Knuckle mechanism of tactile finger, tactile finger, bionic palm and bionic robot

By setting an inclined mounting surface and magnetic tactile components on the mounting frame of the tactile finger knuckle mechanism, the problem of blind spots in tactile finger sensing in the prior art is solved, achieving high-precision tactile detection and omnidirectional sliding detection, and improving grasping stability and fine operation capabilities.

CN121572346AActive Publication Date: 2026-02-27ZHEJIANG BRAIN ENHANCE TECH CO LTD
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Patent Information

Application Number
CN202610113845.4
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-01-28
Publication Date
2026-02-27
Estimated Expiration
2046-01-28

AI Technical Summary

Technical Problem

The existing knuckle structure of tactile fingers is difficult to conform to tactile skin, which can easily lead to loss of sensation due to limited contact area, and is also susceptible to the influence of finger curvature, resulting in sensing blind spots.

Method used

An inclined mounting surface is used to install the frame, and multiple magnetic tactile components are spaced apart along the length and width directions on it. By utilizing the contact between the elastic skin and the magnetic tactile components, deformation data is detected by the magnetic tactile sensor to achieve precise tactile sensing.

Benefits of technology

It achieves more accurate tactile detection, can separate and measure normal force and longitudinal shear force within a single knuckle, improves grasping stability and the success rate of fine operation, and has omnidirectional sliding detection capability.

✦ Generated by Eureka AI based on patent content.

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Abstract

The invention discloses a knuckle mechanism of a touch finger, the touch finger applying the knuckle mechanism, a bionic palm and a bionic robot, the knuckle mechanism comprises a mounting framework, elastic skin and a plurality of magnetic touch assemblies, and an inclined mounting surface is arranged at the mounting end of the mounting framework; the elastic skin is connected with the mounting end in a sleeving manner and covers the mounting surface; the plurality of magnetic touch assemblies are arranged on the mounting surface and are arranged at intervals in the length direction and / or the width direction of the mounting surface, and the magnetic touch assemblies abut against the elastic skin so as to be used for collecting deformation data when the elastic skin makes contact with an external object. According to the application, the plurality of magnetic touch assemblies abutting against the elastic skin are arranged on the inclined mounting surface of the mounting framework at intervals along the length direction and / or the width direction, so that local deformation generated when the elastic skin is in contact with an external object is easily differentially transmitted to the corresponding magnetic touch assemblies along the inclined direction; and a more accurate detection effect can be realized.
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Citation Information

Patent Citations

  • Bionic tactile mechanism, robot dexterous hand and robot

    CN116749217A

  • Dexterous hand based on multi-modal fusion control

    CN121361110A

  • Tactile sensor module for robot-hand and grasping method using the same

    US20210394360A1

  • A magnetic tactile sensor arrangement

    WO2024075040A1

  • Mechanical hand and bionic mechanical finger thereof

    WO2025103388A1

Cited By

  • Tactile skin system

    CN121777181A