Joint mechanism of a haptic finger, haptic finger, bionic palm and bionic robot

Abstract

This application discloses a knuckle mechanism for a tactile finger, and a tactile finger, a bionic hand, and a bionic robot using this knuckle mechanism. The knuckle mechanism includes a mounting frame, elastic skin, and multiple magnetic tactile components. The mounting end of the mounting frame has an inclined mounting surface. The elastic skin is sleeved on the mounting end and covers the mounting surface. Multiple magnetic tactile components are disposed on the mounting surface and spaced apart along the length and / or width direction of the mounting surface. The magnetic tactile components abut against the elastic skin to collect deformation data when the elastic skin contacts an external object. By arranging multiple magnetic tactile components abutting against the elastic skin on the inclined mounting surface of the mounting frame and spaced apart along the length and / or width direction, the local deformation of the elastic skin when contacting an external object is more easily transmitted differentially along the inclined direction to the corresponding magnetic tactile components, achieving a more accurate detection effect.

Description

Technical Field

[0001] This application relates to the field of bionic dexterous hands, and particularly to a knuckle mechanism for a tactile finger, and a tactile finger, a bionic hand, and a bionic robot using the knuckle mechanism. Background Technology

[0002] The knuckle mechanism of a tactile finger is a robotic end-effector that simulates the structure and function of human finger knuckles. It is used to provide sensory support for complex operations such as grasping and touching, thereby improving the interaction between tactile prostheses and humans or robots.

[0003] However, existing tactile sensing technology based on the knuckle mechanism of tactile fingers still has significant drawbacks. Traditional rigid sensors (such as resistive and piezoelectric sensors) are difficult to conform to the tactile skin, are prone to loss of sensation due to limited contact area, and are susceptible to the influence of finger curvature, resulting in sensing blind spots.

[0004] Therefore, there is an urgent need for a knuckle mechanism that can enhance the tactile sensing effect of tactile fingers. Summary of the Invention

[0005] The main objective of this application is to propose a knuckle mechanism for a tactile finger, aiming to provide a knuckle mechanism that can enhance the tactile sensing effect of the tactile finger.

[0006] To achieve the above objectives, this application proposes a knuckle mechanism for a tactile finger, the knuckle mechanism comprising:

[0007] The mounting frame has an inclined mounting surface at its mounting end.

[0008] An elastic skin, which is sleeved on the mounting end and covers the mounting surface;

[0009] Multiple magnetic tactile components are disposed on the mounting surface and spaced apart along the length and / or width of the mounting surface. The magnetic tactile components abut against the elastic skin to collect deformation data when the elastic skin comes into contact with an external object.

[0010] In some embodiments, each of the magnetic tactile components includes at least one magnetic tactile sensor;

[0011] The plurality of magnetic tactile components include at least a first magnetic tactile component and a second magnetic tactile component, wherein the first magnetic tactile component and the second magnetic tactile component are spaced apart along the length direction of the mounting surface.

[0012] In some embodiments, the first magnetic tactile component includes N magnetic tactile sensors;

[0013] The second magnetic tactile component includes N+1 magnetic tactile sensors;

[0014] Where N is a positive integer, and the N+1 magnetic tactile sensors are arranged side by side along the width direction of the mounting surface.

[0015] In some embodiments, the elastic skin is provided with a plurality of abutment portions on the side facing the mounting surface, each abutment portion corresponding to a magnetic tactile sensor, and each abutment portion abuts against its corresponding magnetic tactile sensor to transmit the deformation of the elastic skin.

[0016] In some embodiments, a thinning portion is provided between any two adjacent abutment portions, and the elastic skin is thinned to the side facing the mounting surface to form the thinning portion.

[0017] In some embodiments, the mounting surface is planar; the knuckle mechanism further includes a circuit board disposed on the mounting surface, and the plurality of magnetic tactile components are disposed on the side of the circuit board facing the elastic skin.

[0018] In some embodiments, the mounting surface includes a plurality of sequentially connected connecting surfaces, any two adjacent connecting surfaces are inclined, each connecting surface is provided with a circuit board, and at least one of the magnetic tactile components is provided on the side of the circuit board facing the elastic skin.

[0019] Furthermore, this application proposes a tactile finger, including the knuckle mechanism as described in the foregoing embodiments.

[0020] Furthermore, this application proposes a bionic hand, including tactile fingers as described in the foregoing embodiments.

[0021] Furthermore, this application proposes a bionic robot, including a robotic arm and a bionic hand connected to the robotic arm as described in the foregoing embodiments.

[0022] This application proposes a knuckle mechanism for a tactile finger. By arranging multiple magnetic tactile components that abut against elastic skin at intervals along the length and / or width directions on an inclined mounting surface of the mounting skeleton, the local deformation of the elastic skin when in contact with an external object is more easily transmitted differentially along the inclined direction to the corresponding magnetic tactile components, thereby achieving a more accurate detection effect. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the knuckle mechanism of the tactile finger of the present invention in one embodiment;

[0024] Figure 2 This is a partially exploded view of the knuckle mechanism of the tactile finger of the present invention in one embodiment;

[0025] Figure 3 This is a schematic diagram of the elastic skin structure of the knuckle mechanism of the tactile finger of the present invention in one embodiment;

[0026] Figure 4 This is a schematic diagram of the structure of the bionic hand and tactile finger of the present invention in one embodiment;

[0027] Figure 5 This is a schematic diagram of the structure of the bionic robot of the present invention in one embodiment. Detailed Implementation

[0028] 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 embodiments in this application, and not all 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] This application proposes a knuckle mechanism 100 for use in tactile fingers. In a preferred embodiment, referring to... Figures 1 to 3 The knuckle mechanism 100 includes:

[0033] Mounting frame 1, the mounting end of mounting frame 1 is provided with an inclined mounting surface 10;

[0034] Elastic skin 2, which is sleeved with the mounting end and covers the mounting surface 10;

[0035] Multiple magnetic tactile components 3 are disposed on the mounting surface 10 and spaced apart along the length and / or width direction of the mounting surface 10. The magnetic tactile components 3 abut against the elastic skin 2 to collect deformation data when the elastic skin 2 comes into contact with an external object.

[0036] The knuckle mechanism 100 proposed in this application is a component joint of a tactile finger installed on a bionic hand. It is understood that the knuckle mechanism 100 can be assembled with other knuckle mechanisms 100 to form a tactile finger, or the knuckle mechanism 100 itself can be a single tactile finger with an integral structure. The knuckle mechanism 100 proposed in this application includes a mounting frame 1, elastic skin 2, and multiple magnetic tactile components 3. The mounting frame 1 has a mounting end with an inclined mounting surface 10. It is understood that when the knuckle mechanism 100 is connected to other knuckle mechanisms 100 and assembled into a tactile finger, the mounting frame 1 may also have a connecting end for connecting with other knuckle mechanisms 100. The elastic skin 2 is fitted onto the mounting end and covers the mounting surface 10, that is, it covers the outside of the multiple magnetic tactile components 3 disposed on the mounting surface 10. When the tactile finger touches an external object, the elastic skin 2 deforms, and the magnetic tactile components 3 abut against the elastic skin 2. The elastic skin 2 includes a fingertip area, a finger side area connecting both sides of the width direction of the fingertip area, and a fingertip area and a finger root area connecting both ends of the fingertip area to the finger root area. The multiple magnetic tactile components 3 are spaced apart along the length and / or width direction of the mounting surface 10, that is, spaced apart along the length and / or width direction of the elastic skin 2. The arrangement forms include, but are not limited to, the following arrangement forms:

[0037] All magnetic tactile components 3 are arranged in a single or multiple columns along the length of the mounting surface 10, with equal or variable spacing only along the length of the mounting surface 10, i.e., from the fingertip area to the base of the finger on the elastic skin 2. There is no misalignment in the width direction, which mainly corresponds to sensing the positive pressure and longitudinal shear force of the fingertip area.

[0038] The magnetic tactile components 3 are arranged in single or multiple rows, spaced only along the width of the mounting surface 10, i.e., the direction from the fingertip area to the sides of the finger side area. They are distributed at equal or varying intervals, maintaining the same position from the fingertip area to the base of the finger. This primarily senses the lateral shear force and lateral sliding between the fingertip and the sides of the finger.

[0039] Meanwhile, the magnetic tactile components 3 are spaced along both the length and width of the mounting surface 10 (rectangular grid): the magnetic tactile components 3 are spaced along both the length and width of the mounting surface 10 to form a regular m×n rectangular array (m and n are positive integers), such as 3x3 or 4x5, to achieve full-area two-dimensional high-density coverage of the main fingertip area and part of the finger side area, which can accurately distinguish the coordinates of the contact point and reconstruct the pressure distribution.

[0040] Simultaneously, the components are arranged at intervals (staggered / hexagonal honeycomb pattern) along the length and width of the mounting surface 10: based on the longitudinal and transverse intervals, adjacent columns or rows are staggered by half a spacing to form a hexagonal honeycomb pattern. Compared with rectangular grids, this improves the sensing density, and the same number of components can more evenly cover the transition area from the fingertip to the finger side area, and more sensitively transmit shear deformation.

[0041] Simultaneously, the arrangement is spaced out along both the length and width of the mounting surface 10 (fingertip-dense type): a small-spaced, high-density arrangement is used in the fingertip area, gradually increasing the spacing towards the finger root area, forming a gradient distribution with denser fingertip areas and sparser finger root areas. This significantly enhances the tactile resolution of the fingertip area and adjacent finger pad areas, making it suitable for fine grasping, fingertip pinching, and object texture recognition tasks.

[0042] The magnetic tactile component 3 proposed in this application can be composed of a permanent magnet (or magnet) and a magnetic sensor (typically a Hall sensor or an AMR / GMR / TMR magnetoresistive sensor) with a small gap between them. One of them is fixed on the inclined mounting surface 10 of the mounting frame 1, and the other is integrated into the inner side of the elastic skin 2 through a flexible structure or directly, so that it is in close contact or weakly connected to the inner surface of the elastic skin 2.

[0043] When the elastic skin 2 is not subjected to external force, the permanent magnet and the magnetic sensor maintain their initial relative position, the magnetic field strength and direction are stable, and the sensor outputs a reference signal.

[0044] When the fingertip, side, tip, or root area of ​​the elastic skin 2 comes into contact with an external object, the external force causes the elastic skin 2 to undergo local indentation, stretching, or tangential displacement. This deformation is directly transmitted to the magnetic tactile component 3 that is in contact with it, resulting in a micron-level relative translation or tilt between the permanent magnet and the magnetic sensor, thereby changing the strength, direction, or gradient of the magnetic field where the sensor is located.

[0045] The magnetic sensor detects the changes in the magnetic field in real time and converts them into electrical signals. The magnitude of the local normal force and part of the shear direction can be calculated from a single magnetic tactile component 3; the differential signals from multiple magnetic tactile components 3 can further decouple the three-dimensional force vector (normal force Fx, longitudinal shear Fy, and transverse shear Fz) and the precise position of the contact point.

[0046] Since the magnetic field signal is a non-contact measurement with no rigid mechanical transmission links, the magnetic tactile component 3 has extremely high sensitivity, fast dynamic response, and almost no mechanical hysteresis or wear. At the same time, it has strong robustness to changes in the thickness and hardness of the elastic skin 2, thereby achieving high-density, multimodal, and long-life distributed tactile perception.

[0047] Reference Figure 2 In some embodiments, each magnetic tactile component 3 includes at least one magnetic tactile sensor 301;

[0048] The plurality of magnetic tactile components 3 include at least a first magnetic tactile component 31 and a second magnetic tactile component 32, wherein the first magnetic tactile component 31 and the second magnetic tactile component 32 are spaced apart along the length direction of the mounting surface 10.

[0049] This embodiment achieves distributed longitudinal tactile perception and shear force decoupling by dividing multiple magnetic tactile components 3 into at least a first magnetic tactile component 31 and a second magnetic tactile component 32 spaced apart along the length direction of the mounting surface 10 (i.e., from the fingertip area to the finger root area of ​​the elastic skin 2). Specifically:

[0050] When the fingertip area of ​​the elastic skin 2 is pressed by the normal direction of an external object, the fingertip area is concave as a whole. The first magnetic tactile component 31 located on the fingertip area side and the second magnetic tactile component 32 located on the finger root area side almost simultaneously sense the magnetic field change of similar amplitude. The output signal intensity of the two is basically the same, thus it is determined to be a pure normal force.

[0051] When the elastic skin 2 is subjected to a longitudinal shear force along the direction from the fingertip to the base of the finger (e.g., an object sliding relative to the finger or the finger dragging on the surface of an object), the skin in the fingertip area undergoes gradient deformation: the local deformation is larger at the end closer to the direction of the force, resulting in a significant difference in amplitude and phase between the magnetic field changes sensed by the first magnetic tactile component 31 and the second magnetic tactile component 32 (the component at the end subjected to the force first generates a larger signal change first).

[0052] By calculating the differential signals between the first magnetic tactile component 31 and the second magnetic tactile component 32, the magnitude and direction of the longitudinal shear force can be accurately decoupled.

[0053] Meanwhile, since the first magnetic tactile component 31 is closer to the fingertip area and the second magnetic tactile component 32 is closer to the finger root area, the longer baseline formed by the position difference between the two significantly amplifies the relative displacement caused by longitudinal deformation, making the magnetic field change signal stronger and the resolution higher, which greatly improves the early detection capability of tiny longitudinal sliding and objects about to slip.

[0054] Therefore, by setting a first magnetic tactile component 31 and a second magnetic tactile component 32 spaced apart along the length direction, this embodiment enables the knuckle mechanism 100 to reliably separate and accurately measure the normal force and longitudinal shear force within the scale of a single knuckle, providing the tactile hand with slip perception and pre-slip detection capabilities similar to human fingers, thereby significantly improving grasping stability and the success rate of fine operation.

[0055] Reference Figure 2 In some embodiments, the first magnetic tactile component 31 includes N magnetic tactile sensors 301;

[0056] The second magnetic tactile component 32 includes N+1 magnetic tactile sensors 301;

[0057] Where N is a positive integer, and N+1 magnetic tactile sensors 301 are arranged side by side along the width direction of the mounting surface 10.

[0058] This embodiment of the application achieves efficient decoupling of longitudinal shear force and transverse shear force, as well as high-precision detection of lateral sliding, by setting N magnetic tactile sensors 301 in the first magnetic tactile component 31 and N+1 magnetic tactile sensors 301 in the second magnetic tactile component 32, with the N+1 magnetic tactile sensors 301 arranged side by side along the width direction of the mounting surface 10. Specifically:

[0059] The first magnetic tactile component 31 (near the fingertip area) has N magnetic tactile sensors 301, which are mainly responsible for sensing the normal force and longitudinal shear force in the high-frequency contact area of ​​the fingertip area; the second magnetic tactile component 32 (near the base of the finger) has N+1 magnetic tactile sensors 301, wherein the additional sensors enable the second magnetic tactile component 32 to form a complete side-by-side horizontal array in the width direction.

[0060] When the elastic skin 2 is subjected to only pure normal force or pure longitudinal shear force, the output signals of the N sensors of the first magnetic tactile component 31 and the middle N sensors of the second magnetic tactile component 32 are highly consistent. The magnitude of the normal force and the direction of the longitudinal shear force can be accurately extracted through longitudinal differential.

[0061] When the elastic skin 2 is subjected to lateral shear force (i.e., lateral sliding along the fingertip area towards the sides of the fingertip area), the skin in the fingertip area undergoes asymmetrical deformation. The two magnetic tactile sensors 301 located on the far left and far right in the width direction detect the magnetic field change first and with the largest amplitude, while the middle sensors show smaller or opposite changes. The wide baseline array formed by the N+1 sensors arranged laterally inside the second magnetic tactile component 32 significantly amplifies the lateral deformation gradient, thereby producing a noticeable left-right signal difference.

[0062] By performing lateral differential calculations on the leftmost and rightmost sensors inside the second magnetic tactile component 32, the magnitude and direction of the lateral shear force can be independently decoupled. At the same time, by combining the N sensor signals of the first magnetic tactile component 31, the coupling error caused by slight finger tilt can be further corrected.

[0063] Therefore, by setting N+1 magnetic tactile sensors 301 arranged side by side along the width direction in the second magnetic tactile component 32, this embodiment enables the knuckle mechanism 100 to simultaneously possess high-precision longitudinal shear force sensing (relying on the longitudinal difference between the first and second magnetic tactile components 32) and high-precision lateral shear force sensing (relying on the lateral difference within the second magnetic tactile component 32) within the limited space of a single knuckle. This achieves three-dimensional force vector decoupling and omnidirectional slip detection, significantly improving the force sensing ability and gripping robustness of the tactile hand when performing lateral pushing and sliding, lateral gripping, and complex object manipulation.

[0064] Reference Figure 3 In some embodiments, the elastic skin 2 is provided with a plurality of abutment portions 21 on the side facing the mounting surface 10. Each abutment portion 21 is provided with a corresponding magnetic tactile sensor 301. Each abutment portion 21 abuts against its corresponding magnetic tactile sensor 301 to transmit the deformation of the elastic skin 2.

[0065] In this embodiment, multiple abutment portions 21 are provided on the side of the elastic skin 2 facing the mounting surface 10. Each abutment portion 21 corresponds one-to-one with and directly abuts against the magnetic tactile sensor 301 below it, thereby achieving efficient and accurate transmission of the deformation of the elastic skin 2 to the magnetic tactile sensor 301. Specifically:

[0066] When an external object comes into contact with the elastic skin 2, the elastic skin 2 undergoes local deformation. The deformation is first concentrated at the contact portion 21 corresponding to the point of force application, causing the contact portion 21 to press down or shift laterally. This displacement is transmitted directly to the magnet or magnetic sensitive element inside the sensor through the contact portion 21 to the rigid or semi-rigid contact surface of the magnetic tactile sensor 301, causing a precise change in the magnetic field. Since each contact portion 21 independently corresponds to a magnetic tactile sensor 301, the deformation transmission path is the shortest and interference is minimal, avoiding signal dispersion and crosstalk caused by large-area flexible deformation of the elastic skin 2. This significantly improves the signal-to-noise ratio, spatial resolution, and three-dimensional force decoupling accuracy of single-point deformation detection. Therefore, by setting multiple one-to-one corresponding contact portions 21, this embodiment makes the minute local deformation of the elastic skin 2 more concentrated and reliably converted into magnetic signals, achieving distributed tactile perception with higher sensitivity and higher fidelity.

[0067] Reference Figure 3 In some embodiments, a thinning portion 22 is provided between any two adjacent abutment portions 21, and the elastic skin 2 is thinned on the side facing the mounting surface 10 to form the thinning portion 22.

[0068] This embodiment achieves flexible decoupling and deformation concentration between adjacent tactile units by thinning the elastic skin 2 on the side facing the mounting surface 10 between any two adjacent contact portions 21. The working principle is as follows:

[0069] The contact portion 21 itself maintains a certain thickness and rigidity, which is used to efficiently and rigidly transmit the local deformation generated by the outer surface of the elastic skin 2 after being subjected to force to the corresponding magnetic tactile sensor 301 below; while the thickness of the thinned portion 22 between adjacent contact portions 21 is significantly smaller than that of the contact portion 21, forming a flexible chain-like low-rigidity region.

[0070] When an external object presses against the elastic skin 2, the contact part 21 corresponding to the point of force is displaced downward or laterally, while the surrounding thinned part 22, due to its extremely low stiffness, preferentially undergoes bending, stretching or compression deformation, so that the adjacent contact parts 21 are almost unaffected or only produce minimal associated displacement, thereby effectively blocking the lateral transmission and crosstalk of deformation between adjacent tactile units.

[0071] Meanwhile, the thinned portion 22 also acts as a deformation amplifier. The slight external pressure first causes the thinned portion 22 to collapse or bend rapidly, which in turn causes the corresponding contact portion 21 to generate a larger relative displacement amplitude, further improving the magnetic field change and detection sensitivity of the magnetic tactile sensor 301.

[0072] Therefore, by providing a thinning portion 22 between adjacent contact portions 21, this embodiment makes each magnetic tactile sensor 301 highly sensitive to deformation only in the local area directly above it, greatly improving the independence of adjacent units, and ultimately achieving higher spatial resolution, lower crosstalk, stronger local deformation response capability, and more accurate three-dimensional force and contact position reconstruction.

[0073] Reference Figure 2 In some embodiments, the mounting surface 10 is planar; the knuckle mechanism 100 also includes a circuit board 4 disposed on the mounting surface 10, and a plurality of magnetic tactile components 3 disposed on the side of the circuit board 4 facing the elastic skin 2.

[0074] In this embodiment, the mounting surface 10 is designed as a plane and a circuit board 4 is introduced as the carrier of the magnetic tactile component 3. Multiple magnetic tactile components 3 (including magnets and magnetic tactile sensors 301) are uniformly soldered or bonded to the side of the circuit board 4 facing the elastic skin 2. The circuit board 4 can integrate front-end signal conditioning circuitry (such as amplification, filtering, ADC) and digital interfaces, directly completing the local conversion of the original magnetic signal to digital quantity inside the knuckle, further improving anti-interference capability and response speed.

[0075] In some embodiments, the mounting surface 10 includes a plurality of sequentially connected connecting surfaces, any two adjacent connecting surfaces are arranged at an angle, each connecting surface is provided with a circuit board 4, and the side of the circuit board 4 facing the elastic skin 2 is provided with at least one magnetic tactile component 3.

[0076] This embodiment designs the mounting surface 10 as a folded structure with multiple sequentially connected surfaces and any adjacent connecting surfaces arranged at an angle. A circuit board 4 is placed on each connecting surface, and at least one magnetic tactile component 3 is arranged on the side of each circuit board 4 facing the elastic skin 2. This achieves a three-dimensional tactile coverage with a natural transition from the fingertip area to the finger side area. Its working principle is as follows:

[0077] Multiple connecting surfaces are connected end to end and tilted towards each other to form a multi-faceted zigzag or near-arc-shaped support contour with the opening facing outward. This contour closely matches the D-shape of the cross-section of a human finger (flatter on the front and smooth transition on the sides), so that the outer elastic skin 2 naturally forms a tactile shape with a flat fingertip area and a smooth transition on the finger side area.

[0078] Each connecting surface maintains a local plane, so that each circuit board 4 can still be rigidly fixed in a planar bonding manner, ensuring the high consistency of the magnetic tactile components 3, the uniformity of the initial magnetic field and the assembly accuracy in this area; at the same time, the tilt angle between adjacent connecting surfaces causes the magnetic tactile components 3 on different circuit boards 4 to automatically point to slightly different normal directions, realizing the fan-shaped expansion of the sensing field of view in the width direction, effectively covering a wide three-dimensional area from the center of the fingertip area to the two sides of the finger side area.

[0079] When the side of the finger is subjected to force or when the finger grasps an object from the side, the magnetic tactile component 3 located on the inclined connecting surface will directly sense the local deformation of the corresponding finger side area, instead of relying on the large stretching of the skin to transmit lateral force as is the case with the pure flat mounting surface 10. This greatly improves the detection sensitivity and response speed of lateral shear force and lateral contact.

[0080] Therefore, by setting multiple interconnected surfaces at an angle to each other and arranging the circuit board 4 and the magnetic tactile component 3 on each interconnected surface, this embodiment enables the knuckle mechanism 100 to maintain the easy assembly and electrical advantages of the planar circuit board 4, while breaking through the limitation that a single plane can only efficiently sense the fingertip area, and realizing a three-dimensional distributed tactile perception that truly conforms to the three-dimensional shape of the finger, significantly improving the integrity of force perception and grasping stability in complex operation scenarios such as side grip, side push, and grasping of cylindrical objects.

[0081] Reference Figure 4Furthermore, this application proposes a tactile finger 200, including the knuckle mechanism 100 described in the foregoing embodiments. When the knuckle mechanism 100 is used independently as a single tactile finger, or when it is connected in series with other identical / similar knuckle mechanisms 100 to form a multi-knuckle tactile finger, all the aforementioned sensory capabilities are directly mapped to the level of the entire finger, enabling the finger as a whole to possess:

[0082] Full-coverage tactile coverage: There are high-density effective sensory points from the fingertip area to the base of the finger, and from the fingertip to the sides of the finger, eliminating the defect of traditional fingers where only the fingertip has a sensory area and the sides are blind spots.

[0083] True 3D force sensing: Normal pressure magnitude + longitudinal shear + transverse shear can be output simultaneously at any contact point, realizing omnidirectional slip detection and pre-slip warning;

[0084] High spatial resolution and local deformation fidelity: Supports fine texture recognition, edge detection, and small object shape reconstruction;

[0085] A single phalanx can independently complete complex sensing tasks, and the sensing density and redundancy are further multiplied after multiple phalanxes are connected in series. The overall performance expands linearly with the number of phalanxes.

[0086] Please continue to refer to Figure 4 Furthermore, this application proposes a bionic hand 300, including at least one tactile finger 200 as described in the foregoing embodiments.

[0087] This embodiment integrates at least one of the aforementioned highly optimized tactile fingers 200 into the bionic hand 300 to achieve high-density, three-dimensional, distributed tactile perception at the whole-hand level. Its working principle is as follows:

[0088] Each tactile finger 200 possesses full-coverage high-resolution tactile sensation from the fingertip area to the finger root area, and from the finger pad area to the sides of the fingers, as well as the ability to decouple the three-dimensional force vectors of normal force, longitudinal shear, and transverse shear within a single finger joint in real time.

[0089] When at least one, typically five, of these tactile fingers 200 are installed in the bionic hand 300 according to the anatomical position and degrees of freedom of the human hand:

[0090] The entire hand is covered with tactile sensation without any blind spots: the five fingers work together to form an enveloping sensing field. When the palm performs any grasping posture (power grasp, precision pinch, three-finger clamp, side grip, hook grip, spherical grip), all actual contact areas fall within the effective sensing range of the high-density magnetic tactile component 3.

[0091] Multi-finger information fusion and redundancy enhancement: Each finger independently outputs dozens to hundreds of high-fidelity tactile raw signals. The palm-level controller can reconstruct the pressure distribution map, shear force vector field, contact center and normal, slip trend and local shape of the entire hand-object contact surface in real time through multi-finger and multi-point data fusion, achieving a perception dimension and robustness far exceeding that of a single finger.

[0092] Omnidirectional slippage early warning: When any one or more fingers detect a sudden change in local shear force or pre-slippage, the system immediately triggers global grip force redistribution and attitude fine-tuning, significantly reducing the drop rate when operating complex objects or multiple objects simultaneously.

[0093] Enhanced fine motor skills and object recognition capabilities: Multi-finger collaborative high-resolution tactile support for texture scanning, edge tracking, hardness discrimination, and shape reconstruction enables the tactile hand to perform human-level fine tasks such as threading a needle, tightening a screw, recognizing key teeth, and reading Braille.

[0094] Reference Figure 4 and Figure 5 Furthermore, this application proposes a bionic robot 400, including a robotic arm 500 and a bionic hand 300 connected to the robotic arm as described in the foregoing embodiments.

[0095] 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 knuckle mechanism for a tactile finger, characterized in that, The knuckle mechanism includes: The mounting frame has an inclined mounting surface at its mounting end. An elastic skin, which is sleeved on the mounting end and covers the mounting surface; Multiple magnetic tactile components are disposed on the mounting surface and spaced apart along the length and / or width of the mounting surface. The magnetic tactile components abut against the elastic skin to collect deformation data when the elastic skin comes into contact with an external object. Each of the magnetic tactile components includes at least one magnetic tactile sensor. The elastic skin has multiple abutment portions on the side facing the mounting surface. Each abutment portion corresponds to one magnetic tactile sensor. Each abutment portion abuts against its corresponding magnetic tactile sensor to transmit the deformation of the elastic skin. A thinning portion is provided between any two adjacent abutment portions. The elastic skin is thinned on the side facing the mounting surface to form the thinning portion.

2. The knuckle mechanism of the tactile finger according to claim 1, characterized in that, The plurality of magnetic tactile components include at least a first magnetic tactile component and a second magnetic tactile component, wherein the first magnetic tactile component and the second magnetic tactile component are spaced apart along the length direction of the mounting surface.

3. The knuckle mechanism of the tactile finger according to claim 2, characterized in that, The first magnetic tactile component includes N magnetic tactile sensors; The second magnetic tactile component includes N+1 magnetic tactile sensors; Where N is a positive integer, and the N+1 magnetic tactile sensors are arranged side by side along the width direction of the mounting surface.

4. The knuckle mechanism of the tactile finger according to claim 1, characterized in that, The mounting surface is planar; the knuckle mechanism also includes a circuit board, which is disposed on the mounting surface, and the plurality of magnetic tactile components are disposed on the side of the circuit board facing the elastic skin.

5. The knuckle mechanism of the tactile finger according to claim 1, characterized in that, The mounting surface includes multiple sequentially connected surfaces, with any two adjacent connecting surfaces arranged at an angle. Each connecting surface is provided with a circuit board, and at least one magnetic tactile component is provided on the side of the circuit board facing the elastic skin.

6. A tactile finger, characterized in that, Includes the knuckle mechanism as described in any one of claims 1-5.

7. A bionic hand, characterized in that, Includes at least one tactile finger as described in claim 6.

8. A biomimetic robot, characterized in that, It includes a robotic arm and a bionic hand as described in claim 7, which is connected to the robotic arm.

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