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

Abstract

The application provides a robot nose wrinkle forming device and control method based on deformation guiding constraint, comprising: a bionic elastomer module is fixed on a nose bearing structure; a traction rope far end is connected with a nose target area of the bionic elastomer module; a driving module is connected with a near end of a traction mechanism, used for independently controlling traction and release of the traction rope of each group of traction mechanisms; the driving module drives the nose target area to deform and form a wrinkle by applying a traction force to the traction mechanism; a deformation guiding constraint structure is fixedly arranged on the nose bearing structure; when the bionic elastomer module deforms and moves, the deformation guiding constraint structure guides the skin layer of the bionic elastomer module to produce a wrinkle. The application realizes high-fidelity complex nose expression simulation through a simple under-actuated structure, and solves the technical problems of traditional schemes, such as stiff expression, mechanism distortion and inability to simulate delicate wrinkle nose movements.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bionic robots, in particular to a robot nose wrinkle forming device based on deformation guiding constraint and a control method. BACKGROUND

[0002] The wrinkled nose expression is a key micro-expression when humans and many animals express disgust, dissatisfaction, concentration or sniffing. This expression is mainly achieved by the coordinated contraction of the nose and surrounding muscle groups (such as the procerus, nasal muscle, and nasal transverse muscle), resulting in characteristic longitudinal, transverse, and diagonal compound wrinkles on the skin of the nasal bridge, nasal root, and alae nasi.

[0003] Currently, the facial expression simulation of bionic robots mainly focuses on the mouth and eyes, and the attention and realization degree of the nose expression, especially the delicate "wrinkled nose" action, is low. The existing technical solutions mainly have the following limitations:

[0004] 1. Driving dominant, mechanism distortion: Many use micro-linkages and servos to directly push the hard structure of the nose, which can only achieve the simple opening and closing of the alae nasi or the overall displacement of the nasal bridge, and cannot reproduce the natural and nonlinear wrinkles of the skin soft tissue under the coordinated action of multiple muscles and multidirectional pulling.

[0005] 2. Insufficient simulation: To achieve simple nose movements, existing technologies often require many driving units, resulting in complex structures, large space occupation, and easy movement interference.

[0006] 3. Wrinkle uncontrollable: Existing solutions cannot actively guide the skin to produce wrinkles with specific directions and positions that meet anatomical characteristics, and the deformation is random, which seriously affects the realism of emotional communication in human-computer interaction.

[0007] In summary, there is an urgent need for a bionic solution that is compact in structure, fast in response, high in simulation, and can accurately simulate the complex skin deformation and muscle coordination mechanism when humans wrinkle their noses. SUMMARY

[0008] The present application aims to solve at least one problem in the background art and provides a robot bionic nose expression simulation scheme based on the combination of "multi-directional pulling input" and "fixed deformation guiding constraint". The core idea is not only to simulate the coordinated contraction force of multiple muscles (procerus, nasal muscle, and nasal transverse muscle), but also to introduce a "deformation guiding constraint structure" fixed on the nasal bone structure. This structure acts as a static "mechanical mold" that actively intervenes in the flow and bending direction of the skin material when multiple pulling mechanisms apply multidirectional tension, thereby converting the multidirectional mechanical input into precise multidirectional skin wrinkle output that meets the laws of biomechanics.

[0009] To achieve the above object, the application provides a robot bionic nose wrinkle forming device based on deformation guiding constraint, which is used for simulating expression deformation of a nose region and comprises a bionic elastic body module, which is fixedly fitted on a nose bearing structure of a robot face.

[0010] At least one set of traction mechanisms, each set of traction mechanisms comprising a flexible traction rope, a distal end of the traction rope being connected with a nose target region of the bionic elastic body module.

[0011] A driving module, which is connected with proximal ends of the traction mechanisms and is used for independently controlling traction and release of the traction ropes of each set of traction mechanisms, applies traction force to the traction mechanisms to drive the nose target region to deform and form wrinkles.

[0012] A deformation guiding constraint structure, which is fixedly arranged on the nose bearing structure, a slider of the deformation guiding constraint structure being connected with a strain layer of the bionic elastic body module, the bionic elastic body module being guided by the deformation guiding constraint structure to drive a skin layer of the bionic elastic body module to generate one or more transverse, longitudinal or composite wrinkles when deforming.

[0013] Preferably, the deformation guiding constraint structure comprises a constraint slot fixed on the nose bearing structure, and the strain layer of the bionic elastic body module is provided with a slider corresponding to the constraint slot and connected with the strain layer of the bionic elastic body module.

[0014] The constraint slot limits movement of the slider in an axial direction of the constraint slot to drive the strain layer at a connection part of the slider to displace, force regions not strictly constrained to concentrate and protrude outward of the skin, and form nose wrinkle deformation with a preset direction.

[0015] Preferably, the strain layer of the bionic elastic body module is further connected with the skin layer, the strain layer is embedded with a bionic reinforcing fiber network, a distal end of the traction rope is fixed in the strain layer of the nose target region and is interwoven or fixedly connected with the bionic reinforcing fiber network, the traction force is transmitted through a guiding effect of the fiber network, and a direction of the bionic reinforcing fiber network matches an anatomical direction of a wrinkle nose related muscle of the nose.

[0016] Preferably, the traction rope is one or a combination of high-strength fiber ropes, flexible nylon ropes or flexible woven belts.

[0017] Preferably, the driving module comprises a controller, a plurality of motors and a plurality of transmission mechanisms; the controller is configured to control the operation of the motors according to target expression parameters, the motors convert the rotary motion into tightening and releasing of the traction ropes through the transmission mechanisms; the plurality of motors are electrically connected to the controller respectively, and the controller is configured to coordinate the actions of the motors to control the corresponding traction mechanisms to perform coordinated traction.

[0018] Preferably, the nose target region comprises a nasal root target area, a nasal back target area and a nasal middle target area; the nasal root target area is configured to simulate downward traction force of the procerus muscle, the nasal back target area is configured to simulate lateral gathering traction force of the nasalis muscle, and the nasal middle target area is configured to simulate oblique upward traction force of the nasalis muscle; the traction ropes of at least two groups of the traction mechanisms are connected to different two or more areas in the nasal root target area, the nasal back target area and the nasal middle target area respectively.

[0019] Preferably, the traction mechanisms are three groups, namely a first traction mechanism, a second traction mechanism and a third traction mechanism; the traction direction of the first traction mechanism has a downward vector component, and the traction rope of the first traction mechanism is connected to the nasal root target area; the traction direction of the third traction mechanism has an oblique upward vector component, and the traction rope of the third traction mechanism is connected to the nasal middle target area; the traction direction of the second traction mechanism has a lateral vector component, and the traction rope of the second traction mechanism is connected to the nasal back target area.

[0020] According to another aspect of the present application, a corresponding control method is provided. The core of the method is to establish a mapping model containing the characteristics of the bionic elastic body material, the geometric parameters of the deformation guiding constraint structure and the muscle coordination relationship, to provide a robot wrinkled nose expression control method, which is applied to a bionic nose wrinkle forming device of the deformation guiding constraint robot, and the method comprises the following steps:

[0021] S1: receiving an expression instruction and analyzing to obtain target deformation parameters of each target area of the nose in multiple directions;

[0022] S2: converting the target deformation parameters into target control parameters of the traction mechanisms according to a pre-established mapping model containing the nonlinear characteristics of the bionic elastic body module material, the geometric parameters of the deformation guiding constraint structure and the muscle coordination relationship;

[0023] S3: controlling the driving 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 coordinated guidance of the multi-directional traction force of the traction mechanisms and the deformation guiding constraint structure, the nose target region of the bionic elastic body module produces composite deformation to form a natural and realistic wrinkled nose expression;

[0025] S5: After the expression lasts for a preset time, the driving module is controlled to release the pulling force of each traction mechanism, and the bionic elastic body module is automatically reset by relying on its elasticity and the restoring force of the internal fiber network.

[0026] According to another aspect of the present application, a robot is provided, comprising a head body and a robot bionic nose wrinkle forming device fixed to the nose position of the head body for realizing simulation of a wrinkled nose expression in human-computer interaction.

[0027] The present application has the beneficial effect that, compared with the prior art, the number of driving units is reduced, the structure volume is reduced, and the accuracy of the wrinkle direction is ≥ 90% (consistent with the wrinkle direction of the wrinkled nose expression of the human body verified by image comparison).

[0028] 1. Principle innovation: The bionic expression simulation is upgraded from simple "driven displacement" to the level of combination of "multi-directional mechanical input" and "fixed geometric constraint guidance", which is closer to the real biological mechanical process.

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

[0030] 3. Simple and controllable structure: Through the ingenious deformation guiding and constraining design, high-dimensional expression output is realized with fewer driving units, the wrinkle shape is actively controllable, and the system has high reliability. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 A structure schematic diagram of a robot nose wrinkle forming device based on deformation guiding and constraining according to an embodiment of the present application;

[0032] Figure 2 A structure schematic diagram of a bionic elastic body module according to an embodiment of the present application;

[0033] Figure 3 A connection structure schematic diagram of a driving module and a traction mechanism according to an embodiment of the present application;

[0034] Figure 4 A schematic diagram of a constraint slot at the nose position according to an embodiment of the present application;

[0035] Figure 5 A schematic diagram of a deformation guiding and constraining structure (horizontal constraint slot) according to an embodiment of the present application;

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

[0037] Explanation of reference signs: 1-bionic elastomer module; 12-strain layer; 13-skin layer; 2-nose bearing structure; 3-pulling mechanism; 31-pulling rope; 4-nose target area; 41-nasal root target area; 42-nasal dorsum target area; 43-nasal middle target area; 5-driving module; 51-controller; 52-motor; 53-transmission mechanism; 6-shape deformation guiding constraint structure; 61-constraint slot; 61a-first constraint slot; 61b-second constraint slot; 61c-third constraint slot; 62-sliding block. DETAILED DESCRIPTION

[0038] The technical solutions in the present application will be described clearly and completely below in combination with the drawings in the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. The components of the present application described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0039] It should be noted that the terms “comprising” and “having” and any variations of them in the specification and claims of the present application are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0040] In the present application, the positions or location relationships indicated by the terms “upper”, “front”, “rear”, “inner”, “outer” and the like are based on the positions or location relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific position, or to be constructed and operated in a specific position.

[0041] In addition, in addition to indicating the position or location relationship, the above-mentioned part of the terms can also be used to indicate other meanings, for example, the term “upper” can also be used to indicate a certain attachment relationship or connection relationship in some cases. Those skilled in the art can understand the specific meaning of these terms in the present application according to the specific situation.

[0042] In addition, the terms "mounting", "provided with", "connected" should be interpreted broadly. For example, it can be fixed connection, detachable connection, or integral structure; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium, or internal communication between two devices, elements or components. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0043] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the protection scope of the present application, which will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0044] Embodiment 1

[0045] The present embodiment discloses a robot bionic nose wrinkle forming device based on deformation guiding constraint, which is used to simulate the expression deformation of the nose area, and is used to accurately simulate the human wrinkle nose expression. The core design idea of the device is to combine the biomechanical principle of "multiple muscle coordinated traction" with the mechanical innovative principle of "fixed constraint guiding deformation". The robot bionic nose wrinkle forming device comprises a bionic elastic body module 1 which is fixedly fitted on a nose bearing structure of a robot face; the nose bearing structure is a rigid support skeleton made of ABS plastic, and the shape matches the contour of human nose skeleton.

[0046] The present embodiment 1 is a three-group traction mechanism, and the traction mechanism 3 comprises a flexible traction rope 31, and the distal end of the traction rope 31 is connected with a nose target area 4 of the bionic elastic body module 1. Figure 1 As shown in the figure, the nose target area comprises a nose root target area 41, a nose back target area 42 and a nose middle target area 43; the nose root target area 41 is used to simulate downward traction force of the procerus muscle, the nose back target area 42 is used to simulate lateral gathering traction force of the nasalis muscle, and the nose middle target area 43 is used to simulate oblique upward traction force of the nasalis muscle; the traction rope 31 of each traction mechanism is connected with the nose root target area 41, the nose back target area 42 and the nose middle target area 43 respectively.

[0047] A deformation guiding constraint structure 6 is fixedly arranged on the nose bearing structure; as shown in the figures, the deformation guiding constraint structure 6 is composed of a constraint clamping groove 61 and a plurality of sliding blocks 62, the plurality of sliding blocks 62 are fitted in the constraint clamping groove 61 and can slide along the axial direction of the constraint clamping groove 61. The sliding block 62 is connected with a strain layer of the bionic elastic body module 1, and when the bionic elastic body module 1 deforms, the deformation guiding constraint structure 6 guides the skin layer 13 of the bionic elastic body module 1 to produce one or more transverse, longitudinal or composite wrinkles. Figure 4 Figure 5 As shown in the figures, the deformation guiding constraint structure 6 is composed of a constraint clamping groove 61 and a plurality of sliding blocks 62, the plurality of sliding blocks 62 are fitted in the constraint clamping groove 61 and can slide along the axial direction of the constraint clamping groove 61. The sliding block 62 is connected with a strain layer of the bionic elastic body module 1, and when the bionic elastic body module 1 deforms, the deformation guiding constraint structure 6 guides the skin layer 13 of the bionic elastic body module 1 to produce one or more transverse, longitudinal or composite 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 with the target area 43 in the middle of the nose, and the preset traction path direction has a vector component of oblique upward (slightly toward the tip of the nose), which is used to simulate the contraction of the nasal muscle (wing) to drive the nasal ala and the tip of the nose to slightly converge upward and toward the middle line.

[0062] The distal end of the traction rope 31 of the second traction mechanism is connected with the target areas 42 on the left and right back of the nose in a cross connection manner, and the preset traction path direction has a vector component of horizontal (toward the middle line of the nose bridge), which is used to simulate the contraction of the nasal transverse muscle to drive the skin on the upper part of the nose bridge to converge toward the middle line.

[0063] The controller can independently or coordinately control the contraction and release of each group of traction mechanisms.

[0064] Embodiment 2

[0065] The difference from embodiment 1 is that the traction mechanism 3 is divided into two groups, and the two groups of traction mechanisms are respectively a first traction mechanism (connected with the target area at the root of the nose, and pulled downward) and a second traction mechanism (connected with the target area on the back of the nose, and pulled horizontally); the time sequence difference of the first traction mechanism and the second traction mechanism is 100 ms, the first traction mechanism is started to pull down first, and the second traction mechanism is started to converge horizontally, which simulates the synergistic contraction of the procerus muscle and the nasal transverse muscle.

[0066] Embodiment 3

[0067] The difference from embodiment 1 is that the traction mechanism 3 is adopted in one group, and the traction mechanism is a third traction mechanism connected with the target area in the middle of the nose for oblique upward traction, which can also realize the expression of the nose.

[0068] Embodiment 4

[0069] According to another aspect of the present application, a corresponding control method is provided. The core of the method is to establish a mapping model containing the characteristics of the bionic elastic body material, the geometric parameters of the deformation guiding constraint structure, and the synergistic relationship of multiple muscles. Through the model, the expression instructions (such as “slight disgust” and “strong dissatisfaction”) are calculated into the synergistic control parameters (such as displacement, speed, and time sequence) of the low-level multiple traction mechanisms, so as to realize the accurate and programmable reproduction of the complex nose expression.

[0070] The mapping model is: through experimental testing of the deformation data of different bionic elastic body materials (such as silica gel) and constraint slot spacings (5-10 mm), combined with the biomechanical data of the synergistic contraction of the human nose muscles (such as the contraction time sequence difference of the procerus muscle and the nasal transverse muscle 50-200 ms), a database of deformation parameters and traction mechanism control parameters (motor speed and traction stroke) is established, and a mapping model is formed through polynomial fitting.

[0071] For example, the time difference is set to 80-150 ms, the non-linear speed curve adopts a sine acceleration curve (0.5-1 m / s² acceleration in the starting stage, 0.1-0.3 m / s speed in the stable stage), and the dynamic process of muscle contraction is simulated.

[0072] A robot wrinkled nose expression control method applied to a deformation guiding and constraining robot bionic nose wrinkle forming device, comprising:

[0073] S1: receiving an expression instruction, and analyzing to obtain target deformation parameters of each target region of the nose in multiple directions;

[0074] The controller receives the "slight disgust" "strong dissatisfaction" and other wrinkled nose expression instructions sent by the upper computer, and based on the preset nose region division rule, analyzes the target deformation parameters of the nose root target region, the nose back target region and the nose middle target region, and clearly defines the deformation amplitude requirements of each region in the horizontal, vertical and front-back directions, to form quantifiable deformation control indicators.

[0075] S2: According to the mapping model containing the nonlinear characteristics of the bionic elastomer module material, the geometric parameters of the deformation guiding and constraining structure, and the muscle synergistic relationship, the target deformation parameters are converted into target control parameters of the traction mechanism; the traction mechanism in this step refers to multiple groups of traction mechanisms;

[0076] The pre-established mapping model is called, which integrates the nonlinear characteristics of the bionic elastomer material, the geometric parameters of the deformation guiding and constraining slot, and the biomechanical data of human nose muscle synergistic contraction (including muscle contraction time difference 50-200 ms). Through the polynomial fitting algorithm of the model, the target deformation parameters of each region are converted into target control parameters of the corresponding traction mechanism, including traction stroke, motor running speed and time interval, and an elastomer rebound compensation amount is reserved.

[0077] S3: Control the driving module to drive each traction mechanism to have a specific timing and force of synergistic traction;

[0078] The controller sends control signals to the driving modules of each traction mechanism according to the target control parameters, starts the traction mechanisms of different regions according to the set timing interval, controls the traction force by adjusting the driving current, and drives the bionic elastomer module to move. The dynamic characteristics of human muscle contraction are simulated during the movement process to ensure that each mechanism acts synergistically without jamming.

[0079] S4: Under the synergistic guidance of the multi-directional traction force of the traction mechanism and the deformation guiding and constraining structure, the target regions of the bionic elastomer module's nose produce composite deformation, forming a natural and realistic wrinkled nose expression; the traction mechanism in this step refers to multiple groups;

[0080] The multi-directional traction force applied by the multiple sets of traction mechanisms cooperates with the limiting effect of the constraint grooves to guide the complex deformation of the nose target region of the bionic elastic body module, and finally presents a natural and realistic wrinkle nose expression that matches the instruction.

[0081] S5: After the expression lasts for a preset time, the control driving module releases the pulling force of each traction mechanism, and the bionic elastic body module automatically resets relying on the elasticity of the bionic elastic body module and the restoring force of the internal fiber network.

[0082] After the wrinkle nose expression lasts for a preset time (0.5-3s, which can be adjusted by the upper computer), the controller sends a reset signal, the driving module drives the traction mechanism to operate reversely, and gradually releases the pulling force. The bionic elastic body module automatically recovers to the initial form relying on the elasticity of the bionic elastic body module and the restoring force of the internal fiber network under the guidance of the constraint grooves, the controller clears the control parameters of this time, and waits for the next expression instruction input.

[0083] Embodiment 5

[0084] According to another aspect of the present application, a robot is provided, comprising a head body and a robot bionic nose wrinkle forming device, the device is fixed at the nose position of the head body, and is used for realizing the simulation of a wrinkle nose expression in human-computer interaction.

[0085] Working principle and pseudo deformation process:

[0086] 1. Expression triggering: the controller analyzes the deformation parameters of each target region according to the “wrinkle nose” instruction, and calculates the target stroke and coordination time sequence of each set of traction mechanisms through a mapping model.

[0087] 2. Multi-directional traction input: the driving module synchronously or according to a specific time sequence drives the three sets of traction mechanisms. The first traction mechanism pulls down the skin of the nose root; the third traction mechanism obliquely pulls up the skin of the middle nose; and the second traction mechanism pulls the skin of the nose back transversely.

[0088] 3. Constraint guidance and wrinkle forming:

[0089] Nose root transverse wrinkle formation: when the skin of the nose root is pulled downward, due to the action of the constraint grooves, it is prohibited from expanding to both sides, and is forced to occur compressive flexure in the adjacent region of the constraint grooves in the transverse direction, so as to form a clear transverse wrinkle upward, which accurately simulates the “nose root wrinkle”.

[0090] Nose back longitudinal wrinkle formation: when the skin of the nose back is transversely extruded and gathered, it occurs compressive flexure in the longitudinal direction, so as to form one or two longitudinal wrinkles upward, which simulates the extension of the “river character wrinkle” generated by the extrusion of the nose bridge.

[0091] Composite expression completion: oblique upward pulling in the middle of the nose area, the deformation of the above three areas is fused into a natural, linked, and complete wrinkle-nose expression that conforms to the anatomical characteristics under the synergy of the biomimetic enhanced fiber network.

[0092] 4. Expression reset: after the expression instruction is completed, the controller controls all motors to reverse and release the traction force. The biomimetic elastomer module automatically recovers to a flat state and the wrinkles disappear smoothly due to its own material elasticity and internal fiber network restoring force.

[0093] The key of the embodiment is to creatively apply the general principle of "deformation guiding constraint" to the nose area which has complex multi-directional wrinkle characteristics. By setting different direction constraints in different zones, simple multi-directional traction force input is decoupled and reconstructed into highly controllable multi-directional wrinkle output that conforms to biomechanics, realizing the paradigm shift from "driven displacement" to "guided deformation".

[0094] The nose bearing structure can also have biomimetic channels inside that match the traction paths. The traction ropes are arranged in these channels, and the channels are made of low-friction materials such as PTFE. The biomimetic channels not only serve as guides and reduce friction, but their spatial orientation also accurately replicates the contraction direction of the corresponding muscles (such as the horizontal inward direction of the nasalis muscle channel), thereby physically enhancing the authenticity of the biomechanics simulation.

[0095] In the multiple embodiments of the present application, by introducing the deformation guiding constraint structure and making it deeply synergize with multiple groups of biomimetic muscle traction and biomimetic fiber network, the fundamental problems of rigid expression, uncontrollable wrinkles, and mechanism distortion of the biomimetic robot nose are successfully solved. The proposed scheme has high fidelity and simple and reliable structure, and together with the forehead and glabella wrinkle simulation device, it constitutes a complete and innovative biomimetic robot facial expression system.

[0096] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Those skilled in the art can make various modifications and changes to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present 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 axial direction 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). The target area of ​​the nose (4) 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); 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).

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. A method for controlling a robot's nose wrinkle expression, applied to the robot nose wrinkle-forming device based on deformation-guided constraints as described in any one of claims 1-4, 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.

6. 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 1-4, 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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