Bionic touch sensing device, touch finger, bionic hand and bionic robot

Abstract

The invention discloses a bionic touch sensing device, and a touch finger, a bionic hand and a bionic robot applying the bionic touch sensing device, the bionic touch sensing device comprises phalanges, an elastic epidermis and a sensing module, the elastic epidermis is connected with the phalanges in a sleeving manner, and an accommodating cavity is formed between the elastic epidermis and the phalanges; the sensing module is arranged in the containing cavity and comprises a magnetic tactile sensor and a signal acquisition unit electrically connected with the magnetic tactile sensor, the signal acquisition unit is arranged on the side, close to the phalanx, in the containing cavity, and the magnetic tactile sensor is arranged on the side, facing the elastic epidermis, of the signal acquisition unit; the magnetic touch sensor is used for detecting deformation data when the elastic skin makes contact with an external object. According to the bionic touch sensing device, the phalanx and the elastic epidermis are connected in a sleeving mode to form the containing cavity, the signal collecting unit and the magnetic touch sensor are arranged in the containing cavity in a layered mode, and therefore a compact integrated structure of the sensing module is achieved in an extremely small space, and the sensing effect is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of bionic prosthetics, in particular to a bionic touch sensing device, and a tactile finger, a bionic hand and a bionic robot using the same. BACKGROUND

[0002] The bionic touch sensing device is a robot end effector simulating the structure and function of human fingers, which is used to realize the sensing of complex operations such as grasping and touching, and can perceive external environmental information and feedback to the control system, thereby improving the interaction effect of bionic prosthetics and humans or robots.

[0003] However, the existing bionic touch sensing device still has significant defects in the tactile sensing technology. The traditional rigid sensor (such as resistance type, piezoelectric type) is difficult to conform to the flexible skin, is prone to sensing loss due to limited contact area, and is easily affected by finger curvature to produce sensing blind area.

[0004] Therefore, there is an urgent need for a bionic touch sensing device that can improve the touch sensing effect. SUMMARY

[0005] The main purpose of the present application is to provide a bionic touch sensing device, which aims to provide a bionic touch sensing device that can improve the touch sensing effect.

[0006] To achieve the above-mentioned purpose, the present application provides a bionic touch sensing device, comprising: a phalanx; an elastic skin, which is sleeved with the phalanx, and a receiving cavity is formed between the elastic skin and the phalanx; a sensing module arranged in the receiving cavity, the sensing module comprising a magnetic tactile sensor and a signal acquisition unit electrically connected with the magnetic tactile sensor, the signal acquisition unit being arranged on one side of the receiving cavity close to the phalanx, and the magnetic tactile sensor being arranged on one side of the signal acquisition unit facing the elastic skin, the magnetic tactile sensor being used to detect deformation data of the elastic skin when the elastic skin contacts an external object.

[0007] In some embodiments, the elastic skin and the magnetic tactile sensor are provided with a tactile sensation transmission structure, which is used to transmit the deformation of the elastic skin to the magnetic tactile sensor when the elastic skin contacts an external object.

[0008] In some embodiments, the tactile sensation transmission structure comprises a first matching structure arranged on one side of the elastic skin facing the receiving cavity, and a second matching structure arranged on the magnetic tactile sensor, the first matching structure and the second matching structure being in abutment.

[0009] In some embodiments, one of the first and second mating structures is a protruding structure, and the other is a recessed structure into which the protruding structure can extend.

[0010] In some embodiments, the elastic skin is provided with at least one boss on the side thereof facing the accommodating cavity, and the recessed structure is a contact groove formed by recessing the middle of the boss; The protruding structure is a magnetic bump protruding on the magnetic tactile sensor, and the magnetic bump extends into the contact groove and at least contacts one of the bottom wall and the peripheral wall of the contact groove.

[0011] In some embodiments, the number of bosses is a plurality, and the side of the elastic skin facing the accommodating cavity is partially thinned to form a first groove, and the first groove is arranged between any two adjacent bosses.

[0012] In some embodiments, the plurality of bosses includes at least one first boss arranged on one side of the first groove and at least two second bosses arranged on the other side. The two adjacent second bosses are connected as a whole, or the two adjacent second bosses are provided with a second groove.

[0013] Further, the present application provides a tactile finger, which comprises the bionic touch sensing device as described in the foregoing embodiments.

[0014] Further, the present application provides a bionic hand, which comprises a bionic palm and at least one tactile finger as described in the foregoing embodiments connected to the bionic palm.

[0015] Further, the present application provides a bionic robot, which comprises a bionic arm and at least one bionic hand as described in the foregoing embodiments connected to the bionic arm.

[0016] The present application provides a bionic touch sensing device, which forms an accommodating cavity by sleeving a phalanx with an elastic skin, and arranges a signal acquisition unit and a magnetic tactile sensor in layers in the accommodating cavity. The magnetic tactile sensor is arranged close to the side of the elastic skin facing the outside, and the signal acquisition unit is close to the phalanx. Thus, the compact integrated structure of the sensing module is realized in a very small knuckle space. When an external object is gripped or touched, the elastic skin deforms, the magnetic tactile sensor detects deformation data of the deformed elastic skin, and the signal acquisition unit acquires and analyzes the deformation data. The motion or interaction of a bionic palm, a bionic hand or a bionic robot connected to the bionic touch sensing device can be controlled. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 FIG. 1 is a structural schematic diagram of the bionic touch sensing device in an embodiment of the present application. Figure 2 Fig. 1 is a schematic diagram of a structure of a bionic touch sensing device according to an embodiment of the present application; Figure 1 Fig. 2 is a schematic diagram of a structure of the bionic touch sensing device according to an embodiment of the present application in a perspective view; Figure 3 Fig. 3 is a schematic diagram of a structure of the bionic touch sensing device according to an embodiment of the present application in a perspective view; Figure 2 Fig. 4 is a sectional view of A-A in Fig. 3; Figure 4 Fig. 5 is a schematic diagram of a partial structure of the bionic touch sensing device according to an embodiment of the present application; Figure 5 Fig. 6 is a schematic diagram of a structure of an elastic skin of the bionic touch sensing device according to an embodiment of the present application; Figure 6 Fig. 7 is a schematic diagram of a structure of a bionic finger and a bionic hand according to an embodiment of the present application; Figure 7 Fig. 8 is a schematic diagram of a structure of a bionic robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0018] The scheme in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0019] It should be noted that all the directionality indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative position relationship, movement condition, etc. between components in a certain specific posture (as shown in the drawings). If the specific posture changes, the directionality indications also change accordingly.

[0020] It should also be noted that when an element is referred to as being “fixed to” or “set on” another element, it can be directly on the other element or can have a middle element. When an element is referred to as being “connected” to another element, it can be directly connected to the other element or can have a middle element.

[0021] In addition, the description involving “first”, “second”, etc. in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined with “first”, “second” can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it. When the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist and is not within the scope of protection claimed by the present application.

[0022] The present application provides a bionic touch sensing device 100, in a preferred embodiment, referring to Figures 1 to 4 The bionic touch sensing device 100 includes: phalange 1; elastic skin 2, the elastic skin 2 is sleeved with the phalange 1, and the elastic skin 2 and the phalange 1 form a containing cavity 3; sensing module 4, arranged in the containing cavity 3, the sensing module 4 includes a magnetic touch sensor 41 and a signal acquisition unit 42 electrically connected with the magnetic touch sensor 41, the signal acquisition unit 42 is arranged on one side of the containing cavity 3 close to the phalange 1, the magnetic touch sensor 41 is arranged on one side of the signal acquisition unit 42 facing the elastic skin 2, and the magnetic touch sensor 41 is used to detect deformation data when the elastic skin 2 contacts an external object.

[0023] The bionic touch sensing device 100 provided by the present application is applied to a touch finger, a closed containing cavity 3 is formed by sleeving the phalange 1 and the elastic skin 2, a signal acquisition unit 42 (including front-end amplification, filtering, multi-channel ADC and MCU) is rigidly fixed to the inner surface of the phalange 1 in a vertically layered manner in the containing cavity 3, a magnetic touch sensor 41 (which can be a combination of a permanent magnet and a Hall / AMR / TMR three-axis magnetic sensitive chip) is arranged close to one side of the signal acquisition unit 42 facing the elastic skin 2 and keeps a micro gap or a flexible abutment with the inner wall of the elastic skin 2, three-degree-of-freedom relative motion (translation and inclination) of the permanent magnet relative to the magnetic sensitive chip caused by local normal indentation or tangential displacement of the elastic skin 2 under external force is utilized to realize accurate disturbance of the magnetic field vector (intensity, direction and gradient), the disturbance is non-contact converted into multi-axis analog voltage signals by the magnetic sensitive chip, impedance matching, low-noise amplification, anti-aliasing filtering, high-speed synchronous sampling and digitization are completed by the signal acquisition unit 42 close to the magnetic sensitive chip, and finally a complete and high-fidelity sensing link from skin deformation→magnetic field disturbance→multi-dimensional electric signal→real-time digital touch data is constructed in the small space of a single phalange.

[0024] The magnetic touch sensor 41 is essentially a non-contact three-dimensional deformation→magnetic field→electric signal converter, and the basic components include: a micro permanent magnet and a three-axis magnetic sensitive chip (Hall, AMR, GMR or TMR chip). The permanent magnet and the magnetic sensitive chip keep a designed relative position, and the chip detects a stable three-axis reference magnetic field vector B=(Bx, By, Bz).

[0025] Stress deformation stage: When the elastic skin 2 is pressed or sheared by an external object, the permanent magnet moves in three degrees of freedom with the skin: normal pressing→the permanent magnet approaches or moves away from the chip→|B| intensity change (mainly affecting Bz); Longitudinal shear (along the axis of the finger) → permanent magnet translation front and back → Bx or By component change / amplitude change; Transverse shear (left and right side slip) → permanent magnet translation left and right or slight tilt → By or Bx component change and gradient change.

[0026] Signal output stage, three-axis magnetic sensitive chip real-time output three analog voltage: ΔVx∝ΔBx, ΔVy∝ΔBy, ΔVz∝ΔBz, three signals together encode the normal force size, longitudinal shear, transverse shear complete information of the point.

[0027] The working process of the bionic touch sensing device 100 of the embodiment of the application can be briefly described as follows: Reference state: the elastic skin 2 is not subjected to external force, the permanent magnet in the accommodation cavity 3 and the magnetic sensitive chip maintain the designed initial relative position, the three-axis magnetic field vector is stable, the signal acquisition unit 42 completes the power-on self-test, zero point calibration and temperature compensation, and outputs the reference haptic frame; External force loading: the bionic touch sensing device 100 touches the external object, the elastic skin 2 generates local normal pressure (Fn), longitudinal shear force (Fy) and transverse shear force (Fz), and causes three-dimensional deformation; Deformation and magnetic field coupling: the magnetic haptic sensor 41 close to the inner surface of the elastic skin 2 generates three-degree-of-freedom relative displacement / tilt synchronously with the deformation, causing the magnetic flux density and its gradient at the position of the magnetic sensitive chip to change in real time; Multi-dimensional signal generation and nearby acquisition: the magnetic sensitive chip outputs three-axis analog voltage signals proportional to ΔB in real time, which can be transmitted to the low-noise instrument amplifier, programmable gain amplifier, anti-aliasing filter and 16 / 18 bit Σ-Δ ADC of the lower signal acquisition unit 42 through the interconnection data line for synchronous multi-channel sampling and digitization; Data fusion and uplink transmission: after the MCU built-in the signal acquisition unit 42 completes the crosstalk compensation between channels, temperature drift correction, baseline subtraction and preliminary three-dimensional force decoupling, the high-frequency haptic data frame is uploaded in real time to the palm or upper controller through the SPI / I2C / CAN-FD bus; Closed-loop control response: the control system executes the grip force closed-loop adjustment, slip feedforward compensation, posture adaptive adjustment or advanced interaction strategy according to the received distributed touch information.

[0028] The magnetic haptic sensor 41 converts the small three-dimensional deformation of the elastic skin into the three-dimensional relative motion of the permanent magnet relative to the magnetic sensitive chip, and then converts it into the real-time change of the three-axis magnetic field vector, so as to realize the haptic perception of high sensitivity, multi-dimensional force and long service life in a completely non-contact manner - so that the haptic perception effect of the bionic flexible finger proposed in the application is better than that of the traditional piezoresistance / capacitance / piezoelectric sensor.

[0029] In summary, the application provides a bionic touch sensing device 100. The phalanx 1 and the elastic skin 2 are sleeved to form a containing cavity 3. The signal acquisition unit 42 and the magnetic tactile sensor 41 are arranged in layers in the containing cavity 3. The magnetic tactile sensor 41 is arranged to be close to the outside of the elastic skin 2. The signal acquisition unit 42 is close to the phalanx 1 and is fixed. Thus, the compact integrated structure of the sensing module 4 is realized in a very small knuckle space. When the external object is gripped or touched, the elastic skin 2 deforms. The magnetic tactile sensor 41 detects the deformation data of the elastic skin 2. The signal acquisition unit 42 collects and analyzes the deformation data. The motion or interaction of the tactile finger, the bionic palm, the bionic hand or the bionic robot connected with the bionic touch sensing device 100 can be controlled.

[0030] With reference to Figures 3 to 5 In some embodiments, the elastic skin 2 and the magnetic tactile sensor 41 are provided with a tactile sensation transmission structure 5. When the elastic skin 2 contacts the external object, the tactile sensation transmission structure 5 is used to transmit the deformation of the elastic skin 2 to the magnetic tactile sensor 41.

[0031] In this embodiment, the tactile sensation transmission structure 5 is arranged between the elastic skin 2 and the magnetic tactile sensor 41. The efficient and concentrated transmission of the deformation of the elastic skin 2 to the magnetic tactile sensor 41 is realized. Specifically: The tactile sensation transmission structure 5 is integrally formed or fixed to the inner surface of the elastic skin 2. The position corresponding to the magnetic tactile sensor 41 forms a local high-rigidity convex, columnar or conical force transmission component. The surrounding elastic skin 2 maintains the original flexibility.

[0032] When the external object contacts the elastic skin 2, the elastic skin 2 at the stress point deforms as a whole. However, the external force is first transmitted to the underlying magnetic tactile sensor 41 through the tactile sensation transmission structure 5 in the shortest path. The relative displacement amplitude and the inclination change between the permanent magnet inside the sensor and the magnetic sensitive chip are rapidly increased, so that the disturbance of the magnetic field vector is significantly amplified.

[0033] At the same time, the deformation of the surrounding area of the tactile sensation transmission structure 5 has little effect on the adjacent sensor due to the lack of direct force transmission path, avoiding signal crosstalk. A single tactile sensation transmission structure 5 only serves the corresponding sensor, further improving the spatial resolution of local deformation.

[0034] Therefore, by arranging the tactile sensation transmission structure 5, the micro or large-area deformation of the elastic skin 2 can be efficiently focused and accurately converted into the magnetic field change signal of the magnetic tactile sensor 41, realizing higher deformation transmission efficiency, detection sensitivity, signal-to-noise ratio and multi-dimensional force (normal pressure and shear force) decoupling accuracy, while maintaining the overall flexible touch feeling and bionic appearance of the elastic skin 2.

[0035] Please continue to refer toFigures 3 to 5 In some embodiments, the touch sensation transmission structure 5 comprises a first matching structure arranged on the side of the elastic skin 2 facing the accommodating cavity 3, and a second matching structure arranged on the magnetic touch sensor 41, the first matching structure and the second matching structure abut.

[0036] The embodiment achieves efficient and point-to-point accurate transmission of deformation by arranging the first matching structure inside the elastic skin 2 and the second matching structure on the surface of the magnetic touch sensor 41, and making the two directly abut, specifically: The first matching structure is a protrusion, a column, a frustum or a cross-shaped convex rib integrally formed or secondarily embedded in the elastic skin 2, and the second matching structure is a groove, a planar boss 21, a cross-shaped groove or a complementary geometric feature on the side of the magnetic touch sensor 41 facing the elastic skin 2, and the two form a mechanical abutting relationship of face-to-face, point-to-face or convex-to-concave after assembly.

[0037] When an external object contacts the elastic skin 2, the first matching structure is subjected to a downward or tangential displacement due to force, which is almost losslessly and directly transmitted to the second matching structure through the abutting interface, and then the permanent magnet inside the magnetic touch sensor 41 is rigidly driven to produce greater three-degree-of-freedom relative motion, so that the magnetic field vector (intensity, direction, gradient) changes significantly and can be distinguished.

[0038] Since the abutting relationship limits the transmission path to a single vertical channel, there is no lateral mechanical coupling between adjacent touch units, completely suppressing deformation diffusion and signal crosstalk; at the same time, the abutting surface can be designed as a small area of contact, further focusing and amplifying the external deformation in space and amplitude, and improving the single-point sensitivity.

[0039] Therefore, through the direct abutment of the first matching structure and the second matching structure, the embodiment enables any local deformation of the elastic skin 2 to accurately act on the corresponding magnetic touch sensor 41 in a more efficient, lowest loss and minimum crosstalk manner, achieving extremely high deformation transmission fidelity, spatial resolution and three-dimensional force detection accuracy, while not affecting the overall flexibility and appearance bionics of the elastic skin 2.

[0040] Please continue to refer to Figures 3 to 5 In some embodiments, one of the first matching structure and the second matching structure is a protruding structure, and the other is a recessed structure into which the protruding structure can extend.

[0041] The embodiment achieves efficient and directional transmission and lateral automatic decoupling of deformation by designing one of the first matching structure and the second matching structure as a protruding structure and the other as a matching extendable recessed structure, specifically: The protruding structure (which can be located inside the elastic skin 2 or on the surface of the magnetic tactile sensor 41) and the recessed structure (which is correspondingly located on the other side) are assembled so that the front end of the protrusion precisely extends into the recess, and the two form a nested mechanical coupling with a small gap or slight interference.

[0042] When the elastic skin 2 is deformed by external force, the normal pressure makes the protrusion penetrate along the axis of the recess, pushing the internal permanent magnet of the magnetic tactile sensor 41 to produce greater axial relative displacement with the magnetic sensitive chip, significantly amplifying the change in magnetic field strength; The transverse or longitudinal shear force makes the protrusion generate a tangential thrust or tilt on the inner side wall of the recess, driving the sensor to produce a clear translation and tilt compound motion, making the magnetic field direction and gradient change more obvious; The side wall of the recess simultaneously forms a radial constraint on the protrusion, limiting the lateral diffusion of deformation to adjacent units, and completely blocking the mechanical cross-talk between adjacent sensors.

[0043] Since the nested relationship of the protrusion and the recess strictly limits the transmission path to a single axis direction, the deformation energy is almost losslessly concentrated on the corresponding sensor, avoiding the force dispersion and torsional loss that easily occurs when the plane is in abutment.

[0044] Therefore, by setting the mutual matching structure of the protruding structure and the extendable recessed structure, the present embodiment enables the small deformation of the elastic skin 2 to be converted into the three-dimensional relative motion of the magnetic tactile sensor 41 with maximum efficiency, minimum cross-talk, and best directivity, achieving extremely high transmission gain, shear force resolution, and adjacent channel isolation, thereby significantly improving the signal-to-noise ratio, spatial resolution, and three-dimensional force decoupling accuracy of the overall tactile system.

[0045] Reference Figure 5 In some embodiments, at least one boss 21 is protruded on the side of the elastic skin 2 facing the accommodating cavity 3, and the recessed structure is a contact groove 51 formed by recessing the middle part of the boss 21; The protruding structure is a magnetic bump 52 protruded on the magnetic tactile sensor 41, and the magnetic bump 52 extends into the contact groove 51 and at least contacts one of the bottom wall and the peripheral wall of the contact groove 51.

[0046] The present embodiment protrudes the boss 21 on the side of the elastic skin 2 facing the accommodating cavity 3, and recesses the middle part of the boss 21 to form the contact groove 51, while protruding the magnetic bump 52 on the surface of the magnetic tactile sensor 41, so that the magnetic bump 52 extends into the contact groove 51 and at least contacts one of the bottom wall or the peripheral wall, achieving efficient focused transmission of deformation and high-fidelity conversion of multi-dimensional force. Specifically: The boss 21 improves the local rigidity of the elastic skin 2 as a whole, so that the external contact force is first concentrated towards the center of the boss 21; the contact groove 51, as a recessed structure in the middle part of the boss 21, provides precise axial and radial positioning space for the magnetic bump 52.

[0047] When the elastic skin 2 is subjected to external force, the normal pressure makes the boss 21 sink as a whole, the contact groove 51 bottom wall directly pushes the magnetic bump 52 downward, driving the internal permanent magnet of the sensor (or the magnetic bump 52 itself is a permanent magnet) to produce a larger axial approach motion relative to the magnetic sensitive chip, significantly amplifying the magnetic field strength change (ΔBz); The longitudinal or transverse shear force makes the boss 21 produce slight tilt or lateral shift, the contact groove 51 peripheral wall immediately generates tangential thrust or lateral pressure on the magnetic bump 52, making the magnetic bump 52 produce controllable translation and tilt compound motion in the groove, resulting in dramatic changes in magnetic field direction components (Bx, By) and gradient; The contact groove 51 peripheral wall simultaneously forms a ring-shaped wrapping constraint on the magnetic bump 52, completely blocking the shear deformation from being transmitted horizontally to the adjacent boss 21, achieving extremely high mechanical isolation between channels.

[0048] Since the magnetic bump 52 itself can serve as a permanent magnet, the magnetic sensitive chip is always in the strongest and most uniform working magnetic field area, further improving the signal-to-noise ratio and linearity.

[0049] Therefore, through the precise nested contact structure of the boss 21 cooperating with the contact groove 51 (elastic skin 2 side) and the magnetic bump 52 (sensor side), the present embodiment actively focuses, amplifies and completely converts the external slight deformation into three-dimensional magnetic field disturbance of the magnetic tactile sensor 41 in a nearly lossless manner, achieving ultra-high transmission efficiency, excellent shear force sensitivity, extremely low channel cross-talk and excellent signal-to-noise ratio, ultimately greatly improving the spatial resolution, multi-dimensional force decoupling accuracy and overall perception performance of the tactile system.

[0050] Please continue to refer to Figure 5 In some embodiments, the number of bosses 21 is multiple, and the side of the elastic skin 2 facing the accommodating cavity 3 is partially thinned to form a first groove 6, and the first groove 6 is arranged between any two adjacent bosses 21.

[0051] The present embodiment realizes flexible decoupling of the tactile unit and efficient concentration of local deformation by arranging multiple bosses 21 on the side of the elastic skin 2 facing the accommodating cavity 3 and locally thinning between any two adjacent bosses 21 to form a first groove 6, specifically: The boss 21 maintains a larger thickness and higher stiffness, serving as the main force bearing and transmission point of external pressure; the first groove 6 significantly reduces the material thickness between adjacent bosses 21, forming a low-stiffness flexible hinge area.

[0052] When an external object contacts the elastic skin 2, the boss 21 corresponding to the stress point preferentially produces overall sinking or tilting due to high stiffness, and external deformation is almost entirely concentrated on the boss 21 and the internal contact groove 51-magnetic bump 52 force transmission path, so that the corresponding magnetic tactile sensor 41 obtains the maximum magnetic field disturbance amplitude; The first groove 6, due to its thin thickness and low rigidity, is prone to bending, compression or tensile deformation, and actively absorbs and blocks the lateral transmission of deformation to the adjacent boss 21, so that the adjacent magnetic tactile sensor 41 is almost not disturbed; At the same time, the flexible collapse of the groove further amplifies the relative displacement amount of the stressed boss 21 relative to the non-stressed boss 21, which is equivalent to providing a deformation gain for a single tactile unit at the mechanical level.

[0053] Therefore, by arranging the first groove 6 between the adjacent bosses 21, the embodiment makes each boss 21-magnetic tactile sensor 41 unit highly independent mechanically, completely suppresses the crosstalk between adjacent channels, significantly improves the single-point deformation response amplitude, and finally realizes extremely high spatial resolution, signal-to-noise ratio, and three-dimensional force (normal and bidirectional shear) detection accuracy, while maintaining the overall flexibility of the elastic skin 2 and natural bionic tactile sensation.

[0054] Please continue to refer to Figure 5 In some embodiments, the plurality of bosses 21 includes at least one first boss 211 arranged on one side of the first groove 6 and at least two second bosses 212 arranged on the other side. Among them, the two adjacent second bosses 212 are connected as a whole; or, the two adjacent second bosses 212 are provided with a second groove.

[0055] The embodiment divides the plurality of bosses 21 into "at least one first boss 211 on one side of the first groove 6" and "at least two second bosses 212 on the other side" inside the elastic skin 2, and adopts two optional structures of "connected as a whole" or "provided with a second groove" between the second bosses 212, to realize functional partitioning and differential deformation response of the sensing area. Specifically: Overall layout: The first groove 6 divides the inner surface of the elastic skin 2 into two sub-regions with completely different mechanical properties: At least one isolated first boss 211 is arranged on the left (or near the fingertip) side; At least two second bosses 212 are arranged on the right (or near the finger root) side.

[0056] When arranging at least two second bosses 212, there are two optional structures: The adjacent second bosses 212 are connected as a whole, that is, there is no groove between the plurality of second bosses 212, that is, the material is continuous, forming a common large boss 21 platform with higher rigidity. When subjected to normal pressure, the platform uniformly sinks as a whole, and when subjected to longitudinal shear, it produces a larger range of overall tilt, so that the multiple magnetic tactile sensors 41 below simultaneously obtain approximately the same magnetic field strength change or direction change, thereby naturally realizing high signal-to-noise ratio differential detection of longitudinal shear force while retaining high normal force response.

[0057] The second grooves are arranged between the adjacent second bosses 212: the second bosses 212 are also thinned to form a flexible low-rigidity area. At this time, each second boss 212 still maintains mechanical independence and independently sinks or tilts when stressed, so that the sensor below can obtain a significantly differentiated magnetic field signal, which is more conducive to high-precision decoupling of the lateral shear force and fine positioning of the local contact point.

[0058] The first grooves 6 always exist as high-flexibility isolation belts, so that there is almost no mechanical crosstalk between the first boss 211 (group) and the second boss 212 (group), thereby forming a functional division of a high-independence perception area on the fingertip side and a high-density / large-area perception area on the finger root side in a single knuckle.

[0059] Through the above asymmetric boss 21 and selective groove design, the embodiment can obtain extremely high spatial resolution and lateral shear sensitivity on the fingertip side (suitable for precise pinching and texture perception), and can provide a larger effective perception area and longitudinal shear detection signal-to-noise ratio on the finger root side (suitable for force gripping and slip warning) in the same knuckle, thereby realizing regional optimization and functional complementation of tactile performance in a single knuckle, and significantly improving the perception robustness and multi-dimensional force resolution capability in a complex gripping task.

[0060] Further, with reference to Figure 6 , the application provides a tactile finger 200, which comprises at least one bionic touch sensing device 100 as described in the foregoing embodiments.

[0061] Further, please continue to refer to Figure 6 , the application provides a bionic hand 300, which comprises a bionic palm 400 and a tactile finger 200 connected with the bionic palm 400, wherein the tactile finger 200 is as described in the foregoing embodiments.

[0062] Further, with reference to Figure 7 , the application provides a bionic robot 500, which comprises a bionic arm 600 and at least one bionic hand 300 connected with the bionic arm 600, wherein the bionic hand 300 is as described in the foregoing embodiments.

[0063] The above only describes some or preferred embodiments of the application, and neither the text nor the drawings can limit the scope of protection of the application. Any equivalent structural transformation based on the content of the specification and drawings, or direct / indirect application in other related technical fields is included in the scope of protection of the application.

Claims

1. A biomimetic touch sensing device, characterized in that, include: Finger bones; An elastic skin is fitted onto the phalanx, and a cavity is formed between the elastic skin and the phalanx. A sensing module is disposed in the accommodating cavity. The sensing module includes a magnetic tactile sensor and a signal acquisition unit electrically connected to the magnetic tactile sensor. The signal acquisition unit is disposed in the accommodating cavity on the side near the finger bone. The magnetic tactile sensor is disposed on the side of the signal acquisition unit facing the elastic epidermis. The magnetic tactile sensor is used to detect the deformation data of the elastic epidermis when it comes into contact with an external object.

2. The biomimetic touch sensing device according to claim 1, characterized in that, The elastic skin and the magnetic tactile sensor are provided with a tactile transmission structure, which is used to transmit the deformation of the elastic skin to the magnetic tactile sensor when the elastic skin comes into contact with an external object.

3. The biomimetic touch sensing device according to claim 2, characterized in that, The tactile transmission structure includes a first mating structure disposed on the side of the elastic skin facing the accommodating cavity, and a second mating structure disposed on the magnetic tactile sensor, wherein the first mating structure and the second mating structure abut against each other.

4. The biomimetic touch sensing device according to claim 3, characterized in that, One of the first mating structure and the second mating structure is a protruding structure, and the other is a recessed structure into which the protruding structure can extend.

5. The biomimetic touch sensing device according to claim 4, characterized in that, The elastic skin has at least one protrusion on the side facing the receiving cavity, and the recessed structure is a contact groove formed by the central recess of the protrusion. The protruding structure is a magnetic protrusion on the magnetic tactile sensor, which extends into the contact groove and contacts at least one of the bottom wall and the peripheral wall of the contact groove.

6. The biomimetic touch sensing device according to claim 5, characterized in that, The number of protrusions is multiple, and the elastic skin is partially thinned on the side facing the receiving cavity to form a first groove, which is disposed between any two adjacent protrusions.

7. The biomimetic touch sensing device according to claim 6, characterized in that, The plurality of protrusions includes at least one first protrusion disposed on one side of the first groove, and at least two second protrusions disposed on the other side; Wherein, two adjacent second protrusions are connected as one unit; or, two adjacent second protrusions are provided with a second groove.

8. A tactile finger, characterized in that, It includes at least one biomimetic touch sensing device as described in any one of claims 1-7.

9. A bionic hand, characterized in that, It includes a bionic hand and at least one tactile finger as described in claim 8, connected to said bionic hand.

10. A biomimetic robot, characterized in that, It includes a bionic arm and at least one bionic hand as described in claim 9, connected to said bionic arm.

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