Tactile acquisition device, mechanical device, grabbing terminal and intelligent agent

Abstract

The embodiment of the invention provides a tactile acquisition device, a mechanical device, a grabbing terminal and an intelligent agent, and the tactile acquisition device comprises a tactile sensor which is used for collecting a tactile signal of a contact area; the analog-to-digital converter is connected with the tactile sensor and is used for performing analog-to-digital conversion on the tactile signal to obtain tactile information; wherein the touch sensor is integrated on the analog-to-digital converter through a metal contact point. The technical problem that the tactile acquisition device is low in precision when acquiring tactile information is solved.

Description

TECHNICAL FIELD

[0001] The embodiment of the present application relates to the technical field of perception and control, and particularly relates to a tactile acquisition device, a mechanical device, a grabbing terminal and an intelligent agent. BACKGROUND

[0002] In the field of automation, especially for scenarios that require fine operations, such as precision assembly, medical assistance, etc., high-quality tactile feedback is the key to achieving precise control.

[0003] However, in the prior art, the complex arrangement of the tactile acquisition device can cause the collected signal to be weak, thereby causing the tactile information collected by the tactile acquisition device to have the defect of low precision. SUMMARY

[0004] The embodiment of the present application provides a tactile acquisition device, a mechanical device, a grabbing terminal and an intelligent agent, aiming to improve the problem of low precision when the tactile acquisition device collects tactile information.

[0005] According to an aspect of the embodiment of the present application, a tactile acquisition device is provided, comprising: a tactile sensor, configured to collect a tactile signal of a contact area; an analog-to-digital converter connected with the tactile sensor, configured to perform analog-to-digital conversion on the tactile signal to obtain tactile information; and wherein the tactile sensor is integrated on the analog-to-digital converter through a metal contact point.

[0006] By collecting an analog current signal at the contact area of the tactile sensor and performing analog-to-digital conversion on the analog-to-digital converter, the signal attenuation and interference problems caused by long-distance transmission are ensured to ensure the accuracy of the tactile information, and the tactile sensor is integrated on the analog-to-digital converter through a metal contact point, thereby improving the flexibility of use.

[0007] Optionally, the tactile sensor comprises: a plurality of piezoresistive sensor units arranged based on a preset array, configured to collect the tactile signal; and a plurality of signal lines, wherein the first ends of the plurality of signal lines are respectively connected with the plurality of piezoresistive sensor units, and the second ends of the plurality of signal lines are respectively connected with a plurality of channel interfaces of the analog-to-digital converter, configured to transmit the tactile signal to the analog-to-digital converter.

[0008] The sensitive characteristics of the piezoresistive sensor units to contact pressure are fully utilized, and efficient signal capture and conversion are realized through direct connection of the signal lines, thereby providing reliable input for subsequent signal processing and decision-making. Such a layout not only simplifies the connection between the sensor and the analog-to-digital converter, but also enhances the overall efficiency of the tactile acquisition device, thereby ensuring the accuracy and reliability of the tactile signal.

[0009] According to an aspect of the embodiments of the present application, a mechanical device is provided, comprising: a mechanical palm, a front end of the mechanical palm being connected with a mechanical finger, for gripping a target object; a tactile collection device in the embodiments of the present application, the tactile collection device being arranged on the mechanical palm and / or the mechanical finger.

[0010] By respectively deploying a plurality of tactile collection devices on the mechanical palm and the mechanical finger, a comprehensive tactile perception network can be formed, and the sensitivity and the perception range of the mechanical device to the tactile sensation of the target object are improved.

[0011] Optionally, the mechanical finger comprises a first mechanical finger and a second mechanical finger, the gripping directions of the first mechanical finger and the second mechanical finger are different, wherein at least two tactile collection devices are arranged in a first region of the first mechanical finger; at least one tactile collection device is arranged in each of at least two regions of the second mechanical finger.

[0012] By deploying the tactile collection devices in specific regions of different mechanical fingers, not only can each mechanical finger independently perceive tactile information, but also the collaborative perception between the mechanical fingers can be realized, and the overall perception ability of the dexterous hand is improved.

[0013] By distinguishing the layout modes of the tactile collection devices of the first mechanical finger and the second mechanical finger, the tactile collection devices are arranged in the first region of the first mechanical finger, and the tactile collection devices are arranged in the multiple regions of the second mechanical finger, so that the mechanical device can more finely adapt to the tactile requirements in different scenes, the resource allocation efficiency is improved, and the perception ability of the mechanical device is improved.

[0014] Optionally, the at least two tactile collection devices arranged on the same mechanical finger are connected in series.

[0015] By connecting the signal outputs of the tactile collection devices in series, a continuous communication link is formed, the complexity and the number of wire harnesses are effectively reduced, the internal wiring of the mechanical finger is simplified, and the stability and the high precision of signal transmission are ensured. This enables the multiple tactile collection devices on the same mechanical finger to work collaboratively, ensures the accurate reading and processing of data, and further improves the tactile perception ability and the interaction performance of the mechanical device.

[0016] Optionally, the at least two tactile collection devices arranged on the same mechanical finger are connected in series, and are connected in series with the tactile collection device arranged on the mechanical palm.

[0017] By streamlining the communication wiring, efficient data acquisition from multiple tactile sensing devices is achieved. Specifically, at least two tactile sensors are arranged in the robotic finger, while the robotic hand is also equipped with tactile sensors connected in series to form a comprehensive tactile sensing network. Sharing the same bus through a simple serial communication method reduces wiring complexity, avoids signal interference, and improves the accuracy of data acquisition.

[0018] Optionally, the first region is the region corresponding to the end of the first mechanical finger that is away from the mechanical palm, and the at least two regions of the second mechanical finger include: the distal region of the second mechanical finger that is away from the mechanical palm, and the proximal region of the second mechanical finger that is close to the mechanical palm.

[0019] The first region is positioned at the end of the first robotic finger furthest from the robotic palm, while at least two regions cover both ends of the second robotic finger—the areas furthest from and near the robotic palm. This layout strategy enhances the coverage and sensing efficiency of the tactile sensing device, ensuring that the robotic finger can fully perceive the interaction between the external environment and objects when performing grasping and manipulation tasks. Furthermore, this differentiated arrangement allows the tactile sensing device to better capture the characteristics of the target object and changes in force, enhancing the tactile feedback capability of the robotic finger in complex operations.

[0020] Optionally, at least two regions of the second mechanical finger include: a mid-range region located between the distal and proximal regions.

[0021] This design ensures comprehensive coverage of the tactile sensing device across different parts of the robotic finger, especially in critical areas prone to contact during bending movements. By placing the tactile sensing device in the mid-range area, the tactile state of the robotic finger during grasping or manipulation can be perceived more accurately, providing richer and more detailed tactile feedback. The mid-range tactile sensing device further enhances the device's ability to recognize object shape, texture, and contact patterns, enabling more precise and natural responses during task execution.

[0022] Optionally, the number of second mechanical fingers is greater than or equal to 1 and less than or equal to 4.

[0023] The number of second robotic fingers is set between one and four to meet different types of multi-finger needs and achieve better grasping and sensing performance. The variation in the number of second robotic fingers is directly related to the integration of tactile sensing devices; more second robotic fingers mean a wider range of application scenarios and support for a larger range of object manipulation.

[0024] According to one aspect of the embodiments of this application, a control system for a mechanical device is provided, comprising: the mechanical device in various embodiments of this application; a communication device, the first end of which is connected to a tactile sensing device in the mechanical device, for communicating with the tactile sensing device corresponding to the address information according to address information to obtain tactile information corresponding to the address information; and a controller, connected to the second end of the communication device, for controlling the mechanical device according to the tactile information.

[0025] This control system integrates mechanical devices to achieve terminal analog-to-digital conversion of tactile information, and then uses a communication device to transmit the converted digital signals from multiple sensor modules to the controller. This simplifies long-distance connections, reduces signal interference, and ensures accurate acquisition of tactile data, thereby ensuring accurate control of the mechanical devices.

[0026] Optionally, the communication device includes: a bus extender, the slave port of which is connected to the tactile acquisition device, and the master port of which is connected to the controller, for sending data acquisition commands to the tactile acquisition device corresponding to the address information according to the address information, and receiving tactile information fed back by the tactile acquisition device corresponding to the address information.

[0027] The communication device connects the slave port of the bus extender to the tactile sensing device and the master port to the controller via a bus extender. This allows the controller to send data acquisition commands to the corresponding tactile sensing device based on address information and to receive tactile information from the tactile sensing device. Therefore, by using the bus extender, communication capabilities can be effectively managed and expanded, ensuring the reliability and flexibility of communication even when multiple tactile sensing devices coexist.

[0028] According to one aspect of the embodiments of this application, a control method for a mechanical device is provided, optionally applied in the control system of the mechanical device in various embodiments of this application, comprising: responding to receiving address information, controlling a communication device to communicate with a tactile sensing device corresponding to the address information to obtain tactile information corresponding to the address information, wherein a first input terminal of the communication device is connected to a first communication port, a second input terminal of the communication device is connected to a second communication port, the first communication port is the communication port of a tactile sensing device deployed on a mechanical finger, and the second communication port is the communication port of a tactile sensing device deployed on a mechanical hand; and controlling the mechanical device according to the tactile information.

[0029] This control method is applied to the control system of a mechanical device. Upon receiving address information, it can control a communication device to communicate with the tactile sensing device corresponding to the address information, thereby acquiring the tactile information corresponding to that address. Since the first input terminal of the communication device is connected to the communication port of the tactile sensing device deployed on multiple mechanical fingers, and the second input terminal is connected to the communication port of the tactile sensing device on the mechanical hand, the mechanical device can be precisely controlled based on the acquired tactile information. This effectively improves the response speed and accuracy of the mechanical device to tactile feedback, realizing the flexibility and intelligent control of the mechanical device in various operational tasks.

[0030] According to one aspect of the embodiments of this application, a capture terminal is provided, which includes the systems of various embodiments of this application.

[0031] According to one aspect of the embodiments of this application, an intelligent agent is provided, including the grasping terminal in various embodiments of this application.

[0032] According to another aspect of the embodiments of this application, an electronic device is also provided, including: a processor and a memory, wherein the memory is used to store a computer program; the processor is used to execute the program stored in the memory to implement the control method of the mechanical device in various embodiments of this application.

[0033] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is running, it controls the device where the computer-readable storage medium is located to execute the control method of the above-mentioned aircraft. Attached Figure Description

[0034] Figure 1 This is a structural diagram of a tactile sensing device provided in an embodiment of this application;

[0035] Figure 2 This is a structural diagram of a mechanical device provided in an embodiment of this application;

[0036] Figure 3 This is a structural diagram of the control system of a mechanical device provided in an embodiment of this application;

[0037] Figure 4 This is a structural diagram of an optional control system provided in one embodiment of this application;

[0038] Figure 5 This is a flowchart of a control method for a mechanical device provided in an embodiment of this application;

[0039] Figure 6 This is a schematic diagram of the control device of a mechanical device provided in an embodiment of this application;

[0040] Figure 7 This is a structural diagram of the electronic device provided in the embodiments of this application. Detailed Implementation

[0041] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0042] Currently, tactile sensing devices often use long-distance, multi-path connection methods to collect tactile signals. This may result in dense wiring, which can lead to crosstalk between different signals. This may cause the collected tactile signals to become blurry, thus reducing the accuracy of tactile information.

[0043] In this application, a mechanical device refers to a device composed of multiple mechanical parts (such as a mechanical hand or mechanical fingers). A mechanical device can perform specific functions or operations, such as grasping, through physical movement. The mechanical device may include a tactile sensing device to collect tactile information when grasping a target object.

[0044] In this application, the control system refers to a system that controls the operation of a mechanical device. The control system can acquire tactile information collected by the tactile sensing device in the mechanical device through a communication device, and then transmit it to the controller to achieve control of the mechanical device.

[0045] This application provides a tactile sensing device, comprising: a tactile sensor for collecting tactile signals from a contact area; and an analog-to-digital converter connected to the tactile sensor for converting the tactile signals into digital signals to obtain tactile information; wherein the tactile sensor is integrated on the analog-to-digital converter via a metal contact point.

[0046] Compared to the closest prior art, the technical effect of integrating the tactile sensor and analog-to-digital converter through metal contact points simplifies the transmission path of tactile signals. Since the metal contact points provide reliable physical and electrical contact between the tactile sensor and the analog-to-digital converter, the tactile sensor can immediately perform analog-to-digital conversion to obtain tactile information after acquiring the tactile signal from the contact area, reducing signal attenuation and interference and ensuring the accuracy of tactile information acquisition.

[0047] This application provides a tactile sensing device 100. Please refer to [link / reference]. Figure 1 ,include:

[0048] The tactile sensor 102 is used to collect tactile signals from the contact area 110.

[0049] The aforementioned tactile sensor can be a device that senses the physical phenomenon of touch and converts it into an electrical signal. Tactile sensors can detect changes in pressure, temperature, humidity, etc., to capture the tactile experience of the contact area. Structurally, tactile sensors can be piezoresistive, capacitive, piezoelectric, or other types of sensors. Tactile sensors can be encapsulated in a thin layer or matrix for easy deployment in the contact area. Tactile sensors can convert physical changes (such as contact force and temperature changes) generated in the contact area into measurable electrical signals, thereby reflecting the state of the contact point. Through tactile sensors, tactile acquisition devices can "feel" the characteristics of the object being grasped, such as whether it is hard or soft, whether it has sharp edges, and whether the temperature is suitable for grasping, thereby guiding the movements of dexterous hands and making operations more intelligent and safer. Tactile sensors can be connected to an analog-to-digital converter in the tactile acquisition device through metal contact points to transmit the tactile signals sensed by the sensor to the converter for signal conversion.

[0050] The aforementioned contact area can be the area where the tactile sensing device directly contacts other objects. The contact area provides the physical space for the tactile sensing device to contact the object, allowing the tactile sensor to capture various physical information during the contact process, thus enabling it to make adaptive actions.

[0051] In one alternative embodiment, the tactile sensor can be a capacitive sensor, a piezoresistive tactile sensor, an ultrasonic tactile sensor, etc. For example, a tactile sensor made of a piezoresistive resistor reduces resistance when pressure is applied, allowing the sensor to measure pressure distribution through resistance changes to assess the object's weight, texture, and shape. Another example is a tactile sensor that uses ultrasonic pulses to sense objects in the contact area. By emitting ultrasonic pulses, when the pulses encounter obstacles or object surfaces, some sound waves are reflected back. The tactile sensor receives these reflected signals and determines information such as the distance, hardness, and texture of the object in contact with the contact area by measuring the round-trip time of the sound waves or the intensity change of the received signal. Thus, the tactile sensor can sense and quantify the tactile characteristics when the tactile sensing device comes into contact with an external object. Since the tactile sensor makes direct contact with the object through the contact area, the contact area must possess strength and durability to ensure accurate transmission of tactile information. In this way, when physical contact occurs at the contact area, the tactile sensor can capture and convert these contact events into tactile signals. Tactile signals can include, but are not limited to, the location of the contact point, the degree of pressure, the texture of the object, temperature, or humidity.

[0052] The analog-to-digital converter 104 is connected to the tactile sensor and is used to perform analog-to-digital conversion on the tactile signal to obtain tactile information;

[0053] The tactile sensor is integrated into the analog-to-digital converter via metal contact point 106.

[0054] The aforementioned analog-to-digital converter (ADC) can be an electronic component used to convert continuously changing analog signals into digital signals for processing by computers and other digital devices. ADCs may include, but are not limited to, comparators and encoding logic, enabling the conversion of tactile signals into tactile information according to preset resolution and speed. ADCs are fundamental to tactile signal processing and data transmission. Because digital signals have strong anti-interference capabilities and are easy to transmit over long distances, the converted signals ensure accurate transmission of tactile information. ADCs can receive tactile signals from tactile sensors through metal contact points for real-time data processing and motion control based on contact conditions.

[0055] The aforementioned tactile signals can be collected by tactile sensors, reflecting the raw signals of an object's touch. Tactile signals can be analog electrical signals. Tactile information, formed by converting tactile signals through an analog-to-digital converter and subsequent data processing, is digitized tactile information that can be used for decision-making. The conversion process between tactile signals and tactile information ensures an effective transition from physical perception to digital information.

[0056] The aforementioned tactile sensing device can be used to capture a robot's tactile experience and convert it into analyzable digital information through signal processing. This device can be integrated into robotic fingers, robotic hands, or the confined spaces of a robot. By collecting and processing tactile signals from tactile sensors and converting these analog signals into digital signals, the device facilitates the understanding and interpretation of contact conditions in the contact area, such as the magnitude and direction of contact force, the texture and shape of the object, thereby enabling more precise and natural manipulation.

[0057] The aforementioned metal contact points can be internal or external metal components of the tactile sensor used to conduct electrical signals generated by pressure changes. These metal contact points can be made of highly conductive and wear-resistant materials, such as gold, silver, or copper. The metal contact points convert changes in physical pressure at the contact area into changes in electrical signals. Therefore, when the metal contact point is subjected to pressure and deforms, its resistance changes with the pressure. The tactile sensor can capture this change and convert it into an analog signal, which is then transmitted to an analog-to-digital converter (ADC) for conversion into a digital signal. The metal contact points are in close contact with the tactile sensor and are also firmly connected to the ADC, ensuring the continuity and effectiveness of signal transmission.

[0058] In one alternative embodiment, the analog-to-digital converter (ADC) can utilize differential signals for signal transmission, effectively suppressing common-mode interference and improving the signal-to-noise ratio. Alternatively, the ADC can process tactile signals based on multiple channels, meaning the ADC includes multiple analog input channels, with different channels transmitting different tactile signals.

[0059] Therefore, an analog-to-digital converter (ADC) can convert the tactile signals output by a tactile sensor into digital form, facilitating calculation and analysis. Digital signals can be transmitted via digital communication protocols, improving signal stability and interference resistance. Through high-precision analog-to-digital conversion, the ADC ensures that the details of tactile information are preserved. This is crucial for distinguishing different materials or sensing minute changes in pressure.

[0060] Furthermore, by directly integrating the tactile sensor onto the analog-to-digital converter via metal contact points, signal attenuation and noise during transmission are reduced, while the design of the tactile acquisition device is simplified, and space utilization and overall integration are improved.

[0061] The high conductivity and low resistance of the metal contact points ensure efficient transmission of tactile signals from the tactile sensor to the analog-to-digital converter (ADC), reducing signal loss and delay. Furthermore, integrating the tactile sensor onto the ADC via the metal contact points simplifies the assembly process and reduces wiring complexity. Moreover, the high wear and corrosion resistance of the metal contact points ensures that the connection between the tactile sensor and the ADC remains stable and reliable during long-term operation and under various environmental conditions.

[0062] In this embodiment, the tactile sensor and the analog-to-digital converter are integrated through metal contact points, which simplifies the transmission path of the tactile signal. Since the metal contact points provide reliable physical and electrical contact for the connection between the tactile sensor and the analog-to-digital converter, the tactile sensor can immediately perform analog-to-digital conversion to obtain tactile information after collecting the tactile signal from the contact area, reducing signal attenuation and interference, and ensuring the accuracy of tactile information acquisition.

[0063] Optionally, the tactile sensor includes: multiple piezoresistive sensor units arranged in a preset array for acquiring tactile signals; and multiple signal lines, the first ends of which are respectively connected to the multiple piezoresistive sensor units, and the second ends of which are respectively connected to multiple channel interfaces of the analog-to-digital converter for transmitting the tactile signals to the analog-to-digital converter.

[0064] The aforementioned piezoresistive sensor unit is a sensor based on the piezoresistive effect. When pressure is applied, the resistance value of the piezoresistive sensor unit changes, and this change can be detected and converted into a tactile signal. The piezoresistive sensor unit can capture the pressure distribution when in contact with an object, providing tactile feedback. The piezoresistive sensor unit can be of thin-film type, screen-printed type, or microelectromechanical system type, etc. Through the piezoresistive sensor unit, the tactile acquisition device can sense and quantify the pressure when in contact with an object, thereby determining the object's hardness, shape, and grip stability.

[0065] The aforementioned signal lines refer to lines used to transmit electronic signals. These signal lines connect the piezoresistive sensor unit to the various channel interfaces of the analog-to-digital converter (ADC) for signal transmission. The signal lines can be coaxial cables, twisted-pair cables, or multi-core shielded cables. To reduce space occupation and improve flexibility, the signal lines can also be flexible circuit boards. Thus, the signal lines transmit the analog signals generated by the piezoresistive sensor unit to the ADC, ensuring the integrity and accuracy of the signal during transmission.

[0066] The aforementioned channel interface refers to the specific contact point where the analog-to-digital converter (ADC) connects to the signal lines. Multiple signal lines connect to the piezoresistive sensor units, enabling simultaneous acquisition of multiple signals. The channel interface can be differential input, single-ended input, or multiplexed input. The ADC's channel interface allows it to receive signals from multiple piezoresistive sensor units, converting these analog signals into digital signals through internal circuitry for subsequent processing and analysis. The more channels, the more signals the ADC can process simultaneously, thus improving the efficiency and information capacity of the tactile sensing device.

[0067] In one alternative embodiment, the tactile sensor may include, but is not limited to, multiple piezoresistive sensor units and multiple signal lines to sense pressure from various directions, thereby simulating the tactile perception of a human hand. The piezoresistive sensor units are arranged in a preset array to improve coverage of all contact surfaces in the contact area, providing comprehensive tactile feedback. The preset array arrangement can be a two-dimensional or three-dimensional array to accurately capture the pressure distribution in the contact area, thereby distinguishing different features. Since the preset array arrangement is fixed, the relative position of the tactile signal in the contact area can be accurately determined according to this arrangement to understand the contact situation and achieve spatial positioning.

[0068] Furthermore, the tactile sensor utilizes multiple signal lines to connect the piezoresistive sensor unit and the analog-to-digital converter's (ADC) channel interface, ensuring that the tactile signals collected from the piezoresistive sensor unit are accurately transmitted to the ADC for separate analog-to-digital conversion. Using multiple signal lines allows for the simultaneous processing of signals from multiple piezoresistive sensor units, meaning the ADC can simultaneously receive and convert multiple tactile signals, improving the speed and efficiency of data acquisition.

[0069] The channel interface serves as the physical interface for the analog-to-digital converter (ADC) to receive analog signal input. Each channel interface can connect to one signal line, thereby accessing the signal from one piezoresistive sensor unit. By providing multiple channel interfaces, the ADC can simultaneously convert multiple analog signals from piezoresistive sensor units, transforming them into digital signals and improving the efficiency of data processing and analysis. Signal isolation can be performed between different channel interfaces, avoiding signal interference between piezoresistive sensor units and improving the signal-to-noise ratio and data quality of the tactile sensing device. Therefore, the tactile sensor, through the array arrangement of multiple piezoresistive sensor units, the parallel transmission of multiple signal lines, and the multiple channel interfaces on the ADC, forms an efficient, accurate, and scalable tactile signal acquisition and conversion scheme.

[0070] According to another aspect of the embodiments of this application, a mechanical device is provided. Figure 2 This is a schematic diagram of a mechanical device according to an embodiment of this application, such as... Figure 2 As shown, the mechanical device 200 includes: a mechanical hand 202, with mechanical fingers 210 connected to the front end of the mechanical hand for grasping a target object; and a tactile sensing device 204 as described in various embodiments of this application, which is arranged on the mechanical hand and / or mechanical fingers. Figure 2 (The example shown is of a tactile sensor device placed on a robotic hand and robotic fingers.)

[0071] The aforementioned robotic hand can be a mechanical device that simulates the structure and function of a human hand. It serves as a connection and support platform for robotic fingers. The robotic hand not only provides mounting points for the robotic fingers but may also integrate tactile sensing devices to achieve tactile perception. Robotic hands come in various shapes, including biomimetic, modular, or multi-jointed designs. They can act as a base, connecting and supporting multiple robotic fingers to ensure their stability and collaborative working ability. Furthermore, by deploying tactile sensing devices on the robotic hand, it can sense environmental information such as pressure and temperature, enhancing the device's sensory capabilities. The robotic hand can use multiple robotic fingers to grasp target objects and adjust the gripping force and stability. The target object can refer to a physical object within the mechanical device that needs to be identified, located, grasped, manipulated, or interacted with. The target object can be static or dynamic; for example, it can be everyday items or industrial components.

[0072] The aforementioned robotic fingers can be actuators for dexterous grasping in mechanical devices. They can mimic the shape and function of human fingers, performing actions such as grasping and bending. A robotic finger can consist of multiple joints and drive components, operating independently or collaboratively. It can be biomimetic, deformable, or fixed. The robotic finger is the direct tool for mechanical devices to perform grasping, manipulation, and sensing tasks; the flexibility and accuracy of the mechanical device directly affect its overall performance. By deploying tactile sensing devices on the robotic finger, it can capture subtle tactile information when in contact with objects, such as pressure distribution and surface texture. This is helpful for handling fragile items or performing delicate operations. Utilizing robotic fingers allows mechanical devices to adapt to objects of different sizes, shapes, and hardnesses, improving their operational capabilities in various environments and tasks.

[0073] In one alternative embodiment, the robotic hand can be connected to and coordinate robotic fingers to ensure the operational range and flexibility of the mechanical device. The robotic fingers can be used to physically contact and grasp target objects, mimicking the function of a human hand, enabling the mechanical device to perform a range of operations such as picking, carrying, and assembling, rather than being limited to simple movement. The connection of robotic fingers to the robotic hand allows the mechanical device to perform more complex and precise tasks, increasing its adaptability to target objects of different shapes, sizes, and properties. The front end of the robotic hand can be connected to the robotic fingers via flexible hinges, made of metal or polymer, allowing the robotic fingers to bend and extend in multiple dimensions. Alternatively, the front end of the robotic hand can also be connected to the robotic fingers via electromagnetic drive. Electromagnetic drive control the speed and direction of the robotic fingers' movement through changes in current.

[0074] Furthermore, tactile sensing devices can be simultaneously placed on the robotic hand and robotic fingers, or placed on either the robotic hand or robotic fingers, achieving flexibility in the mechanical device. Placing the tactile sensing device on the robotic hand allows the mechanical device to focus on tasks such as the contact area and force distribution between the robotic hand and the target object with a simplified structure, such as determining the weight, shape, or stability of the target object. If the tactile sensing device is placed on the robotic finger, the mechanical device can focus more on local tactile details, providing fine tactile feedback, such as identifying the texture and edge shape of the target object. This placement method is suitable for tasks requiring highly precise operation, such as precision assembly, surgical procedures, or handling fragile items. Since the robotic finger is in direct contact with the target object, the tactile sensing device placed on the robotic finger can more directly capture tactile information related to the target object, improving the intuitiveness and reaction speed of operation.

[0075] By placing tactile sensing devices on both the robotic hand and its fingers, the device can detect the physical characteristics encountered when the robotic hand and fingers come into contact with a target object. These physical characteristics include, but are not limited to, pressure, texture, temperature, and humidity, providing real-time tactile feedback to the mechanical device. This tactile feedback helps the mechanical device to grasp objects accurately, prevent damage, and adapt to changes in the object's surface to perform tasks. By equipping both the robotic hand and its fingers with tactile sensing devices, it is ensured that various operations of the robotic fingers can obtain information from the gripping point, facilitating the handling of different gripping situations. By collecting tactile signals from the target object through the tactile sensing devices, the mechanical device can dynamically adjust the gripping force, direction, and speed based on real-time feedback from multiple robotic fingers, achieving precise and safe object grasping and manipulation.

[0076] This embodiment, through the ingenious design and deployment of tactile sensing devices in the robotic hand and / or robotic fingers, constructs a highly integrated and responsive mechanical device. This layout enhances the tactile sensing accuracy and operational flexibility of the mechanical device, while reducing its complexity and cost. Specifically, the distributed deployment strategy of the tactile sensing devices ensures that the robotic fingers can receive tactile information from all directions and multiple angles when grasping a target object.

[0077] Optionally, the mechanical finger includes a first mechanical finger and a second mechanical finger, with different gripping directions. At least two tactile sensing devices are deployed in a first area on the first mechanical finger, and at least one tactile sensing device is deployed in each of the at least two areas on the second mechanical finger.

[0078] In one alternative embodiment, the first and second mechanical fingers are designed with different gripping orientations. This means that the mechanical fingers are not only spatially distributed but also differentiated in their operation to adapt to different gripping needs and environments. Mechanical fingers with different gripping orientations can more effectively handle diverse target objects, thereby enhancing the adaptability of the mechanical device. By flexibly configuring the orientation of the mechanical fingers, the mechanical device can locate and grasp target objects more quickly, reducing operation time and improving work efficiency.

[0079] Furthermore, at least two tactile sensing devices are deployed in a first area on the first robotic finger. The first area can refer to areas on the first robotic finger where tactile perception is crucial, such as the fingertip or knuckles. Deploying at least two tactile sensing devices in the first area allows for the acquisition of more comprehensive tactile information. These devices can capture subtle pressure changes in the first area, providing high spatial resolution and enabling more accurate perception of object surface features. Moreover, the densely distributed tactile sensors in the first area allow the mechanical device to adjust its gripping force in a timely manner, preventing damage to fragile or sensitive objects.

[0080] At least one tactile sensing device is deployed in at least two areas of the second robotic finger, such as the knuckle and the side, ensuring that at least two areas possess corresponding tactile sensing capabilities. This deployment of tactile sensors in at least two areas of the second robotic finger ensures that tactile information of the target object can be obtained from different gripping angles. Furthermore, the tactile sensing capability in at least two areas helps to acquire multi-dimensional information such as the shape and texture of the target object, improving the mechanical device's ability to perceive details when handling complex tasks and allowing for more flexible and varied gripping methods when facing target objects of different shapes and sizes.

[0081] Optionally, at least two tactile sensing devices deployed on the same robotic finger are connected in series.

[0082] In one alternative embodiment, the deployment of at least two tactile sensing devices means that the same robotic finger can simultaneously collect tactile information at different points. This multi-point sensing provides more comprehensive tactile feedback, including the distribution of contact force, the shape and texture of the object, etc., enabling the same robotic finger to more accurately determine the contact with the object and improve the precision of grasping and manipulation. Furthermore, the tactile sensing devices are connected in series, meaning that at least two tactile sensing devices share the same communication bus, thereby reducing the number of communication lines required, simplifying the wiring inside the robotic finger, reducing the weight and volume of the cables, and facilitating the flexible movement of the robotic finger.

[0083] Optionally, at least two tactile sensing devices deployed on the same robotic finger are connected in series and connected in series with a tactile sensing device deployed on the robotic palm.

[0084] In one alternative embodiment, at least two tactile sensing devices deployed on the same robotic finger are connected in series, allowing them to share signal lines. This reduces the number of signal lines required within each robotic finger, simplifies the internal structure, and lowers manufacturing costs and failure rates. Furthermore, the tactile sensing devices on the robotic finger are also connected in series with those on the robotic hand, enabling the aggregation of tactile information from the robotic finger to the tactile sensing devices on the robotic hand. This further simplifies the signal transmission path and enhances the overall integrity of the mechanical device.

[0085] Through serial connection, the mechanical device can provide precise, real-time tactile feedback, while significantly reducing complexity and cost by minimizing wiring and centralizing communication. This allows the device to flexibly adapt to various grasping tasks, such as fine manipulation or forceful gripping.

[0086] This method connects at least two tactile sensing devices deployed on the same robotic finger in series, forming a continuous communication link that simplifies the transmission path of tactile sensor signals. This link also connects to tactile sensing devices on the robotic hand, creating a signal transmission path from the robotic finger to the robotic hand. This effectively reduces the complexity and number of wires, simplifies the internal wiring of the robotic finger, and ensures stable and high-precision signal transmission. This not only reduces the difficulty of tactile sensor placement but also improves the integration and modularity of the mechanical device, enabling at least two tactile sensing devices on the same robotic finger to work collaboratively. This ensures accurate data reading and processing, thereby enhancing the device's dexterous tactile perception capabilities and interactive performance.

[0087] Optionally, the first region is the region corresponding to the end of the first mechanical finger that is away from the mechanical palm, and the at least two regions of the second mechanical finger include: the distal region of the second mechanical finger that is away from the mechanical palm, and the proximal region of any one of the second mechanical fingers that is close to the mechanical palm.

[0088] In one alternative embodiment, by defining at least two regions of the first and second mechanical fingers, comprehensive tactile perception of the mechanical device during operation is ensured, particularly in critical contact and gripping areas, thereby improving the operational precision and flexibility of the mechanical device. The first region may refer to a frequently contacted and sensitive area of ​​the mechanical finger, such as the fingertip. Thus, tactile sensors in the first region capture subtle features of the target object's surface, such as texture, hardness, and temperature, which aids in performing fine operations, such as grasping fragile objects or distinguishing different materials. Furthermore, the region corresponding to the end of the first mechanical finger furthest from the mechanical hand facilitates gripping of the target object; therefore, deploying tactile sensors in the first region helps determine whether the gripping force is appropriate, preventing the object from slipping or being damaged due to insufficient or excessive force.

[0089] At least two regions of the second robotic finger may include, but are not limited to, the distal region of the second robotic finger away from the robotic palm, such as the fingertip, and the proximal region closer to the robotic palm, such as the base of the robotic finger. Deploying tactile sensing devices in these multiple regions can provide real-time information about the front and back ends of the robotic finger's grasp. This helps to achieve omnidirectional grasping perception and ensures the safe transfer of the target object between different grasping points. Furthermore, tactile perception through these multiple regions can not only identify the basic attributes of the target object but also perceive the surface details of the target object, thereby enabling the mechanical device to perform tasks requiring fine control and perception, such as manipulating small precision instruments.

[0090] Since dexterity maneuvering of the human hand often involves the coordinated work of the fingertips and bases, defining at least two areas of the first and second robotic fingers helps to achieve more natural and fluid interaction. Furthermore, deploying tactile sensing devices in at least two areas of the second robotic finger allows for the acquisition of contact signals from key areas. This enables more precise operational decisions based on these signals, such as adjusting grip strength, changing operational strategies, or predicting the target object's reaction. This endows the mechanical device with greater autonomy and intelligence, improving its adaptability to different tasks and environments, and allowing it to maintain high operational performance under complex or changing conditions.

[0091] Optionally, at least two regions of the second mechanical finger include: a mid-range region located between the distal and proximal regions.

[0092] In one alternative embodiment, a mid-range region is provided to accommodate tactile sensing devices, such as the second segment of a finger. Tactile perception in this region complements information from the distal and proximal regions, providing a more complete picture of the mechanical finger's movement and details of its contact with the target object. Deploying a tactile sensing device in the mid-range region captures tactile information when the mechanical finger contacts the target object in the middle position. This information is crucial for determining the stability and position of the contact between the mechanical finger and the target object. For example, when picking up fragile or irregularly shaped targets, the tactile information from the mid-range region can help more accurately assess the contact between the mechanical finger and the target object, preventing damage or loss.

[0093] Furthermore, by placing tactile sensing devices in the distal, mid-, and proximal regions of the second robotic finger, a more complete tactile perception network can be constructed. Such a network helps the mechanical device execute more detailed operational commands, such as dynamically adjusting grip strength and correcting finger direction or posture, thereby achieving more natural and precise operations. Moreover, the deployment of tactile sensing devices in multiple regions provides redundancy in tactile perception; even if a device in one region malfunctions, tactile information from other regions can still support the basic operations of the robotic finger, ensuring the overall stability and reliability of the mechanical device.

[0094] Optionally, the number of second mechanical fingers is greater than or equal to 1 and less than or equal to 4.

[0095] In one alternative embodiment, the number of second mechanical fingers can be limited to 1, 2, 3, or 4, which can meet the needs of different application scenarios and enhance the operational flexibility of the mechanical device. For example, some specific tasks may require only one mechanical finger to complete, such as carrying heavy objects, while other tasks may require more mechanical fingers to provide more complex grasping or manipulation capabilities, such as fine grasping or manipulating target objects.

[0096] Since a greater number of second robotic fingers equates to higher costs, limiting the number of second robotic fingers to a maximum of four allows for the control of design complexity and manufacturing costs while maintaining diversity, thus ensuring greater practicality of the device. Furthermore, the number of robotic fingers directly impacts the structural layout and internal wiring complexity of the dexterous hand. Too many robotic fingers can lead to space congestion, increased wiring difficulty, and a higher risk of signal interference, while an appropriate number allows for a more compact and efficient design, facilitating signal transmission and processing.

[0097] According to another aspect of the embodiments of this application, a control system for a mechanical device is provided. Figure 3 This is a schematic diagram of a control system for a mechanical device according to an embodiment of this application, such as... Figure 3 As shown, the control system includes 300:

[0098] Mechanical device 200 in various embodiments of this application;

[0099] The communication device 302 has its first end connected to the tactile acquisition device 204 in the mechanical device, and is used to communicate with the tactile acquisition device corresponding to the address information according to the address information in order to obtain the tactile information corresponding to the address information.

[0100] The controller 304 is connected to the second end of the communication device and is used to control the mechanical device based on tactile information.

[0101] The aforementioned communication device connects the tactile sensing device and the controller, allowing for the selection and communication of the corresponding tactile sensing device based on address information, thus achieving effective transmission of tactile information. The communication device can communicate with multiple devices via two buses (such as clock and data lines), reducing the number of required lines, simplifying circuit design, and lowering cost and power consumption. The communication device can employ a two-wire serial bus (Inter-Integrated Circuit, I2C) communication interface, a universal serial bus, or a serial peripheral interface. I2C is a serial communication protocol.

[0102] The aforementioned controller can receive and process tactile information transmitted from the communication device, and then accurately control the mechanical device based on this information. The controller can be a microprocessor- or microcontroller-based intelligent device. It has abundant peripheral interface resources, supports multiple communication methods, and can quickly analyze tactile data and respond accordingly. The controller is not limited to signal forwarding; it can also achieve precise control of the mechanical device by running control algorithms, such as achieving stable gripping through force feedback control or adaptive operation through pattern recognition.

[0103] In one optional embodiment, a segment of the communication device is connected to a mechanical device, allowing communication with the corresponding tactile sensing device based on address information. This enables the acquisition of tactile information uploaded by each tactile sensing device within the mechanical device. Using address information for communication selection ensures accurate identification and communication, avoiding signal confusion and data misreading.

[0104] The other end of the communication device connects to the controller, which can receive and understand tactile information from the communication device, further analyze and interpret this tactile information to determine the contact state and force between the mechanical device and the target object. Therefore, the mechanical device's actions can be accurately controlled based on the tactile information, enabling more precise and safer interaction. For example, if the tactile sensor detects excessive pressure when in contact with an object, the controller can immediately send a command to reduce the pressure, preventing damage to the object or the mechanical device itself.

[0105] This embodiment, through the collaborative operation of a controller and a communication device, can effectively manage the tactile sensing devices in a mechanical device, ensuring that tactile information is collected and processed in a timely and accurate manner, thereby controlling the movement behavior of the mechanical device. By acquiring tactile information in real time, the controller can adjust the actions of the mechanical device in real time, achieving closed-loop control, making the operation of the mechanical device more precise, and enhancing its adaptability and safety to the external environment.

[0106] Optionally, the communication device includes: a bus extender, the slave port of which is connected to the tactile acquisition device, and the master port of which is connected to the controller, for sending data acquisition commands to the tactile acquisition device corresponding to the address information according to the address information, and receiving tactile information fed back by the tactile acquisition device corresponding to the address information.

[0107] The aforementioned bus extender is an integrated circuit capable of increasing the number of devices on a communication link. For example, when the number of devices to be connected exceeds the default support range of the communication device, the bus extender can achieve efficient signal management and transmission by merging the signals of multiple devices onto a common bus, and then decoding and distributing them. In the control system of this embodiment, the bus extender ensures that the tactile sensing devices on multiple mechanical fingers can communicate with the controller through the same communication interface, reducing the need for hardware interfaces.

[0108] In one alternative embodiment, the slave port of the bus extender is connected to the tactile sensing device, enabling the bus extender to receive tactile signals from the tactile sensing device. The master port of the bus extender is connected to the controller, allowing the bus extender to exchange data with the controller. Through this master port, the controller can send data acquisition commands to the bus extender, and the bus extender can feed back tactile information to the controller. The data acquisition commands may include, but are not limited to, address information, acquisition time, etc. The address information can be used to identify the tactile sensor responding to the data acquisition command, ensuring the accuracy and effectiveness of communication.

[0109] When the bus extender receives a data acquisition command from the controller, it can direct the data acquisition request to the corresponding tactile sensing device based on the address information. After collecting tactile information, the tactile sensing device can transmit this information back through the slave port connected to the bus extender. The bus extender then transmits the collected tactile information to the controller through the master port for subsequent data processing and decision-making.

[0110] In this way, the control system connects the controller to multiple independent tactile sensing devices via a bus extender. This not only simplifies the communication lines between control systems but also allows the controller to access multiple distributed tactile sensing devices, enhancing the overall sensing capability and flexibility of the control system. Furthermore, because the bus extender can intelligently route data acquisition commands to the correct tactile sensing device based on address information, and also accurately transmit the feedback tactile information to the controller based on address information, this address-based intelligent routing mechanism ensures the orderly flow and effective management of tactile information, reduces communication latency, and improves data transmission efficiency. Moreover, by centrally handling communication with multiple tactile sensing devices through the bus extender, the communication and data processing burden on the controller can be reduced, allowing the controller to focus more on logic operations and system control.

[0111] The technical solution proposed in this application will be described below with reference to an optional embodiment. This application proposes a tactile data acquisition system for a robot dexterous hand based on I2C communication. This acquisition system can be applied in the field of tactile feedback and closed-loop control of robot dexterous hands that require human-computer interaction. The acquisition system collects and processes data, determines the actual contact status of the dexterous hand, and makes real-time control adjustments. The dexterous hand can be the mechanical device described in the above embodiment.

[0112] Existing data acquisition systems primarily use electrical signals from tactile sensors connected to a controller via wires for analog data acquisition. However, the current signal lines of multiple tactile sensors cannot be connected in series, leading to complex wiring arrangements and making the sensors susceptible to interference from bent mechanical fingers. Furthermore, the limited interfaces of analog-to-digital converters (ADCs) prevent support for multi-array tactile sensor acquisition. To address these issues, this embodiment employs an ADC for four-channel electrical signal acquisition and uses a communication serial connection to simplify wiring and ensure communication compatibility.

[0113] The data acquisition system includes a 2x2 array of tactile sensors, a four-channel analog-to-digital converter, an eight-channel two-wire serial bus (Inter-Integrated Circuit, I2C) expansion chip module (i.e., the communication device in the above embodiment), and a controller. This system decouples the tactile acquisition device from the controller, enabling communication and signal acquisition from the tactile sensors across different platforms. Integrating the tactile sensors and the analog-to-digital converter avoids excessively long signal lines from the acquisition end to the controller, achieving rapid, interference-free, and accurate acquisition of tactile data from the terminal.

[0114] The tactile sensing device, including a tactile sensor and an analog-to-digital converter, can transmit data via integrated circuit interconnection or a two-wire serial bus. The communication address can be determined by hardware circuit wiring, supporting four different hardware addresses. Furthermore, based on this sensing system, four tactile sensing devices can be connected in series on the robotic finger link. An 8-channel I2C expansion chip module can be used to expand more sensing links, resolving the issue of duplicate communication addresses between robotic fingers and ensuring normal communication. This design reduces the complexity and cost of tactile sensing; the tactile sensing device is small in size, and a single series link supports four tactile sensing devices, simplifying and facilitating communication wiring.

[0115] This data acquisition system uses tactile sensing devices to collect data and then transmits the data to the controller via a communication protocol. It offers convenient multi-platform switching and solves the coupling problem between the acquisition system and the controller. Using an analog-to-digital converter, it supports multi-channel acquisition, has a fixed hardware communication address, and is small in size and easy to integrate. Furthermore, the various tactile sensing devices communicate in series using I2C, sharing a single communication bus, reducing wiring and facilitating the wiring of the mechanical fingers.

[0116] Furthermore, this data acquisition system can be applied to a dexterous hand, employing the following installation process. The dexterous hand can include five robotic fingers and one robotic palm. Two 2x2 tactile sensors and two analog-to-digital converters are installed at the tip of each robotic finger (i.e., the second region in the above embodiment). One 2x2 tactile sensor and one analog-to-digital converter are installed on the first joint of each of the four robotic fingers (i.e., the first region in the above embodiment). Four 2x2 tactile sensors are installed on the robotic palm, paired with four analog-to-digital converters. The four current signal lines of each 2x2 tactile sensor are connected to the corresponding four channels of the analog-to-digital converter. The communication address of each acquisition device is determined by the circuit wiring sequence of the acquisition device. Three analog-to-digital converters on the same robotic finger are connected in series via I2C, and then connected in series with an acquisition device on the robotic palm. The five series links of the five robotic fingers are ultimately connected to an eight-channel acquisition device. The eight-channel acquisition device can be connected to a controller for data communication to complete data acquisition.

[0117] Specifically, since the distal phalanges of the robotic fingers make frequent contact with the target object, two arrayed tactile sensors can be placed both above and below the distal phalanx. The tactile sensors are attached to the surface of the robotic finger, with signal lines running inside the finger, and the analog-to-digital converter (ADC) is located within the internal space of the robotic finger. Since the first phalanges of the four robotic fingers may make contact when lifting the target object, one arrayed tactile sensor can be placed on the surface of the first phalanx, with the ADC located inside the internal space of the robotic finger. Four arrayed tactile sensors can be placed in the palm area of ​​the robotic hand, with the ADC located within the palm area. Furthermore, the 2x2 arrayed tactile sensors can be fixed to the ADC using a flexible circuit board. Furthermore, the address control wiring of the ADC can be adjusted according to the different positions of the tactile sensors to configure the I2C address. One end of the ADC's communication interface can be connected in series to the communication interface of another ADC to achieve multi-line serialization. These multiple serial links are then connected to the controller's access point.

[0118] In this way, the controller of the dexterous hand can provide unified power to each tactile sensing device, complete the tactile sensing through tactile sensors and analog-to-digital converters, and the controller can also control the I2C expansion chip to poll and read the I2C data of each serial channel, and then process, calculate algorithms and coordinate the collected data.

[0119] In summary, this embodiment employs a low-cost, 4-channel tactile acquisition device. Each 2x2 array point corresponds to a 4-channel analog-to-digital converter (ADC) for signal acquisition, avoiding excessive wiring and long traces that could affect the accuracy of analog signal measurements. Furthermore, digital signals are transmitted via two I2C communication lines, ensuring stable and reliable signal transmission. Multiple ADCs on the same robotic finger link are connected in series, reducing the communication wiring between multiple acquisition sources and facilitating the internal space design and layout of the robotic fingers. ADCs at the same knuckle position on the four fingers share the same I2C address, allowing for easy replacement and ensuring normal communication between multiple robotic fingers.

[0120] Because the tactile sensing device uses a 4-channel analog-to-digital converter, the current signal data is stable, reducing wiring. Furthermore, the communication address is uniquely determined by the chip hardware wiring, eliminating the need for software programming and configuration, making it simple and convenient to use. Multiple analog-to-digital converters can be connected in series through the I2C communication port, further reducing wiring. The use of a hub (i.e., the communication device in the above embodiment) allows for communication compatibility with multiple mechanical devices.

[0121] like Figure 4As shown, a control system is illustrated, comprising one first mechanical finger 211, four second mechanical fingers 212, and one mechanical hand 202. The first mechanical finger 211 and the four second mechanical fingers 212 can constitute the mechanical finger 210 in the above embodiment. A tactile sensing device 100 is arranged in a first region of the first mechanical finger, including a tactile sensor 102 and an analog-to-digital converter 104, wherein the tactile sensor is a 2x2 array. Two tactile sensing devices are arranged in the distal region of the second mechanical finger, i.e., the region away from the mechanical hand. One tactile sensing device is arranged in the proximal region of the second mechanical finger, i.e., the region corresponding to the end of the second mechanical finger closer to the mechanical hand. No tactile sensing device is provided in the middle region of the second mechanical finger. Furthermore, a controller 304, a bus extender 306, and four tactile sensing devices are provided in the mechanical hand 202, wherein the bus extender 306 can communicate with each tactile sensing device in the control system to obtain tactile information collected by the tactile sensing devices.

[0122] According to another aspect of the embodiments of this application, a control method for a mechanical device is provided, which is applied to the control system of the mechanical device in various embodiments of this application. Figure 5 This is a flowchart of a control method for a mechanical device according to an embodiment of this application, such as... Figure 5 As shown, the method includes the following steps:

[0123] S50: In response to receiving address information, control the communication device to communicate with the tactile acquisition device corresponding to the address information to obtain the tactile information corresponding to the address information.

[0124] The first input terminal of the communication device is connected to the first communication port, and the second input terminal of the communication device is connected to the second communication port. The first communication port is the communication port of the tactile sensing device deployed on the mechanical finger, and the second communication port is the communication port of the tactile sensing device deployed on the mechanical hand.

[0125] S60: Control the mechanical device based on tactile information.

[0126] In one optional embodiment, after receiving address information via a communication interface or wireless communication, the corresponding tactile sensing device can be determined based on the address information, thereby controlling the communication device to communicate with the tactile sensing device. The address information can be uniquely identified by hardware address encoding or by using an address mapping table, thus enabling the differentiation and location of each tactile sensing device, thereby achieving selective data acquisition and processing, which improves communication efficiency and data accuracy.

[0127] Because the first input terminal of the communication device is connected to a tactile sensor deployed on the robotic finger, while the second input terminal is connected to a tactile sensor on the robotic hand, comprehensive tactile information can be collected. This allows for precise control of the mechanical device based on the acquired tactile information, such as adjusting the force, speed, and direction of the robotic finger, ensuring more refined and safer interaction between the device and the target object. Timely tactile feedback enables the mechanical device to quickly respond to various operational scenarios, improving its adaptability in complex environments and task execution efficiency. Precise tactile feedback allows for more flexible and intelligent control strategies. For example, the device can sense the texture, shape, and hardness of an object, adjusting its grasping strategy to avoid damage or failure to grasp the object. This intelligent control method significantly enhances the intelligence and operational flexibility of the mechanical device during task execution.

[0128] The control method of this embodiment allows the communication device to communicate with the tactile sensing module corresponding to the address information after receiving the address information, thereby acquiring the tactile information corresponding to that address information. Since the first input terminal of the communication device is connected to the communication port of the tactile sensing device deployed on multiple mechanical fingers, and the second input terminal is connected to the communication port of the tactile sensing device on the mechanical hand, precise control of the mechanical fingers and hand in the mechanical device can be achieved based on the acquired tactile information. This effectively improves the response speed and accuracy of the mechanical device to tactile feedback, realizing the flexibility and intelligent control of the mechanical device in various operational tasks. By using a tactile sensing device corresponding to the address information for communication, signal interference and control system coupling problems caused by complex wiring are avoided, simplifying the design and integration of the control system and improving the accuracy and flexibility of the mechanical device control.

[0129] This application also provides a control device 60 for a mechanical device. Please refer to [link / reference]. Figure 6 The system includes: a communication module 610, used to respond to received address information and control a communication device to communicate with a tactile sensing device corresponding to the address information to obtain tactile information corresponding to the address information, wherein a first input terminal of the communication device is connected to a first communication port, and a second input terminal of the communication device is connected to a second communication port, the first communication port being the communication port of the tactile sensing device deployed on the mechanical finger, and the second communication port being the communication port of the tactile sensing device deployed on the mechanical hand; and a control module 620, used to control the mechanical device based on the tactile information.

[0130] According to one aspect of the embodiments of this application, a capture terminal is provided, which includes the control system in various embodiments of this application.

[0131] According to one aspect of the embodiments of this application, an intelligent agent is provided, including the grasping terminal in various embodiments of this application.

[0132] According to another aspect of the embodiments of this application, an electronic device is also provided, including: a memory for storing a computer program; and a processor for executing the program stored in the memory, wherein the program executes the control method of the aforementioned aircraft when it runs.

[0133] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is running, it controls the device where the computer-readable storage medium is located to execute the control method of the above-mentioned aircraft.

[0134] This application also provides an electronic device 70, please refer to... Figure 7 It includes a processor 710 and a memory 720, wherein the memory 710 is used to store computer programs; and the processor 720 is used to execute the programs stored in the memory 710 to implement the control method of the mechanical device described in any embodiment of this application.

[0135] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the control method of the mechanical device described in any embodiment of this application.

[0136] In this application, "multiple" refers to two or more.

[0137] In this application, unless otherwise expressly defined, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0138] The terms “first,” “second,” “third,” “fourth,” etc., in this application (if present) are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0139] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0140] Unless otherwise specified, all steps in this application may be performed sequentially or randomly. For example, if the method includes steps A and B, it means that the method may include steps A and B performed sequentially, or it may include steps B and A performed sequentially. For example, if the method may also include step C, it means that step C may be added to the method in any order. For example, the method may include steps A, B, and C, or it may include steps A, C, and B, or it may include steps C, A, and B, etc.

[0141] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A tactile acquisition device, characterized in that, The application relates to a tactile sensor, which comprises: a tactile sensor for collecting a tactile signal of a contact area; an analog-to-digital converter connected with the tactile sensor, for performing analog-to-digital conversion on the tactile signal to obtain tactile information; wherein the tactile sensor is integrated on the analog-to-digital converter through a metal contact point.

2. The apparatus of claim 1, wherein, The tactile sensor comprises: a plurality of piezoresistive sensor units arranged based on a preset array, for collecting the tactile signal; a plurality of signal lines, the first ends of the plurality of signal lines being connected with the plurality of piezoresistive sensor units respectively, and the second ends of the plurality of signal lines being connected with a plurality of channel interfaces of the analog-to-digital converter respectively, for transmitting the tactile signal to the analog-to-digital converter.

3. A mechanical device, characterized by The application relates to a mechanical device, which comprises: a mechanical palm, a front end of the mechanical palm being connected with a mechanical finger, for gripping a target object; the tactile collection device of claim 1 or 2 is arranged on the mechanical palm and / or the mechanical finger.

4. The apparatus of claim 3, wherein, The mechanical finger comprises a first mechanical finger and a second mechanical finger, the gripping directions of the first mechanical finger and the second mechanical finger being different, wherein at least two tactile collection devices are arranged in a first area on the first mechanical finger; and at least one tactile collection device is arranged in at least two areas on the second mechanical finger respectively.

5. The apparatus of claim 4, wherein, The at least two tactile collection devices arranged on the same mechanical finger are connected in series.

6. The apparatus of claim 4, wherein, The at least two tactile collection devices arranged on the same mechanical finger are connected in series and connected in series with the tactile collection device arranged on the mechanical palm.

7. The apparatus of claim 4, wherein, The first area is an area corresponding to an end of the first mechanical finger away from the mechanical palm, and the at least two areas of the second mechanical finger comprise a distal end area of the second mechanical finger away from the mechanical palm and a proximal end area of the second mechanical finger close to the mechanical palm.

8. The apparatus of claim 7, wherein, The at least two areas of the second mechanical finger comprise a middle end area between the distal end area and the proximal end area.

9. The apparatus of any of claims 4-8, wherein, The number of the second mechanical fingers is greater than or equal to 1 and less than or equal to 4.

10. A control system for a mechanical device, characterized by The application relates to a mechanical device, which comprises: the mechanical device of any one of claims 3-9; a communication device, a first end of the communication device being connected with the tactile collection device in the mechanical device, for communicating with the tactile collection device corresponding to address information according to the address information, so as to obtain tactile information corresponding to the address information; a controller connected with a second end of the communication device, for controlling the mechanical device according to the tactile information.

11. The system of claim 10, wherein, The communication device comprises: a bus expander, a slave port of the bus expander being connected with the tactile collection device, and a master port of the bus expander being connected with the controller, for sending a data collection instruction to the tactile collection device corresponding to the address information according to the address information, and receiving the tactile information fed back by the tactile collection device corresponding to the address information.

12. A control method of a mechanical device, characterized by, The application relates to a control system applied to the mechanical device of any one of claims 10-11, which comprises: In response to receiving the address information, a communication device is controlled to communicate with a tactile collection device corresponding to the address information according to the address information to obtain tactile information corresponding to the address information, wherein a first input end of the communication device is connected with a first communication port, a second input end of the communication device is connected with a second communication port, the first communication port is a communication port of a tactile collection device disposed on the upper part of the mechanical finger, and the second communication port is a communication port of the tactile collection device disposed on the upper part of the mechanical palm. The mechanical device is controlled according to the tactile information.

13. A pick-up terminal, characterized by The system of any one of claims 10-11.

14. An agent, characterized in that The grasping terminal of claim 13.

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