Bionic touch sensing devices, tactile fingers, bionic hands, and bionic robots

Abstract

This application discloses a biomimetic touch sensing device, and a tactile finger, biomimetic hand, and biomimetic robot using the same device. The device includes finger bones, an elastic skin, and a sensing module. The elastic skin is fitted onto the finger bones, forming a cavity between them. The sensing module is located within the cavity and includes a magnetic tactile sensor and a signal acquisition unit electrically connected to the sensor. The signal acquisition unit is located in the cavity near the finger bones, and the magnetic tactile sensor is located on the side of the signal acquisition unit facing the elastic skin. The magnetic tactile sensor detects deformation data when the elastic skin contacts an external object. This biomimetic touch sensing device achieves a compact integrated structure of the sensing module within a very small space and improves the sensing effect by fitting the finger bones and elastic skin together to form a cavity and arranging the signal acquisition unit and magnetic tactile sensor in layers within the cavity.

Description

Technical Field

[0001] This application relates to the field of bionic prosthetics, and in particular to a bionic touch sensing device, as well as a tactile finger, a bionic hand, and a bionic robot using the bionic touch sensing device. Background Technology

[0002] A bionic touch sensing device is a robotic end effector that simulates the structure and function of human fingers. It is used to realize complex operations such as grasping and touching, and can sense external environmental information and feed it back to the control system, thereby improving the interaction between bionic prostheses and humans or robots.

[0003] However, existing biomimetic touch sensing devices still have significant drawbacks in tactile perception technology. Traditional rigid sensors (such as resistive and piezoelectric sensors) are difficult to conform to flexible skin, are prone to loss of sensing due to limited contact area, and are susceptible to blind spots caused by the curvature of the fingers.

[0004] Therefore, there is an urgent need for a biomimetic touch sensing device that can improve the touch sensing effect. Summary of the Invention

[0005] The main objective of this application is to propose a biomimetic touch sensing device, which aims to improve the touch sensing effect.

[0006] To achieve the above objectives, this application proposes a biomimetic touch sensing device, comprising:

[0007] Finger bones;

[0008] An elastic skin is fitted onto the phalanx, and a cavity is formed between the elastic skin and the phalanx.

[0009] 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.

[0010] In some embodiments, 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.

[0011] In some embodiments, 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 abuts against the second mating structure.

[0012] In some embodiments, 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.

[0013] In some embodiments, 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;

[0014] 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.

[0015] In some embodiments, the number of protrusions is multiple, and the elastic skin is partially thinned on one side facing the receiving cavity to form a first groove, the first groove being disposed between any two adjacent protrusions.

[0016] In some embodiments, 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;

[0017] Wherein, two adjacent second protrusions are connected as one unit; or, two adjacent second protrusions are provided with a second groove.

[0018] Furthermore, this application proposes a tactile finger, including a biomimetic touch sensing device as described in the foregoing embodiments.

[0019] Furthermore, this application proposes a bionic hand, including a bionic palm and at least one tactile finger connected to the bionic palm as described in the foregoing embodiments.

[0020] Furthermore, this application proposes a bionic robot, including a bionic arm and at least one bionic hand connected to the bionic arm as described in the foregoing embodiments.

[0021] This application proposes a biomimetic touch sensing device. A cavity is formed by connecting a finger bone to an elastic skin. A signal acquisition unit and a magnetic tactile sensor are arranged in layers within this cavity. The magnetic tactile sensor is positioned close to the outer side of the elastic skin, while the signal acquisition unit is fixed close to the finger bone. This achieves a compact integrated structure of the sensing module within a very small finger joint space. When a finger grasps or touches an external object, the elastic skin deforms. The magnetic tactile sensor detects the deformation data, and the signal acquisition unit collects and analyzes this data. This allows control of the actions or interactions of a biomimetic hand, biomimetic hand, or biomimetic robot connected to the biomimetic touch sensing device of this application. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the biomimetic touch sensing device of this application in one embodiment;

[0023] Figure 2 for Figure 1 A schematic diagram of the structure of the biomimetic touch sensing device in one embodiment of the present application, viewed from one perspective.

[0024] Figure 3 for Figure 2 Cross-sectional view at point AA;

[0025] Figure 4 This is a partial structural schematic diagram of one embodiment of the biomimetic touch sensing device of this application;

[0026] Figure 5 This is a schematic diagram of the elastic skin structure of the biomimetic touch sensing device in one embodiment of this application;

[0027] Figure 6 This is a schematic diagram of the structure of the tactile finger and bionic hand in one embodiment of the present application;

[0028] Figure 7 This is a schematic diagram of the structure of the bionic robot of this application in one embodiment. Detailed Implementation

[0029] The solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments in this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0030] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0031] It should also be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component present. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component present.

[0032] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0033] This application discloses a biomimetic touch sensing device 100, in a preferred embodiment, referring to... Figures 1 to 4 The biomimetic touch sensing device 100 includes:

[0034] Finger bone 1;

[0035] Elastic skin 2, elastic skin 2 is sleeved with phalanx 1, and a cavity 3 is formed between elastic skin 2 and phalanx 1;

[0036] The sensing module 4 is disposed in the accommodating cavity 3. The sensing module 4 includes a magnetic tactile sensor 41 and a signal acquisition unit 42 electrically connected to the magnetic tactile sensor 41. The signal acquisition unit 42 is disposed in the accommodating cavity 3 on the side close to the finger bone 1. The magnetic tactile sensor 41 is disposed on the side of the signal acquisition unit 42 facing the elastic epidermis 2. The magnetic tactile sensor 41 is used to detect the deformation data of the elastic epidermis 2 when it comes into contact with an external object.

[0037] The biomimetic touch sensing device 100 proposed in this application is applied to a tactile finger. A sealed cavity 3 is formed by fitting a finger bone 1 and an elastic skin 2 together. Within this cavity 3, a vertically layered layout is used. A signal acquisition unit 42 (including front-end amplification, filtering, multi-channel ADC, and MCU) is rigidly fixed to the inner surface of the finger bone 1. A magnetic touch sensor 41 (which can be a combination of a permanent magnet and a Hall / AMR / TMR triaxial magnetic sensor chip) is closely arranged on the side of the signal acquisition unit 42 facing the elastic skin 2, maintaining a micro-gap or flexible contact with the inner wall of the elastic skin 2. When the elastic skin 2 is subjected to external force to produce local normal indentation or tangential displacement, the permanent magnet undergoes three degrees of freedom relative motion (translation and tilt) with respect to the magnetic sensitive chip, realizing precise perturbation of the magnetic field vector (intensity, direction, gradient). The magnetic sensitive chip non-contactly converts this perturbation into a multi-axis analog voltage signal, and then the adjacent signal acquisition unit 42 completes impedance matching, low-noise amplification, anti-aliasing filtering, high-speed synchronous sampling and digitization. Finally, a complete high-fidelity perception link from skin deformation → magnetic field perturbation → multi-dimensional electrical signal → real-time digital tactile data is constructed in the extremely small space of a single finger joint.

[0038] The magnetic tactile sensor 41 is essentially a non-contact three-dimensional deformation → magnetic field → electrical signal converter, and its basic components include:

[0039] A miniature permanent magnet and a triaxial magnetic sensing chip (Hall, AMR, GMR, or TMR chip). The permanent magnet and the magnetic sensing chip maintain a pre-designed relative position, and the chip detects a stable triaxial reference magnetic field vector B=(Bx,By,Bz).

[0040] Stress-induced deformation stage:

[0041] When the elastic skin 2 is pressed or sheared by an external object, the permanent magnet moves with the skin in three degrees of freedom:

[0042] Normal pressure → permanent magnet moves closer to or further away from chip → |B| intensity changes (mainly affecting Bz);

[0043] Longitudinal shearing (along the finger axis) → forward and backward translation of the permanent magnet → change / amplitude of Bx or By component;

[0044] Lateral shearing (left and right side sliding) → Permanent magnet shifts left and right or tilts slightly → By or Bx component changes and gradient changes.

[0045] During the signal output stage, the triaxial magnetosensitive chip outputs three analog voltages in real time: ΔVx∝ΔBx, ΔVy∝ΔBy, and ΔVz∝ΔBz. The three signals together encode complete information about the magnitude of the normal force, longitudinal shear, and transverse shear at that point.

[0046] The operation of the bionic touch sensing device 100 in this embodiment can be briefly described as follows:

[0047] Reference state: The elastic skin 2 is not subjected to external force, the permanent magnet and the magnetic sensitive chip in the accommodating cavity 3 maintain the initial relative position of the design, the three-axis magnetic field vector is stable, the signal acquisition unit 42 completes power-on self-test, zero-point calibration and temperature compensation, and outputs the reference tactile frame;

[0048] External force loading: When the bionic touch sensing device 100 touches an external object, the elastic skin 2 generates local normal pressure (Fn), longitudinal shear force (Fy) and transverse shear force (Fz), resulting in three-dimensional deformation;

[0049] Deformation and magnetic field coupling: The magnetic tactile sensor 41, which is closely attached to the inner surface of the elastic skin 2, generates a three-degree-of-freedom relative displacement / tilt in sync with the deformation, resulting in real-time changes in the magnetic flux density and its gradient at the location of the magnetic sensitive chip.

[0050] Multidimensional signal generation and local acquisition: The magnetic chip outputs a triaxial analog voltage signal proportional to ΔB in real time. This signal can be transmitted to the low-noise instrumentation amplifier → programmable gain amplifier → anti-aliasing filter → 16 / 18 bit Σ-Δ ADC of the signal acquisition unit 42 below via interconnect data lines for synchronous multi-channel sampling and digitization.

[0051] Data fusion and uplink transmission: After the built-in MCU of the signal acquisition unit 42 completes the inter-channel crosstalk compensation, temperature drift correction, baseline subtraction and preliminary three-dimensional force decoupling, it uploads high-frequency tactile data frames to the palm or upper controller in real time through SPI / I2C / CAN-FD bus;

[0052] Closed-loop control response: The control system executes grip force closed-loop adjustment, slip feedforward compensation, posture adaptive adjustment or advanced interaction strategies based on the received distributed haptic information.

[0053] The magnetic tactile sensor 41 converts the tiny 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 into the real-time change of the three-axis magnetic field vector, thereby achieving high sensitivity, multi-dimensional force, and long lifespan tactile perception in a completely non-contact manner. This makes the tactile perception effect of the bionic flexible finger proposed in this application superior to that of traditional piezoresistive / capacitive / piezoelectric sensors.

[0054] In summary, this application proposes a bionic touch sensing device 100. A cavity 3 is formed by connecting a finger bone 1 and an elastic skin 2. Within the cavity 3, a signal acquisition unit 42 and a magnetic tactile sensor 41 are arranged in layers. The magnetic tactile sensor 41 is positioned close to the outer side of the elastic skin 2, while the signal acquisition unit 42 is fixed close to the finger bone 1. This achieves a compact integrated structure of the sensing module 4 within a very small finger joint space. When grasping or touching an external object, the elastic skin 2 deforms. The magnetic tactile sensor 41 detects the deformation data of the elastic skin 2, and the signal acquisition unit 42 collects and analyzes the deformation data. This allows control of the actions or interactions of a tactile finger, bionic hand, bionic hand, or bionic robot connected to the bionic touch sensing device 100 of this application.

[0055] Reference Figures 3 to 5 In some embodiments, the elastic skin 2 and the magnetic tactile sensor 41 are provided with a tactile transmission structure 5, which is used to transmit the deformation of the elastic skin 2 to the magnetic tactile sensor 41 when the elastic skin 2 comes into contact with an external object.

[0056] This embodiment achieves efficient and centralized transmission of tactile sensation from the elastic skin 2 to the magnetic tactile sensor 41 by setting a tactile transmission structure 5 between the elastic skin 2 and the magnetic tactile sensor 41. Specifically:

[0057] The tactile transmission structure 5 is integrally formed or fixed to the inner surface of the elastic skin 2, corresponding to the position of the magnetic tactile sensor 41, forming a protrusion, columnar or conical force transmission component with high local stiffness, while the surrounding elastic skin 2 maintains its original flexibility.

[0058] When an external object comes into contact with the elastic skin 2, the elastic skin 2 at the point of force is deformed as a whole. However, the external force is first transmitted to the magnetic tactile sensor 41 below through the tactile transmission structure 5 in the shortest path. This causes the permanent magnet inside the sensor and the magnetic sensitive chip to generate a larger relative displacement amplitude and a more obvious tilt change, thereby significantly amplifying the disturbance of the magnetic field vector.

[0059] Meanwhile, the deformation of the area around the tactile transmission structure 5 that is not set up has less impact on adjacent sensors due to the lack of a direct force transmission path, thus avoiding signal crosstalk; a single tactile transmission structure 5 only serves the corresponding sensor, further improving the spatial resolution of local deformation.

[0060] Therefore, by setting the tactile transmission structure 5, this embodiment enables the small or large area deformation of the elastic skin 2 to be efficiently focused and accurately converted into the magnetic field change signal of the magnetic tactile sensor 41, thereby achieving 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 smooth touch and biomimetic appearance of the elastic skin 2.

[0061] Please continue to refer to Figures 3 to 5 In some embodiments, the tactile transmission structure 5 includes a first mating structure disposed on the side of the elastic skin 2 facing the accommodating cavity 3, and a second mating structure disposed on the magnetic tactile sensor 41, wherein the first mating structure and the second mating structure abut against each other.

[0062] This embodiment achieves efficient, point-to-point precise transmission of deformation by setting a first mating structure on the inner side of the elastic skin 2 and a second mating structure on the surface of the magnetic tactile sensor 41, and making the two directly contact each other. Specifically:

[0063] The first mating structure is a protrusion, column, frustum, or cross rib of the elastic skin 2 integrally formed or a secondary insert. The second mating structure is a groove, planar boss 21, cross groove, or complementary geometric feature of the magnetic tactile sensor 41 facing the elastic skin 2. After assembly, the two form a mechanical contact relationship of surface-to-surface, point-to-surface, or convex-concave.

[0064] When an external object comes into contact with the elastic skin 2, the force causes the first mating structure to produce downward pressure or tangential displacement, which is transmitted directly to the second mating structure almost without damage through the contact interface. This, in turn, rigidly drives the permanent magnet inside the magnetic tactile sensor 41 to produce greater three-degree-of-freedom relative motion, causing significant and distinguishable changes in the magnetic field vector (intensity, direction, gradient).

[0065] Because the contact relationship limits the transmission path to a single vertical channel, there is no lateral mechanical coupling between adjacent tactile units, which completely suppresses deformation diffusion and signal crosstalk; at the same time, the contact surface can be designed as a small area contact, which further focuses and amplifies the external deformation in space and amplitude, and improves single-point sensitivity.

[0066] Therefore, through the direct contact between the first and second mating structures, this embodiment enables any local deformation of the elastic skin 2 to act precisely on the corresponding magnetic tactile sensor 41 with higher efficiency, lower loss, and less crosstalk, achieving extremely high deformation transmission fidelity, spatial resolution, and three-dimensional force detection accuracy, while not affecting the overall flexibility and biomimetic appearance of the elastic skin 2.

[0067] Please continue to refer to Figures 3 to 5 In some embodiments, 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.

[0068] This embodiment achieves efficient directional transfer of deformation and automatic lateral decoupling by designing one of the first and second mating structures as a protruding structure and the other as a matching extendable recessed structure. Specifically:

[0069] After 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 located on the other side) are assembled, the front end of the protrusion extends precisely into the interior of the recess, and the two form a nested mechanical coupling with a tiny gap or slight interference.

[0070] When the elastic skin 2 is deformed by external force, the normal pressure causes the protrusion to penetrate deeper along the axial direction of the depression, pushing the permanent magnet inside the magnetic tactile sensor 41 and the magnetic sensitive chip to produce a greater axial relative displacement, significantly amplifying the change in magnetic field strength.

[0071] Lateral or longitudinal shear forces cause the protrusion to generate tangential thrust or tilting on the inner wall of the depression, which drives the sensor to produce a clear composite motion of translation and tilting, making the changes in magnetic field direction and gradient more obvious.

[0072] The concave sidewalls simultaneously form radial constraints on the protrusions, limiting the lateral diffusion of deformation to adjacent units and completely blocking mechanical crosstalk between adjacent sensors.

[0073] Because the nested relationship of protrusions and depressions strictly limits the transmission path to a single axis, the deformation energy is concentrated in the corresponding sensor with almost no loss, avoiding the force dispersion and torsional loss that easily occur when the planes meet.

[0074] Therefore, by setting a matching structure of protruding structure and extendable recessed structure, this embodiment enables the tiny deformation of elastic skin 2 to be converted into three-dimensional relative motion of magnetic tactile sensor 41 with maximum efficiency, minimum crosstalk and optimal directionality, 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.

[0075] Reference Figure 5 In some embodiments, the elastic skin 2 has at least one protrusion 21 protruding on the side facing the receiving cavity 3, and the recessed structure is a contact groove 51 formed by the middle of the protrusion 21 being recessed.

[0076] The protruding structure is a magnetic bump 52 protruding from the magnetic tactile sensor 41. The magnetic bump 52 extends into the contact groove 51 and contacts at least one of the bottom wall and the peripheral wall of the contact groove 51.

[0077] In this embodiment, a protrusion 21 is provided on the side of the elastic skin 2 facing the receiving cavity 3, and a contact groove 51 is formed by recessing the middle of the protrusion 21. At the same time, a magnetic bump 52 is provided on the surface of the magnetic tactile sensor 41, so that the magnetic bump 52 extends into the contact groove 51 and contacts at least one of the bottom wall or the peripheral wall, thereby achieving efficient focused transmission of deformation and high-fidelity conversion of multi-dimensional force. Specifically:

[0078] The boss 21 improves the local stiffness of the elastic skin 2, causing the external contact force to be concentrated at the center of the boss 21 first; the contact groove 51, as the recessed structure in the middle of the boss 21, provides precise axial and radial positioning space for the magnetic bump 52.

[0079] When the elastic skin 2 is subjected to external force, the normal pressure causes the boss 21 to sink as a whole. The bottom wall of the contact groove 51 directly pushes the magnetic bump 52 downward, driving the permanent magnet inside the sensor (or the magnetic bump 52 itself is a permanent magnet) to generate a large axial approach motion relative to the magnetic chip, significantly amplifying the change in magnetic field strength (ΔBz).

[0080] Longitudinal or transverse shear forces cause the boss 21 to tilt or shift slightly. The peripheral wall of the contact groove 51 immediately exerts tangential thrust or lateral pressure on the magnetic bump 52, causing the magnetic bump 52 to undergo a controllable translational and tilting composite motion within the groove, resulting in drastic changes in the magnetic field direction components (Bx, By) and gradient.

[0081] The periphery of the contact groove 51 simultaneously forms a circumferential constraint on the magnetic bump 52, completely blocking the lateral transmission of shear deformation to the adjacent bump 21, thus achieving extremely high mechanical isolation between channels.

[0082] Since the magnetic bump 52 can also serve as a permanent magnet, the magnetic chip is always in the strongest and most uniform working magnetic field area, which further improves the signal-to-noise ratio and linearity.

[0083] Therefore, through the precise nested contact structure of the boss 21 with the contact groove 51 (elastic skin 2 side) and the magnetic bump 52 (sensor side), this embodiment enables the external minute deformation to be actively focused, amplified and completely converted into the three-dimensional magnetic field disturbance of the magnetic tactile sensor 41 in an almost lossless manner, achieving ultra-high transmission efficiency, excellent shear force sensitivity, extremely low channel crosstalk and excellent signal-to-noise ratio, and ultimately greatly improving the spatial resolution, multi-dimensional force decoupling accuracy and overall sensing performance of the tactile system.

[0084] Please continue to refer to Figure 5 In some embodiments, there are multiple protrusions 21, and the elastic skin 2 is partially thinned on the side facing the receiving cavity 3 to form a first groove 6, which is disposed between any two adjacent protrusions 21.

[0085] This embodiment achieves flexible decoupling of the tactile unit and efficient concentration of local deformation by providing multiple protrusions 21 on the side of the elastic skin 2 facing the accommodating cavity 3, and forming a first groove 6 by locally thinning between any two adjacent protrusions 21. Specifically:

[0086] The boss 21 maintains a large thickness and high rigidity, serving as the main load-bearing and transmission point for external pressure; the first groove 6 significantly reduces the material thickness between adjacent bosses 21, forming a low-rigidity flexible hinge area.

[0087] When an external object comes into contact with the elastic skin 2, the protrusion 21 corresponding to the force point will sink or tilt first due to its high stiffness. The external deformation is almost entirely concentrated on the protrusion 21 and its internal contact groove 51-magnetic protrusion 52 force transmission path, so that the corresponding magnetic tactile sensor 41 obtains the maximum magnetic field disturbance amplitude.

[0088] The first groove 6, due to its reduced thickness and extremely low stiffness, preferentially undergoes bending, compression, or stretching deformation, actively absorbing and blocking the lateral transmission of deformation to the adjacent protrusion 21, so that the adjacent magnetic tactile sensor 41 is almost unaffected.

[0089] At the same time, the flexible collapse of the groove further amplifies the relative displacement of the stressed boss 21 with respect to the unstressed boss 21, which is equivalent to providing deformation gain for a single tactile unit at the mechanical level.

[0090] Therefore, by setting the first groove 6 between adjacent protrusions 21, this embodiment makes each protrusion 21-magnetic tactile sensor 41 unit mechanically highly independent, completely suppressing crosstalk between adjacent channels, while significantly improving the single-point deformation response amplitude, and finally achieving extremely high spatial resolution, signal-to-noise ratio and three-dimensional force (normal and bidirectional shear) detection accuracy, while maintaining the overall smooth and natural bionic touch of the elastic skin 2.

[0091] Please continue to refer to Figure 5 In some embodiments, the plurality of protrusions 21 include at least one first protrusion 211 disposed on one side of the first groove 6 and at least two second protrusions 212 disposed on the other side.

[0092] Wherein, two adjacent second protrusions 212 are connected as one unit; or, two adjacent second protrusions 212 are provided with a second groove.

[0093] This embodiment divides multiple protrusions 21 on the inner side of the elastic skin 2 into "at least one first protrusion 211 on one side of the first groove 6" and "at least two second protrusions 212 on the other side", and adopts two optional structures for the second protrusions 212: "connected as one piece" or "set with a second groove", to realize the functional zoning and differentiated deformation response of the sensing area. Specifically:

[0094] Overall layout: The first groove 6 divides the inner surface of the elastic skin 2 into two sub-regions with distinctly different mechanical properties:

[0095] At least one isolated first protrusion 211 is arranged on the left side (or near the fingertip);

[0096] At least two second protrusions 212 are arranged on the right side (or near the base of the finger).

[0097] When at least two second bosses 212 are arranged, there are two optional structures:

[0098] Adjacent second protrusions 212 are connected as a single unit, meaning there are no grooves between the multiple second protrusions 212, and the material is continuous, forming a common large protrusion platform 21 with higher stiffness. This platform sinks uniformly as a whole when subjected to normal pressure, and tilts over a larger range when subjected to longitudinal shear. This allows the multiple magnetic tactile sensors 41 below to synchronously obtain approximately the same changes in magnetic field strength or direction, thus naturally achieving high signal-to-noise ratio differential detection of longitudinal shear force while retaining high normal force response.

[0099] A second groove is provided between adjacent second protrusions 212: the areas between the second protrusions 212 are also thinned to form a flexible, low-stiffness region. At this time, each second protrusion 212 remains mechanically independent, sinking or tilting independently when subjected to force, so that the sensor below obtains significantly differentiated magnetic field signals, which is more conducive to high-precision decoupling of lateral shear force and fine positioning of local contact points.

[0100] The first groove 6 always exists as a highly flexible isolation zone, so that there is almost no mechanical crosstalk between the first protrusion 211 (group) and the second protrusion 212 (group), thereby forming a functional partition of a highly independent sensing area on the fingertip side and a high-density / large-area sensing area on the finger root side within a single phalanx.

[0101] Through the aforementioned asymmetric protrusion 21 and selective groove design, this embodiment enables the same finger joint to achieve both extremely high spatial resolution and lateral shear sensitivity on the fingertip side (suitable for precision pinching and texture perception), and a larger effective sensing area and longitudinal shear detection signal-to-noise ratio on the finger root side (suitable for force gripping and slippage warning). This achieves regional optimization and functional complementarity of tactile performance within a single finger joint, significantly improving the perception robustness and multidimensional force resolution capability under complex grasping tasks.

[0102] Furthermore, referring to Figure 6 This application proposes a tactile finger 200, which includes at least one biomimetic touch sensing device 100 as described in the foregoing embodiments.

[0103] Further, please continue to refer to Figure 6 This application proposes a bionic hand 300, including a bionic palm 400 and tactile fingers 200 connected to the bionic palm 400 as described in the foregoing embodiments.

[0104] Furthermore, referring to Figure 7 This application proposes a bionic robot 500, including a bionic arm 600 and at least one bionic hand 300 as described in the foregoing embodiments connected to the bionic arm 600.

[0105] The above description is only a part or preferred embodiment of this application. Neither the text nor the drawings should limit the scope of protection of this application. All equivalent structural transformations made using the content of this application's specification and drawings under the overall concept of this application, or direct / indirect applications in other related technical fields, are included within the scope of protection of this 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. The elastic skin has multiple protrusions on the side facing the cavity, and the elastic skin is partially thinned on the side facing the cavity to form a first groove, which is located between any two adjacent protrusions. 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, with two adjacent second protrusions connected as a single unit.

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 recessed structure is a contact groove formed by a recess in the center of the boss; 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. A tactile finger, characterized in that, It includes at least one biomimetic touch sensing device as described in any one of claims 1-5.

7. A bionic hand, characterized in that, It includes a bionic hand and at least one tactile finger as described in claim 6, connected to said bionic hand.

8. A biomimetic robot, characterized in that, It includes a bionic arm and at least one bionic hand as described in claim 7, connected to said bionic arm.

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