in different areas at set time intervals. By adjusting the drive current, the traction force is controlled, driving the traction rope to move the biomimetic elastomer module. During the movement, the dynamic characteristics of human muscle contraction are simulated to ensure that the coordinated action of each mechanism is smooth.

[0079] S4: Under the synergistic guidance of the multi-directional traction force of the traction mechanism and the deformation guiding constraint structure, the target area of ​​the nose of the bionic elastomer module undergoes a composite deformation, forming a natural and realistic wrinkled nose expression; the traction mechanism in this step refers to multiple sets.

[0080] The multi-directional traction force applied by multiple traction mechanisms, in conjunction with the limiting effect of the constraint slot, guides the target area of ​​the nose of the bionic elastomer module to produce a complex deformation, ultimately presenting a natural and realistic wrinkled nose expression that matches the command.

[0081] S5: After the expression continues for a preset time, the control drive module releases the tension of each traction mechanism, and the bionic elastomer module automatically resets itself based on its own elasticity and the restoring force of the internal fiber network.

[0082] After the wrinkled nose expression is maintained for a preset duration (0.5-3 seconds, adjustable via a host computer), the controller sends a reset signal. The drive module then drives the traction mechanism in the reverse direction, gradually releasing the tension. The biomimetic elastomer module, relying on the elasticity of its material and the restoring force of its built-in fiber network, automatically returns to its initial shape under the guidance of the constraint slot. The controller then resets the control parameters for this operation, awaiting the next expression command input.

[0083] Example 5

[0084] According to another aspect of this application, a robot is provided, including a head body and a robot bionic nose wrinkle forming device, the device being fixed to the nose position of the head body for simulating nose wrinkle expressions in human-computer interaction.

[0085] Working principle and simulated deformation process:

[0086] 1. Expression trigger: Based on the "wrinkle nose" command, the controller analyzes the deformation parameters of each target area and calculates the target stroke and coordination sequence of each traction mechanism through the mapping model.

[0087] 2. Multi-directional traction input: The drive module synchronously or in a specific timing sequence drives three sets of traction mechanisms. The first traction mechanism pulls down the skin at the root of the nose; the third traction mechanism lifts the skin in the middle of the nose diagonally upward; and the second traction mechanism pulls the skin on the bridge of the nose laterally towards the midline.

[0088] 3. Constraint guidance and wrinkle shaping:

[0089] The formation of transverse wrinkles at the root of the nose: When the skin at the root of the nose is pulled downward, the restraint groove prevents it from expanding to the sides. It is forced to undergo compressive flexing in the area adjacent to the restraint groove, thus raising upward to form a clear transverse wrinkle, accurately simulating "nasal root wrinkles".

[0090] Formation of longitudinal wrinkles on the bridge of the nose: When the skin on the bridge of the nose is compressed and gathered laterally, it undergoes compressive bending along the longitudinal direction, thus raising upward to form one or two longitudinal wrinkles, simulating the "river-shaped lines" caused by compression on the bridge of the nose.

[0091] Complex expression completed: The nasal region is lifted diagonally upwards, and the deformation of the above three regions, in coordination with the biomimetic reinforced fiber network, merges into a natural, coordinated, and anatomically consistent complete wrinkled nose expression.

[0092] 4. Expression Reset: After the expression command is completed, the controller reverses all motors to release the traction. The biomimetic elastomer module automatically returns to a flat state thanks to its own material elasticity and the restoring force of its internal fiber network, and the wrinkles disappear smoothly.

[0093] The key to this embodiment lies in creatively applying the general principle of "deformation-guided constraint" to the nose, a region with complex multi-directional wrinkle characteristics. By setting constraints in different directions in different zones, the simple multi-directional traction force input is decoupled and reconstructed into a biomechanically sound and highly controllable multi-directional wrinkle output, achieving a paradigm shift from "driving displacement" to "guiding deformation".

[0094] The nasal support structure can also be pre-programmed with biomimetic channels that match each traction path. Traction ropes are threaded through these channels, which are made of a low-friction material (such as PTFE). The biomimetic channels not only serve to guide and reduce friction, but their spatial orientation also precisely replicates the contraction direction of the corresponding muscles (e.g., the transverse nasal muscle channel is horizontal and inward), thereby enhancing the realism of the biomechanical simulation at the physical level.

[0095] In several embodiments of this application, by introducing a deformation-guided constraint structure and deeply coordinating it with multiple sets of bionic muscle traction and bionic fiber networks, the fundamental problems of stiff facial expressions, uncontrollable wrinkles, and distorted mechanisms in bionic robots are successfully solved. This solution has high realism and a simple and reliable structure, and together with forehead and glabellar wrinkle simulation devices, it constitutes a complete and innovative bionic robot facial expression system.

[0096] The described embodiments are merely preferred embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A robot nose wrinkle formation device based on deformation-guided constraints, used to simulate surface changes in the nose region, characterized in that, include: A biomimetic elastomer module (1) is adapted and fixed to the nose support structure (2) of the robot's face; At least one traction mechanism (3), each traction mechanism including a flexible traction rope (31), the distal end of which is connected to the nose target area (4) of the bionic elastomer module (1); The drive module (5) is connected to the proximal end of the traction mechanism (3) and is used to independently control the pulling and releasing of the traction ropes (31) of each traction mechanism (3); the drive module (5) applies traction force to the traction mechanism to cause deformation of the nose target area to form wrinkles. Deformation-guided constraint structure (6) is fixedly installed on the nose bearing structure (2); The deformation-guided constraint structure (6) includes a constraint slot (61) fixed to the nose support structure (2). The inner side of the strain layer (12) of the biomimetic elastomer module (1) is provided with a slider (62) that corresponds to and cooperates with the constraint slot, and the slider is connected to the strain layer of the biomimetic elastomer module. The drive module (5) applies traction force to the traction mechanism (3) to cause deformation of the nose target area (4). At the same time, the constraint slot (61) restricts the slider (62) from moving along its axis to guide and constrain the deformation of the bionic elastomer module (1), thereby generating wrinkles with a preset direction on the skin layer (13) of the bionic elastomer module (1).

2. The apparatus according to claim 1, characterized in that, The strain layer (12) of the biomimetic elastomer module (1) is also connected to the skin layer (13); the strain layer (12) is embedded with a biomimetic reinforcing fiber network, and the distal end of the traction rope (31) is fixed in the strain layer (12) of the target area of ​​the nose (4); the orientation of the biomimetic reinforcing fiber network matches the anatomical orientation of the muscles related to the wrinkles of the nose.

3. The apparatus according to claim 1, characterized in that, The traction rope (31) is one or more of the following: high-strength fiber rope, flexible nylon rope, or flexible webbing.

4. The apparatus according to claim 1, characterized in that, The drive module (5) includes: a controller (51), multiple motors (52) and multiple transmission mechanisms (53); the controller (51) is used to control the operation of the motors (52) according to the target expression parameters, and the motors (52) convert the rotational motion into tightening and releasing of the traction rope (31) through the transmission mechanism (53); the multiple motors (52) are electrically connected to the controller (51) respectively, and the controller (51) is used to coordinate the actions of each motor (52) to control the corresponding traction mechanism (3) to perform cooperative traction.

5. The apparatus according to claim 1, characterized in that, The target area (4) of the nose includes: the root of the nose target area (41), the dorsum of the nose target area (42), and the middle of the nose target area (43); the root of the nose target area (41) is used to simulate the downward traction force of the depressor supercilii muscle, the dorsum of the nose target area (42) is used to simulate the lateral convergence traction force of the transverse nasal muscle, and the middle of the nose target area (43) is used to simulate the oblique upward traction force of the nasal muscle; the traction ropes (31) of at least two sets of the traction mechanism (3) are respectively connected to two or more different areas of the root of the nose target area (41), the dorsum of the nose target area (42), and the middle of the nose target area (43).

6. The apparatus according to claim 5, characterized in that, The traction mechanism (3) consists of three groups: a first traction mechanism, a second traction mechanism, and a third traction mechanism. The first traction mechanism has a downward vector component in its traction direction, and its traction rope (31) is connected to the nasal root target area (41). The third traction mechanism has an upward vector component in its traction direction, and its traction rope (31) is connected to the nasal middle target area (43). The second traction mechanism has a horizontal vector component in its traction direction, and its traction rope (31) is connected to the nasal bridge target area (42).

7. A method for controlling a robot's wrinkled nose expression, applied to the robot nose wrinkle-forming device based on deformation-guided constraints as described in any one of claims 1-6, characterized in that, include: S1: Receive facial expression commands and parse them to obtain the target deformation parameters of each target area of ​​the nose in multiple directions; S2: Based on a pre-established mapping model that includes the nonlinear characteristics of the biomimetic elastomer module material, the geometric parameters of the deformation-guided constraint structure, and the muscle synergy relationship, the target deformation parameters are converted into the target control parameters of the traction mechanism. S3: Control the drive module to drive the traction mechanism to perform coordinated traction with specific timing and force according to the target control parameters; S4: Under the combined guidance of the multi-directional traction force of the traction mechanism and the deformation guiding constraint structure, the target area of ​​the nose of the bionic elastomer module undergoes a composite deformation, forming a natural and realistic wrinkled nose expression. S5: After the expression has been maintained for a preset time, the drive module is controlled to release the tension of each traction mechanism, and the bionic elastomer module automatically resets itself based on its own elasticity and the restoring force of the internal fiber network.

8. A robot, characterized in that, The invention includes a head body and a robot nose wrinkle-forming device based on deformation-guided constraints as described in any one of claims 1-6, wherein the device is fixed to the nose position of the head body for simulating nose wrinkle expressions in human-computer interaction.

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