Dynamic bionic robot head skin system and control method thereof

Abstract

The invention provides a dynamic bionic robot head skin system and a control method thereof, and belongs to the technical field of bionic robots, and an integrally stacked skin structure body comprises a flexible substrate functional layer integrated with a flexible electric heating module and used for performing differential heating on skin; the functional middle layer is provided with an elastic cavity, and at least part of wall materials of the elastic cavity are made of thermochromic elastic materials; the bionic epidermal layer is provided with a micropore structure communicated with the elastic cavity; the temperature information acquisition interface acquires skin temperature data; the pressure adjusting module adjusts the internal pressure of the elastic cavity; the central controller cooperatively controls the flexible electric heating module and the pressure adjusting module based on the temperature data, and executes at least one bionic heat management response; comprising a thermochromic response; active cooling sweating response and basal body temperature maintaining response are realized. Multi-mode dynamic bionics conforming to physiological logic are achieved through intelligent cooperative control, and the simulation degree and the interaction reality sense of the head skin of the robot are remarkably improved.

Description

Technical Field

[0001] This application relates to the field of bionic robot technology, specifically to a dynamic bionic robot head skin system and its control method. Background Technology

[0002] With the increasing prevalence of biomimetic robot technology in close-range human-computer interaction scenarios such as companionship, care, and social interaction, the robot's head, especially its face, has become a core interactive interface for conveying emotions and building trust. Users not only expect it to have a realistic static appearance, but also hope to perceive dynamic physiological feedback such as body temperature and micro-expressions, thereby obtaining a more lifelike interactive experience. To this end, simulating the thermoregulation function (such as blushing and sweating) and basic thermal sensation of human skin has become key to improving the anthropomorphism of robots.

[0003] Currently, biomimetic research on robot skin, especially facial skin, has attempted to achieve some dynamic functions, but it generally suffers from problems such as limited functionality and isolated mechanisms, failing to deeply integrate with the robot's overall thermal management system. Specific manifestations are as follows:

[0004] 1. The "blushing" biomimetic technique remains a visual performance, lacking functional relevance: Current technologies mostly use methods such as LED embedding or electrochromic films to generate color changes in specific areas of the face to simulate blushing. However, this color change is usually directly triggered by a preset emotional algorithm, making it a purely "visual display." It is completely disconnected from the actual thermal state of the robot itself (such as whether internal components are overheating), and cannot serve as a physiological warning or status indication, indicating a relatively shallow biomimetic logic.

[0005] 2. The "heating" function has a single purpose and is not integrated into a closed-loop thermal management system: To achieve a warm touch, existing solutions often place resistance wires or heating films under the skin. However, this type of heating usually only maintains a fixed "body temperature" setpoint, which is an open-loop control. It cannot dynamically adjust according to the ambient temperature or internal heat generation to maintain thermal balance, nor does it form a linkage with the aforementioned "blushing" function in terms of thermal mechanism (e.g., actively triggering thermochromic changes through heating).

[0006] 3. A Severe Lack of Active "Sweating" for Heat Dissipation: The human body efficiently dissipates heat through sweat evaporation, a crucial means of thermal regulation. However, current robotic skin technology suffers from a severe lack of research simulating sweating, let alone integrating it as an active, controllable heat dissipation terminal into a thermal management system. This results in the robot's facial skin lacking effective active cooling capabilities under high-load or high-temperature environments, creating blind spots in thermal management strategies.

[0007] 4. Isolated functional modules lead to fragmented biomimetic performance and wasted resources: The aforementioned biomimetic functions of "color," "heat," and "humidity" are often implemented by independent hardware modules and control systems. For example, the expression management system controls "blushing," while the thermal simulation system controls "heating," and the two are not interconnected at the information and control levels. This fragmentation not only makes it difficult to achieve complex responses that conform to physiological logic, such as "blushing, heat, and slight sweating after exercise," but also results in redundancy of resources such as sensors and controllers, limiting the system's integration and intelligent response.

[0008] In summary, there is an urgent need in this field for a biomimetic skin solution for robot heads. This solution should transcend the limitations of existing technologies that merely mimic single senses, using intelligent thermal management as the core driving force. It should reconstruct "blushing" as a high-temperature warning indicator, develop "sweating" into an active cooling mechanism, and optimize "heating" as a body temperature maintenance process. Through a unified perception and control architecture, these functions should be deeply coordinated in thermal logic. This would achieve a leap from passive "simulation" to active "management," and from formal "biomimetic" to functional "biomimetic," making the robot's head skin a truly physiologically intelligent interactive interface. Summary of the Invention

[0009] In view of the problems of existing robotic skins mentioned in the background art, this application aims to provide a bionic robotic skin and its thermal management control system and method to solve one or more of the above-mentioned technical problems.

[0010] In a first aspect, this application provides a dynamic bionic robotic head skin system, comprising:

[0011] An integrated, layered skin structure is used to cover and adhere to the surface of a robot's head. The skin structure includes: a flexible base functional layer integrating a flexible electrothermal module configured to provide differentiated heating to different areas of the skin; a functional intermediate layer layered upon the flexible base functional layer, containing at least one elastic chamber filled with a functional liquid, at least a portion of the wall material of which is made of a thermochromic elastic material; a biomimetic epidermal layer layered upon the functional intermediate layer, having a biomimetic surface texture and a microporous structure communicating with the elastic chamber; a temperature information acquisition interface for acquiring temperature data characterizing the temperature of at least one area of ​​the robot's skin; and a pressure regulation module connected to the elastic chamber for adjusting... The internal pressure of the elastic chamber described in Section 1; a central controller connected to the flexible electrothermal module, the temperature information acquisition interface, and the pressure regulation module; the central controller is configured to: based on the temperature data, coordinately control the flexible electrothermal module and the pressure regulation module to execute at least one biomimetic thermal management response; wherein, the thermal management response includes: a thermochromic response, in which the central controller controls the flexible electrothermal module to increase the temperature of the target area to trigger the corresponding thermochromic elastic material to change color; an active cooling and sweating response, in which the central controller, in response to the skin temperature exceeding a threshold, controls the pressure regulation module to increase the pressure of the elastic chamber, so that at least part of the functional liquid seeps out through the microporous structure; and a basal body temperature maintenance response.

[0012] In one possible implementation, the temperature information acquisition interface is connected to at least one temperature sensor disposed in the skin structure, the temperature sensor being used to sense the temperature of the area and generate the temperature data.

[0013] In one possible implementation, the at least one temperature sensor includes a flexible temperature sensor that is conformally integrated into the surface or interior of the flexible substrate functional layer.

[0014] In one possible implementation, there are multiple flexible temperature sensors arranged in an array to form a flexible temperature sensor array; each flexible temperature sensor in the flexible temperature sensor array is spatially corresponding to multiple independently addressable and controllable temperature control units in the flexible electrothermal module.

[0015] In one possible implementation, the microporous structure on the biomimetic epidermis forms multiple microporous regions; at least some of the flexible temperature sensors in the flexible temperature sensor array are spatially corresponding to the microporous regions, for monitoring temperature changes in the corresponding microporous regions.

[0016] In one possible implementation, the central controller is further configured to: when executing the active cooling and sweating response, dynamically adjust the heating power of the temperature control unit corresponding to the flexible temperature sensor and the internal pressure of the elastic chamber corresponding to the target micropore region by the pressure regulation module based on the temperature data fed back by the flexible temperature sensor corresponding to the target micropore region, so as to maintain the skin temperature of the target micropore region within a preset cooling target range.

[0017] In one possible implementation, the central controller is further configured to execute the following collaborative control strategy: when it is determined based on the temperature data that a specific area simultaneously has the risk of overheating and the need for biomimetic color change, the flexible electric heating module is first controlled to heat the specific area until the thermochromic material reaches the target color change state, and then the pressure regulating module is controlled to pressurize the elastic chamber corresponding to the specific area.

[0018] In one possible implementation, the central controller has preset temperature thresholds corresponding to different biomimetic thermal management response modes, including: a first preset temperature threshold; a second preset temperature threshold, which is higher than the first preset temperature threshold; and a third preset temperature threshold, which is higher than the second preset temperature threshold. The central controller determines and triggers the corresponding response mode by comparing the temperature data with the temperature thresholds: when the temperature data is lower than the first preset temperature threshold, the basal body temperature maintenance response is triggered; when the temperature data reaches the second preset temperature threshold but is lower than the third preset temperature threshold, the thermochromic response is triggered; and when the temperature data reaches the third preset temperature threshold, the active cooling and sweating response is triggered.

[0019] In one possible implementation, the flexible electrothermal module includes at least one of a graphene temperature control unit, a metal nanowire temperature control unit, a carbon nanotube film temperature control unit, or a conductive polymer temperature control unit.

[0020] In one possible implementation, the thermochromic elastic material is thermochromic silicone rubber or thermochromic polyurethane, with a color-changing critical temperature range of 33°C to 40°C, and within the color-changing critical temperature range, its color gradually changes from skin color or transparent to red or pink.

[0021] In one possible implementation, the system further includes a heat dissipation module disposed in the functional layer of the flexible substrate and arranged corresponding to the area where the temperature indicated by the temperature data is higher than a preset threshold. The heat dissipation module includes a heat conduction path and a heat dissipation structure.

[0022] In one possible implementation, the pressure regulating module includes a micro pump, a precision pressure sensor, and a control valve, forming a closed-loop servo control of the pressure within the elastic chamber.

[0023] In one possible implementation, the functional liquid is a liquid with evaporative cooling properties.

[0024] In one possible implementation, the microporous structure has a higher distribution density in the areas corresponding to the forehead, nose, upper lip, and cheeks than in other areas.

[0025] Secondly, this application provides a method for controlling the dynamic bionic robot head skin system as described above, comprising the following steps: acquiring temperature data characterizing the temperature of at least one area of ​​the robot's skin; determining a bionic thermal management response mode to be triggered based on the temperature data and a comparison result between the temperature data and a preset temperature threshold; generating a control signal and executing a corresponding bionic thermal management response according to the determined response mode, wherein: if it is a high temperature warning and a bionic blushing response, the flexible electrothermal module of the corresponding area is controlled to increase the temperature to trigger the thermochromic elastic material to change color; if it is an active cooling and a bionic sweating response, the pressure regulating module is controlled to increase the internal pressure of the corresponding elastic chamber, so that at least part of the functional liquid seeps out through the microporous structure; if it is a basal body temperature maintenance response, the flexible electrothermal module is controlled to operate so that the skin temperature falls into a target range.

[0026] In one possible implementation, when performing the active cooling and sweating response, the method further includes: dynamically adjusting the heating power of the temperature control unit corresponding to the flexible temperature sensor and the internal pressure of the elastic chamber corresponding to the target microporous region by the pressure regulation module based on the temperature data fed back by the flexible temperature sensor corresponding to the target microporous region, so as to maintain the skin temperature of the region within a preset cooling target range.

[0027] In one possible implementation, when there is both overheating risk and biomimetic color change requirement, it further includes: first controlling a specific area of ​​the flexible electrothermal module to heat until the thermochromic material reaches the target color change state, and then or simultaneously controlling the pressure regulating module to pressurize the elastic chamber corresponding to the specific area.

[0028] In one possible implementation, the method further includes: comparing the temperature data with a first preset temperature threshold, a second preset temperature threshold, and a third preset temperature threshold, wherein the first preset temperature threshold < the second preset temperature threshold < the third preset temperature threshold; when the temperature data is lower than the first preset temperature threshold, determining that the basal body temperature maintenance response needs to be triggered; when the temperature data reaches the second preset temperature threshold but is lower than the third preset temperature threshold, determining that the thermochromic response needs to be triggered; and when the temperature data reaches the third preset temperature threshold, determining that the active cooling and sweating response needs to be triggered.

[0029] Through the above technical solution, the central controller of the dynamic bionic robot's head skin system, based on real-time acquired temperature data, coordinates the flexible electrothermal module and pressure regulation module to achieve three deeply integrated bionic thermal management responses: thermochromic response, which actively heats the thermochromic material to change color; active cooling and sweating response, which pressurizes the functional liquid to seep out through micropores; and basal body temperature maintenance response, which dynamically heats the skin temperature to bring it within a target range. This solution elevates "blushing" from a mere visual performance to a physiological warning based on real thermal conditions, deeply linking color changes to the robot's actual thermal load, thus solving the problems of existing blushing functions being disconnected from thermal conditions and having superficial bionic logic. Secondly, it upgrades "heating" from open-loop fixed temperature control to closed-loop collaborative management, maintaining basal body temperature while actively triggering thermochromic changes, achieving a physical linkage between "heat" and "color," overcoming the shortcomings of existing heating functions being singular and not integrated into a closed-loop thermal management system. Thirdly, it treats "sweating" as an active and controllable form of heat dissipation. The terminal is integrated into the thermal management system, filling the gap in the existing active sweating and heat dissipation mechanism of robot skin, enabling the robot to have effective active cooling capabilities when running under high load; fourth, through a single central controller and shared temperature data, the integrated coordination of three bionic functions of "color, heat, and humidity" is realized, which can simulate complex responses that conform to physiological logic, such as "red cheeks, heat and slight sweating after exercise", completely solving the problems of isolated functional modules, fragmented bionic performance and waste of resources in existing technologies, and significantly improving the system integration, response intelligence and bionic realism. Attached Figure Description

[0030] Figure 1 A simplified structural diagram of a dynamic bionic robot head skin system provided in one embodiment of this application;

[0031] Figure 2 This is a schematic diagram of the distribution of a flexible electrothermal module provided in one embodiment of this application;

[0032] Figure 3 This is a schematic diagram of an elastic chamber and microporous structure provided in one embodiment of this application;

[0033] Figure 4 This is a flowchart illustrating a control method for a dynamic bionic robot head skin system provided in one embodiment of this application. Detailed Implementation

[0034] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0035] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0036] It should be understood that the terms "upper", "lower", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0037] Figure 1 This is a simplified structural diagram of a dynamic bionic robot head skin system provided in one embodiment of this application.

[0038] Reference Figure 1 As shown, the dynamic bionic robot head skin system may include an integrated, layered skin structure for covering and adhering to the surface of the robot head. The skin structure includes: a flexible base functional layer 110, a functional intermediate layer 120, a bionic epidermal layer 130, a temperature information acquisition interface 140, a pressure regulation module 150, and a central controller 160.

[0039] The flexible substrate functional layer 110 integrates a flexible electrothermal module 111, which is configured to provide differentiated heating to different areas of the skin.

[0040] In some embodiments, the flexible substrate functional layer 110 serves as the bottom support for the robot's entire skin structure. It is made of highly elastic polymer materials such as silicone rubber and thermoplastic polyurethane, and a flexible electrothermal module 111 is directly integrated inside it through screen printing, inkjet printing, or micro-nano fabrication processes. The flexible electrothermal module 111 consists of multiple independently addressable and controllable temperature control units 111a. Figure 2This is a schematic diagram showing the distribution of a flexible electrothermal module according to one embodiment of this application. (Refer to...) Figure 2 As shown, for example, these temperature control units 111a are arranged in zones according to different areas of the robot's head, such as the forehead, temples, and cheeks. Each temperature control unit can independently adjust its heating power according to instructions sent by the central controller, thereby achieving selective heating or differentiated temperature control for different areas. For example, when it is necessary to simulate the blushing effect of the cheek area, only the temperature control unit of the corresponding cheek is activated for localized heating; when it is necessary to maintain the basal body temperature of the forehead area, only the temperature control unit of the forehead area is activated to work continuously at a lower power. This heating method based on independent zone control enables the skin system to precisely regulate the temperature distribution of different areas in space according to temperature data or biomimetic instructions, providing an execution basis for subsequent thermochromic response and thermal management coordinated control.

[0041] The flexible electrothermal module 111 integrated in the flexible substrate functional layer 110 adopts a heating unit layout with independent zone control, which enables the central controller to perform precise selective heating or differentiated temperature control on different areas of the robot's head, such as the forehead, temples, and cheeks, based on temperature data or bionic instructions. This zoned independent heating mechanism breaks through the functional limitations of traditional whole-body heating, enabling the system to simulate the differentiated thermal performance of different facial areas under physiological conditions as needed. For example, it can locally raise the temperature of the cheek area to trigger blushing while maintaining the basal body temperature of the forehead area, significantly improving the precision and realism of the biomimetic thermal performance. Furthermore, by upgrading the heating function from open-loop fixed temperature control to a dynamically adjustable closed-loop execution unit, it achieves linkage between heating power and real-time temperature feedback, providing a precise local heat source control basis for subsequent thermochromic response and active sweating response, avoiding the energy waste caused by whole-body heating. In addition, this highly integrated zoned heating structure lays the hardware foundation for the coordinated control of the three biomimetic functions of "color, heat, and humidity," making it possible to drive different areas to execute different thermal management strategies simultaneously based on the same temperature data source, greatly improving the system integration and responsiveness.

[0042] The functional intermediate layer 120 is laminated on the flexible substrate functional layer 110, and has at least one elastic chamber 121 filled with a functional liquid inside. At least part of the wall material of the elastic chamber 121 is made of a thermochromic elastic material.

[0043] In some embodiments, the functional intermediate layer 120 may be integrally molded from a flexible polymer material with high light transmittance (such as transparent silicone or polyurethane). For example, the functional intermediate layer 120 may be laminated onto the flexible substrate functional layer 110 using a medical-grade adhesive. Inside the functional intermediate layer 120, one or more interconnected elastic chambers 121 are prefabricated using micro / nano casting, 3D printing, or soft lithography techniques. Figure 3This is a schematic diagram of an elastic chamber and microporous structure provided in one embodiment of this application. (Refer to...) Figure 3 As shown, these elastic chambers 121 are biomimetically arranged along the temples, forehead, and cheeks of the robot's head, forming a three-dimensional channel structure similar to a subcutaneous vascular network. The elastic chambers 121 are filled with functional liquids, such as coloring liquids or liquids with evaporative cooling properties. At least a portion of the wall material of the elastic chambers 121 is made of a thermochromic elastic material (such as thermochromic silicone rubber or thermochromic polyurethane), which undergoes a reversible color change within a critical temperature range (e.g., 33°C to 40°C), for example, gradually changing from skin color or transparent to red or pink. When the central controller determines that a thermochromic response needs to be executed based on temperature data, the flexible electrothermal module 111 heats the corresponding area of ​​the elastic chamber 121. The heat is conducted through the chamber wall material to the thermochromic material, causing it to change color. Simultaneously, when the internal pressure of the chamber is increased, the elastic chambers 121 undergo reversible filling deformation, causing the functional liquid to seep out, thereby achieving a biomimetic sweating function.

[0044] The functional intermediate layer 120 integrates the elastic chamber 121 filled with functional liquid with the thermochromic elastic material wall material, achieving a physical fusion and synergistic linkage of two biomimetic functions: color changing and perspiration wicking. This structural design integrates the two biomimetic functions of "color" and "wetness" into the same layer, breaking through the limitations of traditional solutions where color change and liquid expulsion are achieved by separate modules. This significantly simplifies the layered structure of the skin system and improves integration and reliability. Furthermore, using thermochromic elastic material as the chamber wall material allows color change to be directly triggered by heating, eliminating the need for additional colorants or complex liquid mixing control. This not only reduces system complexity but also achieves precise correspondence between the color-changing effect and the heat source location, avoiding visual blurring caused by color diffusion. Further, the elastic chamber 121, together with... As a storage and transportation channel for functional liquids, the chamber undergoes reversible deformation when the pressure regulation module increases the internal pressure, allowing the liquid to seep out in a controlled manner through the microporous structure. This achieves precise spatial coupling between the active sweating function and the color-changing function. In addition, this "same-layer integration and heterogeneous collaboration" design allows the thermochromic response and the active sweating response to be triggered collaboratively based on the same temperature data source. For example, under the risk of overheating, the color-changing warning is first triggered by heating, and then the sweating heat dissipation is initiated by pressurization, forming a time-sequence control that conforms to physiological logic. This significantly improves the dynamic performance and realism of biomimetic thermal management.

[0045] A biomimetic epidermal layer 130 is stacked on top of a functional intermediate layer 120. It has a biomimetic surface texture and is provided with a microporous structure 131 that communicates with the elastic chamber.

[0046] In some embodiments, the biomimetic epidermal layer 130 is integrally molded from a flexible biomimetic material with high light transmittance (such as medical-grade transparent silicone or hydrogel). For example, the biomimetic epidermal layer 130 can be bonded to the functional intermediate layer 120 via interface fusion or medical adhesive to form the outermost layer of the skin system. The outer surface of the biomimetic epidermal layer 130 can replicate the microscopic morphology of real skin through microimprinting, laser etching, or microtransfer printing processes, forming a biomimetic surface texture including pores, skin grooves, and skin ridges, making it highly similar to real skin in appearance and feel. The biomimetic epidermal layer 130 is provided with multiple microporous structures 131, which, for example, can be at the micrometer scale. Figure 3 As shown, these micropores spatially correspond to the position of the elastic chamber 121 below and extend through the thickness direction of the epidermal layer, communicating with the elastic chamber 121 to form a channel for the functional liquid to seep outward. When the internal pressure of the elastic chamber 121 is increased, the functional liquid inside the chamber seeps out through the microporous structure to the outer surface of the biomimetic epidermal layer 130 under pressure, realizing biomimetic active sweating; at the same time, due to the high light transmittance of the biomimetic epidermal layer 130, the thermochromic effect of the wall material of the lower elastic chamber 121 can be clearly seen, ensuring that visual changes such as blushing and warning can be perceived by external observers.

[0047] The biomimetic epidermal layer 130 achieves a high degree of realism in three dimensions: visual, tactile, and functional, through the synergistic design of highly transparent flexible materials, biomimetic microtextures, and microporous structures connected to the underlying elastic chambers. The high transparency design ensures that the color changes of the thermochromic material in the underlying functional intermediate layer 120 are clearly and realistically visible, giving visual signals such as blush warnings the same color saturation and transparency as real skin, avoiding a decrease in simulation due to epidermal layer obstruction. Biomimetic surface textures such as pores and skin grooves replicated through microimprinting or laser etching processes give the skin a microscopic morphology indistinguishable from real skin in its static appearance, significantly improving visual and tactile realism. The precise connection between the microporous structure and the elastic chambers 121 allows functional liquids to seep out in a controlled manner from specific areas under pressure, achieving biomimetic... The active sweating function, and the distribution density of the micropores can be differentiated according to biomimetic needs (such as higher density in the forehead and nose areas), making the sweating process more in line with human physiological characteristics in space; this layer integrates "visual presentation" (light transmission and texture) and "functional execution" (liquid seepage) into one, so that the two biomimetic responses of color-changing warning and active sweating can be displayed in the same spatial area. For example, the red effect formed by heat-induced color change is first presented in the cheek area, and then sweat beads are simulated through micropore seepage, forming a coherent physiological performance of "red face when hot, wet when sweating", which greatly enhances the dynamic realism and interactive immersion of biomimetic thermal management.

[0048] In some embodiments, the multiple microporous structures can be a micropore array with a biomimetic pore arrangement. Preferably, the multiple micropore structures on the biomimetic epidermal layer 130 are arranged biomimetously according to the pore distribution pattern of real human skin, forming a micropore array corresponding to the location, density, and distribution characteristics of pores. Specifically, in areas with a higher density of human pores, such as the forehead, nose, upper lip, and cheeks, the distribution density of the micropore array is correspondingly increased; while in other areas, a lower pore density is maintained, thus macroscopically presenting a visual effect of pore distribution consistent with real skin. This biomimetic micropore array not only enhances the visual realism of the epidermal layer, making the skin closer to real skin at the microscopic texture level, but more importantly, it enables regional differential exudation of functional liquids. When the internal pressure of the elastic chamber is increased, the functional liquid preferentially exudes from areas with higher density, simulating the physiological characteristics of preferential sweating in areas such as the forehead and nose during hot weather or exercise. This makes the biomimetic sweating process more in line with natural physiological laws, significantly improving the realism and dynamic expressiveness of the biomimetic effect. In addition, this biomimetic arrangement effectively avoids the "artificial feel" caused by overly uniform liquid seepage. At the same time, by optimizing the pore density distribution, liquid waste can be reduced while ensuring heat dissipation efficiency, and the service life of a single filling can be extended.

[0049] Temperature information acquisition interface 140 is used to acquire temperature data that characterizes the temperature of at least one area of ​​the robot's skin.

[0050] In some embodiments, the temperature information acquisition interface 140 serves as a data interaction channel between the central controller and external temperature information sources. Its core function is to acquire temperature data characterizing the temperature of at least one area of ​​the robot's skin, providing basic input for subsequent thermal management decisions and collaborative control. Physically, this interface can be a hardware signal input port (such as an I / O interface, ADC acquisition port, or communication bus interface) or a software-level data receiving module or communication protocol stack. Through this interface design, the central controller can be decoupled from temperature data providers from different sources, enabling the skin system to have flexible information access capabilities and adapt to various application scenarios and system configuration requirements.

[0051] In specific embodiments, the temperature information acquisition interface 140 may acquire temperature data characterizing at least one area of ​​the robot's skin in various ways, including the following:

[0052] Option 1: The implementation method of using physical sensors built into the skin.

[0053] In this implementation, the temperature information acquisition interface 140 is directly connected to physical temperature sensors disposed within the skin structure. These sensors can be flexible thermocouples, flexible thermistors, or flexible thin-film platinum resistance thermometers, and are conformally integrated onto the surface or interior of the flexible substrate functional layer 110, preferably distributed at multiple points along areas such as the robot's forehead, temples, and cheeks. When the sensors are operational, they convert the sensed regional temperature into electrical signals (such as resistance changes or voltage changes), which are then connected to the temperature information acquisition interface 140 via internal wiring. The central controller periodically collects the raw signals from the sensors through this interface, processes them through analog-to-digital conversion and temperature calibration algorithms, and generates real-time temperature data for each region. This integrated sensor solution is suitable for scenarios requiring high accuracy and real-time performance in temperature monitoring. The integrated sensor with the skin structure ensures accurate temperature sensing and fast response, while reducing reliance on external systems.

[0054] Option 2: Obtaining temperature data from the robot's main control system.

[0055] In this implementation, the skin system itself does not have physical temperature sensors. Instead, it establishes a communication connection with the robot's main control system through a temperature information acquisition interface 140. The robot's main control system may already have integrated temperature sensors for monitoring its own operating status, such as monitoring the temperature of key components inside the head, such as the CPU, motors, and drivers, or obtaining the external ambient temperature through environmental temperature sensors installed on the robot body. The temperature information acquisition interface 140 connects to the main control system via an internal bus (such as I2C, SPI, CAN) or an external communication interface (such as UART, Ethernet), periodically receiving temperature data pushed by the main control system or obtained through requests. This data may be preprocessed by the main control system (such as filtering and calibration) or may be provided in raw data form. This solution is suitable for scenarios that aim to simplify the skin structure, reduce costs and power consumption. The skin system directly reuses the robot's existing temperature sensing capabilities, avoiding redundant sensor deployment. At the same time, the temperature data from the main control system may be deeply correlated with the robot's operating status, providing more valuable decision-making basis for biomimetic thermal management.

[0056] Option 3: Obtaining temperature data from the cloud or external devices.

[0057] In this implementation, the temperature information acquisition interface 140 is further extended to a remote communication interface, establishing a data connection with a cloud server, mobile terminal, or other external devices via a wireless communication module (such as Wi-Fi, Bluetooth, or 5G). The central controller uses this interface to obtain weather forecast temperatures, ambient temperatures, or temperature setpoints carried in remote commands from the cloud for the target area; it can also obtain temperature information related to the user's physiological state (such as user body temperature and perceived ambient temperature) from wearable devices such as smartphones and smartwatches, enabling personalized thermal management responses in human-computer interaction scenarios. For example, in companion robot applications, the skin system can obtain room temperature data for the user's room through this interface and adjust the basal body temperature maintenance strategy in advance; or, upon receiving a "cooling request" command sent by the user via a mobile app, it can initiate an active cooling and sweating response based on the target temperature data carried in the command. This solution greatly expands the range of temperature data sources, enabling the skin system to access a wider range of environmental information and user interaction data, achieving a higher level of intelligent, scenario-based bionic thermal management.

[0058] Through the flexible configuration of the above three implementation methods, the temperature information acquisition interface 140 enables the dynamic bionic robot head skin system to adapt to various application scenarios from independent work to networked collaboration. Whether relying on its own sensing capabilities, reusing the body's resources, or accessing external data, it can provide reliable and rich temperature information input to the central controller, laying a data foundation for subsequent collaborative control and bionic response.

[0059] The design of the temperature information acquisition interface 140 decouples the central controller from the temperature information source, enabling flexible configuration of the temperature data access method and bringing significant system integration advantages and application adaptability. This temperature information acquisition interface 140 supports the skin system in three modes, depending on specific application scenarios and cost requirements: integrating its own physical sensors, reusing temperature data from the robot's main control system, or accessing temperature information from the cloud and external devices. This allows the same skin system to adapt to various deployment schemes, from high-precision independent monitoring to lightweight resource sharing, greatly improving the product's platform adaptability. By decoupling the temperature sensing function from the skin structure, the increased cost and structural complexity caused by forcibly integrating physical sensors into each skin system are avoided. Especially in the mode of reusing temperature data from the main control system, the skin system can maintain a thinner, more lightweight stacked structure and lower power consumption. The temperature information acquisition interface 140 supports the ability to acquire temperature data from the cloud or external devices, enabling the skin system to overcome the limitations of its own physical sensing and access richer information sources such as ambient temperature, user physiological data, or remote commands, providing a data foundation for scenario-based and personalized intelligent bionic thermal management. This modular approach to information acquisition means that changes or upgrades to the source of temperature data do not require alterations to the core structure of the skin system. The central controller only needs to adjust the data reading protocol to adapt to new temperature information sources, thus preserving ample flexibility for continuous system iteration and functional expansion.

[0060] The pressure regulating module 150 is connected to the elastic chamber 121 and is used to regulate the internal pressure of the elastic chamber 121.

[0061] In some embodiments, the pressure regulating module 150 is the core execution unit that drives the elastic chamber 121 to achieve filling deformation and liquid seepage. For example, the pressure regulating module 150 can be sealed to the elastic chamber 121 through a flexible microfluidic pipe to form a closed-loop fluid circuit system. In a specific embodiment, the pressure regulating module 150 can be composed of a microfluidic drive pump (such as a micro diaphragm pump, peristaltic pump, or piezoelectric pump), a micro solenoid valve group (for controlling the opening and closing of different chamber channels), a fluid storage and transportation unit (such as a reservoir or reservoir chamber), and a pressure sensor integrated into the circuit. When the central controller issues a pressurization command, the micro pump starts, pumping the functional liquid in the fluid storage and transportation unit into the target elastic chamber 121. At the same time, the corresponding solenoid valve opens, allowing the liquid to flow into the designated channel. The pressure sensor monitors the pressure value inside the chamber in real time and feeds it back to the central controller. When the pressure reaches the preset target, the central controller can adjust the pump speed or maintain pressure stability through a pressure relief valve. When it is necessary to restore the initial state or stop sweating, the central controller switches the flow direction of the pump or opens the pressure relief passage to draw the liquid in the elastic chamber 121 back to the storage and transportation unit. The elastic chamber then returns to its initial shape due to the elasticity of its material. Through this bidirectional adjustable pressure control mechanism, the pressure regulation module 150 can precisely regulate the internal pressure of the elastic chamber 121, thereby controlling the degree of filling of the chamber, the amount of functional liquid seeping out, and the seepage rate, providing a reliable execution basis for the active cooling and sweating response.

[0062] The pressure regulation module 150, through its sealed connection with the elastic chamber 121 and a bidirectional fluid control mechanism, provides a precise, controllable, and reversible basis for the active cooling and sweating response. By coordinating a micro-pump, solenoid valve, and pressure sensor, the pressure regulation module 150 can finely regulate the internal pressure of the elastic chamber 121, thereby precisely controlling the amount, rate, and area of ​​functional liquid seepage. This upgrades the biomimetic sweating process from a simple "yes or no" to a quantifiable "more or less," significantly improving the controllability and biomimetic realism of the sweating response. The pressure regulation module 150 has bidirectional adjustment capabilities; it can achieve liquid seepage through pressurization or allow the elastic chamber to return to its initial shape through depressurization or reverse liquid extraction. This achieves reversible operation of the sweating function, supports multiple cycles, and avoids resource waste caused by continuous liquid leakage. By integrating pressure sensors to form a closed-loop servo control system, the system can monitor and maintain the target pressure value in real time, ensuring the stability and consistency of the exudation effect under different operating conditions. This overcomes the response deviation caused by open-loop control due to factors such as temperature changes and liquid viscosity changes. The deep integration of the pressure regulation module 150 with the central controller enables pressure regulation to coordinate with temperature data and thermochromic response. For example, in the event of overheating risk, a thermochromic warning is first activated, and then the pressure is dynamically adjusted according to temperature changes to achieve gradual sweating. This forms a complete closed loop of "perception-decision-execution-feedback," providing hardware support for simulating the physiological logic of "reddening when hot and cooling down when sweating" in the human body.

[0063] The central controller 160 is connected to the flexible electric heating module 111, the temperature information acquisition interface 140, and the pressure regulation module 150. The central controller 160 is configured to: based on temperature data, coordinate the control of the flexible electric heating module and the pressure regulation module to execute at least one biomimetic thermal management response.

[0064] The thermal management response includes: a thermochromic response, in which the central controller 160 controls the flexible heating module 111 to increase the temperature of the target area, thereby triggering the corresponding thermochromic elastic material to change color; an active cooling and sweating response, in which the central controller 160 controls the pressure regulating module 150 to increase the pressure of the elastic chamber 121 in response to the skin temperature exceeding a threshold, so that at least part of the functional liquid seeps out through the microporous structure; and a basal body temperature maintenance response.

[0065] In some embodiments, the central controller 160 serves as the decision-making and command core of the entire bionic skin system. It is electrically connected to the flexible heating module 111, the temperature information acquisition interface 140, and the pressure regulation module 150, and is responsible for receiving and processing temperature data, running control algorithms, and generating corresponding execution commands. Its core configuration is based on real-time acquired temperature data. Through coordinated control of the flexible heating module and the pressure regulation module, it flexibly executes at least one bionic thermal management response, including thermochromic response, active cooling and sweating response, and basal body temperature maintenance response, according to different temperature states and bionic requirements, thereby achieving a dynamic bionic function integrating color, heat, and humidity.

[0066] The specific implementation of the thermochromic response is as follows: The central controller 160 continuously monitors the temperature data of various areas of the robot's head through the temperature information acquisition interface 140. When it is determined that the temperature of a certain area (such as the cheek or forehead) reaches the preset thermochromic trigger threshold (such as simulating emotional excitement or high temperature warning state), the central controller 160 sends a control command to the flexible electrothermal module 111 to activate the heating unit of the corresponding area, so that it performs local heating according to the preset power and duration. The heat is conducted through the flexible base functional layer 110 to the corresponding elastic chamber 121 in the functional intermediate layer 120. Its wall material is made of thermochromic elastic material. When the temperature rises to the material's color change critical point (such as 33°C to 40°C), the material undergoes a reversible color change (for example, from skin color to red or pink), thus presenting a visual effect similar to human blushing or high temperature warning under the bionic epidermal layer 130, realizing the visual expression of temperature state or bionic emotion.

[0067] The active cooling and sweating response is implemented as follows: When the central controller 160 detects through the temperature information acquisition interface 140 that the skin temperature in a certain area (such as the forehead or nose) is continuously rising and exceeds a preset active cooling threshold (e.g., simulating hyperthermia after exercise or in a high-temperature environment), the central controller 160 sends an execution command to the pressure regulation module 150. The pressure regulation module 150 then starts the micro-pump and opens the solenoid valve in the corresponding area, increasing the fluid pressure in the connecting pipe to the elastic chamber 121 of the target area. This forces the functional liquid into the elastic chamber 121, causing the chamber to undergo reversible filling deformation. As the internal pressure further increases, some of the functional liquid, driven by the pressure, seeps out to the skin surface through the microporous structure on the biomimetic epidermal layer 130 connected to the elastic chamber 121. Heat is absorbed through liquid evaporation, achieving active cooling of the overheated area. The central controller 160 can dynamically adjust the pressure according to changes in temperature data, thereby controlling the amount of liquid seepage and the duration of sweating until the skin temperature returns to a safe range.

[0068] The specific implementation of the basal body temperature maintenance response is as follows: The central controller 160 monitors the temperature data of each area in real time through the temperature information acquisition interface 140. When it detects that the temperature of a certain area (such as the entire face) is lower than the preset basal body temperature maintenance lower limit (for example, simulating the body temperature maintenance requirements in a cold environment or at rest), the central controller 160 sends a command to the flexible electric heating module 111 to activate the heating unit of the corresponding area for intermittent or continuous heating with a low power density. This heating mode aims to stably maintain the skin surface temperature within a target range similar to that of real human skin (such as 30°C to 36°C), rather than triggering obvious color changes or sweating. By continuously comparing the real-time temperature data with the target range, the central controller 160 dynamically adjusts the output of heating power to form a closed-loop temperature maintenance mechanism, ensuring that the robot provides a warm and realistic tactile experience when interacting with humans.

[0069] The central controller 160 deeply integrates and coordinates the flexible electric heating module 111, the temperature information acquisition interface 140, and the pressure regulation module 150 to achieve unified scheduling and dynamic switching of three biomimetic thermal management functions: "thermochromic response," "active cooling and sweating response," and "basal body temperature maintenance response." This brings significant system integration advantages and enhances the biomimetic realism. This control architecture completely breaks the fragmented situation in traditional solutions where the "color, heat, and humidity" functions are controlled independently by separate modules. It enables the three responses to make linked decisions and execute collaboratively based on the same temperature data source. For example, under the risk of overheating, a color change warning can be triggered first, followed by initiating sweating and cooling, forming a sequential response that conforms to human physiological logic. This significantly improves the coherence and realism of the biomimetic performance. By integrating heating and pressure regulation into a closed-loop control system, the system can dynamically adjust execution parameters based on real-time temperature feedback. This upgrades thermochromic behavior from a mere visual performance to a physiological warning based on real thermal states, active sweating from simple liquid spraying to quantifiable and precise heat dissipation, and basal body temperature maintenance from open-loop fixed temperature control to adaptive thermal balance management, overcoming the shortcomings of existing technologies that are limited in function and isolated in mechanism. This integrated collaborative control architecture, through the shared temperature information acquisition interface 140 and access to multiple data sources (built-in sensors, main control system, and cloud), allows the three responses to flexibly adapt to different application scenarios—they can execute independently to meet single needs or be combined to simulate complex physiological states, greatly improving the system's scenario adaptability and intelligence. The central controller 160, as the unified decision-making core, effectively avoids resource redundancy and coordination delays caused by multiple controllers working in parallel, simplifies the system hardware architecture while improving response speed and control accuracy, and provides a reliable control foundation for achieving a highly realistic dynamic lifelike feel for the robot's skin.

[0070] based on Figure 1The illustrated embodiment provides a dynamic bionic robot head skin system. This system achieves three bionic thermal management responses through the coordinated operation of an integrated, layered skin structure and peripheral functional modules. A temperature information acquisition interface collects temperature data characterizing the temperature of various areas of the robot's head skin in real time and transmits the data to a central controller. The central controller analyzes and makes decisions based on the received temperature data, sending corresponding control commands to the flexible heating module or pressure regulation module according to different temperature states and bionic requirements, driving the corresponding area to execute a specific thermal management response.

[0071] When the central controller determines, based on temperature data, that a certain area requires a thermochromic response, it sends a command to the flexible heating module to activate the heating unit in the corresponding area for localized heating. Heat is conducted through the flexible substrate functional layer to the corresponding elastic chamber in the functional intermediate layer. Since at least part of the wall material of this elastic chamber is made of thermochromic elastic material, when the temperature rises to the material's color-changing critical point, the wall material undergoes a reversible color change (e.g., gradually changing from skin color to red or pink). This visual change is displayed through the highly translucent biomimetic epidermis layer, thus achieving a biomimetic visual effect simulating blushing or a high-temperature warning. During this process, the color-changing effect only occurs in the heated target area, and the depth of color change is related to the heating temperature.

[0072] When the central controller detects that the skin temperature in a certain area exceeds a preset active cooling threshold, it sends a command to the pressure regulation module to activate the micro-pump and open the fluid channel in the corresponding area, increasing the fluid pressure in the pipeline connecting to the elastic chamber of the target area. Driven by this pressure, functional fluid is forced into the elastic chamber, causing it to undergo reversible inflation and deformation. As the internal pressure further increases, some of the functional fluid seeps out to the skin surface through the microporous structure on the biomimetic epidermal layer connected to the elastic chamber. The seeping fluid absorbs heat through evaporation, thus achieving active cooling of the overheated area. The central controller can dynamically adjust the pressure according to temperature changes, precisely controlling the amount of fluid seepage until the skin temperature returns to a safe range.

[0073] When the central controller detects that the temperature in a certain area is below the preset lower limit for maintaining basal body temperature, it sends a command to the flexible heating module to activate the heating unit in the corresponding area for intermittent or continuous heating at a low power density. This heating mode aims to maintain the skin surface temperature stably within a target range similar to that of real skin (e.g., 30°C to 36°C), rather than triggering obvious color changes or sweating. By continuously comparing real-time temperature data with the target range, the central controller dynamically adjusts the heating power output, forming a closed-loop temperature maintenance mechanism to ensure that the skin provides a warm and realistic tactile experience when interacting with humans.

[0074] By organically combining an integrated layered structure and a collaborative control architecture, the system achieves deep integration and dynamic linkage of three biomimetic thermal management functions: color, heat, and humidity. Thermochromic response, active cooling and sweating response, and basal body temperature maintenance response are unified into a single skin structure and coordinated by a central controller based on shared temperature data. This completely breaks down the fragmented approach of traditional solutions where color, heat, and humidity functions are controlled independently by separate modules. The system can automatically switch or combine different responses based on temperature conditions. For example, in cases of overheating risk, thermochromic changes can be triggered first for visual warning, followed by active sweating for physical cooling, forming a sequential response that conforms to human physiological logic, making the biomimetic performance more coherent and realistic. By deeply binding the heating function of thermochromic elastic materials with flexible electrothermal modules, color change is no longer an isolated visual output but a physiological indication based on actual thermal conditions. When the temperature rises, the color change occurs naturally, serving as a high-temperature warning; when the temperature drops, the color change fades. The entire process is deeply correlated with the robot's actual heat load, solving the problems of disconnect between color-changing function and thermal state, and superficial bionic logic in existing technologies. Through the coordinated work of the pressure regulation module, elastic chamber, and microporous structure, the system achieves controllable and quantifiable bionic active sweating. The evaporative cooling of the exudate provides an effective active cooling method for the robot under high load or high temperature environments, overcoming the blind spot of the lack of heat dissipation mechanism in existing thermal management strategies and significantly improving the system's environmental adaptability. The basal body temperature maintenance response dynamically adjusts the heating power through real-time temperature feedback, keeping the skin temperature stable within a target range consistent with human skin, rather than maintaining a fixed set value. This adaptive thermal balance management allows the robot to provide a warm and realistic tactile experience under different ambient temperatures, greatly enhancing the affinity of human-computer interaction. The flexible design of the temperature information acquisition interface enables the system to adapt to various temperature information sources (built-in sensors, robot main control system, cloud or external devices). The same skin system can be flexibly configured according to the application scenario, and a smooth transition from independent operation to networked collaboration can be achieved without changing the core structure, which greatly improves the product's platform adaptability and iteration flexibility.

[0075] In some embodiments, the temperature information acquisition interface is connected to at least one temperature sensor disposed in the skin structure, the temperature sensor being used to sense the temperature of the area and generate temperature data.

[0076] The system incorporates at least one physical temperature sensor within the skin structure. These sensors can be miniature thermocouples, thermistors, or semiconductor temperature sensors, and are electrically connected to a temperature information acquisition interface via internal circuitry. The temperature information acquisition interface serves as the data channel between the central controller and the sensors, receiving the raw temperature signals generated by the sensors and converting them into temperature data recognizable by the central controller. The sensors can be strategically placed in appropriate locations within the flexible substrate's functional layer, functional intermediate layer, or biomimetic epidermis, with single-point or multi-point temperature measurement configurations selected based on specific requirements. This configuration integrates physical temperature sensors within the skin structure, enabling localized, real-time temperature sensing of various skin regions. The zero-distance contact between the sensor and the skin structure ensures accurate temperature measurement and rapid response, avoiding measurement errors caused by excessively long heat conduction paths or external interference. The temperature information acquisition interface, serving as a standardized data access port, unifies the sensor's signal format and communication protocol, allowing the central controller to read data from sensors of different models and locations in the same way, simplifying system integration. The introduction of physical sensors gives the skin system self-sensing capabilities independent of the robot itself and external networks, enabling it to function normally even without external data sources, thus enhancing the system's autonomy and reliability.

[0077] In some embodiments, at least one temperature sensor includes a flexible temperature sensor, which is conformally integrated into the surface or interior of a flexible substrate functional layer.

[0078] The temperature sensors used are flexible temperature sensors, such as flexible thermocouples based on polyimide or PET substrates, thermistors printed on flexible films, or strain gauge temperature sensors made of flexible conductive materials such as carbon nanotubes / graphene. These flexible temperature sensors are conformally integrated onto the surface or interior of the flexible substrate functional layer through screen printing, inkjet printing, or micro-nano mounting processes. That is, the overall shape of the sensor closely conforms to the curved contour of the flexible substrate functional layer. When the skin structure undergoes bending, stretching, or other deformations, the sensor can deform synchronously with the substrate without peeling or damage. The integration of the sensor and the flexible substrate functional layer can be completed simultaneously during the substrate material molding process, or it can be achieved after substrate molding through bonding or embedded encapsulation. The two key characteristics of "flexibility" and "conformal integration" enable the temperature sensor to perfectly adapt to the complex curved surface structure of the robot's head. The seamless bonding between the sensor and the substrate ensures the continuity and stability of temperature sensing under different postures and motion states, avoiding the measurement blind spots or poor contact that occur when traditional rigid sensors are bonded to curved surfaces. The sensor is integrated inside or on the surface of the flexible substrate's functional layer, forming a clear functional partition between the upper functional intermediate layer and the lower robot body. The sensor can accurately sense temperature changes on the skin surface without interfering with the deformation and fluid flow of the elastic chambers in the functional intermediate layer, achieving physical isolation and collaborative coexistence of sensing and execution functions. The deep integration of the flexible sensor and the flexible substrate ensures that the entire skin structure maintains excellent flexibility and stretchability. The sensor itself will not become a weak point in mechanical performance, ensuring the reliability and lifespan of the skin system during long-term dynamic use.

[0079] In some embodiments, there are multiple flexible temperature sensors arranged in an array to form a flexible temperature sensor array; each flexible temperature sensor in the flexible temperature sensor array is spatially corresponding to multiple independently addressable and controllable temperature control units in the flexible heating module.

[0080] Multiple flexible temperature sensors are arranged in an array on the surface or inside the functional layer of the flexible substrate according to a preset row and column spacing, forming a flexible temperature sensor array. Each flexible temperature sensor in this array corresponds spatially to multiple independently addressable and controllable temperature control units also arranged in an array within the flexible electrothermal module. For example, in the cheek area, if a sensor in the array is located at coordinates (x1, y1), there must be a corresponding temperature control unit directly below or above that sensor (along the stacking direction), and the heating range of this temperature control unit basically covers the local area where the sensor is located. This spatial correspondence can be achieved by simultaneously designing the layout of the sensor array and the heating unit array, ensuring that each temperature control unit has its own dedicated sensor for temperature feedback. Through the spatial correspondence between the sensor array and the temperature control unit array, a refined closed-loop control architecture is constructed, ensuring that "each heating area has its own dedicated sensor for monitoring." When the central controller needs to adjust the temperature of a certain area, it can directly call the real-time feedback data of the sensor corresponding to that area to achieve independent and precise temperature control of that area, avoiding temperature control deviations or response lags caused by spatial misalignment of the sensor and heater. The introduction of the sensor array enables the system to have spatially distinguishable temperature sensing capabilities, allowing it to monitor temperature changes in multiple areas simultaneously. This provides a data foundation for the spatially differentiated execution of subsequent thermochromic responses and active sweating responses. For example, different response intensities or timing sequences can be triggered based on the temperature differences between the cheek and forehead. This "one-to-one correspondence between sensing unit and execution unit" design enables the system to support more advanced collaborative control strategies, such as independently executing different thermal management responses in different areas, or dynamically adjusting heating power and liquid seepage in the same area based on sensor feedback. This significantly improves the spatial precision and dynamic response capabilities of biomimetic thermal management.

[0081] In some embodiments, the microporous structure on the biomimetic epidermis forms multiple microporous regions; at least some of the flexible temperature sensors in the flexible temperature sensor array are spatially arranged corresponding to the microporous regions, for monitoring temperature changes in the corresponding microporous regions.

[0082] The micropore structure on the biomimetic epidermis is not uniformly distributed, but rather forms denser micropore regions in specific areas according to biomimetic requirements. For example, more micropores are placed in areas with high perspiration density, such as the forehead, nose, upper lip, and cheeks. At least some of the flexible temperature sensors in the flexible temperature sensor array are spatially positioned corresponding to these micropore regions. That is, the sensors are positioned directly below or above the micropore regions (along the stacking direction), enabling them to directly sense skin temperature changes near the micropore regions. This spatial correspondence is achieved by aligning the sensor array layout with the micropore region layout during the stacking design, ensuring that each micropore region has at least one sensor dedicated to monitoring its temperature. By spatially binding the temperature sensors to the micropore regions, "point-to-point monitoring" of perspiration areas is achieved. When the active cooling and sweating response is activated, the sensor corresponding to the micropore area can immediately detect the temperature drop caused by liquid evaporation in that area and feed the data back to the central controller, forming a real-time evaluation closed loop of the sweating effect. Based on the feedback data from these sensors, the central controller can dynamically adjust the pressure of the pressure regulation module in the elastic chamber corresponding to the micropore area, achieving precise control of the amount of sweat. If the temperature drops too quickly, the pressure is reduced to avoid excessive sweating; if the temperature drops insufficiently, the pressure is increased to enhance heat dissipation. This upgrades the sweating response from a simple "on / off" control to quantifiable and adjustable precise heat dissipation. This spatial correspondence design allows the system to... Based on the temperature differences in each micropore region, the sweating intensity of different regions can be independently adjusted. For example, when the temperature in the forehead region is higher, the amount of exudation in that region is increased, while when the temperature in the cheek region is normal, only a small amount of exudation or no exudation is maintained. This simulates the physiological characteristics of the difference in sweating rates in different parts of the human body, significantly improving the realism and intelligence of the bionic sweating. The spatial correspondence between the sensor and the micropore region also supports more complex collaborative control strategies. For example, when there is a demand for thermochromic change and a demand for sweating in the same region at the same time, the system can coordinate the timing and intensity of heating and pressurization based on sensor data to achieve a composite bionic effect of "color change warning first, then sweating and cooling" or "color change and slight sweating synchronized".

[0083] In some embodiments, a spatially corresponding flexible temperature sensor and a temperature control unit together constitute a thermal management unit pair. The sensor in this thermal management unit pair is responsible for sensing the temperature of its area, while the temperature control unit independently controls the heating power of that area based on the feedback from the sensor, thereby achieving precise regional thermal management.

[0084] In the flexible substrate functional layer, a spatially corresponding flexible temperature sensor and an independently addressable and controllable temperature control unit directly above or below it together constitute a thermal management unit pair. By synchronously designing the layout of the sensor array and the heating unit array, it is ensured that each pair of sensors and temperature control units covers the same tiny skin area in the vertical stacking direction and establishes a dedicated signal connection channel. During operation, the flexible temperature sensor in the unit pair senses the temperature change of its area in real time and transmits the feedback data to the central controller. Based on the independent feedback of the sensor, the central controller sends differentiated heating power adjustment commands only to the temperature control unit in the unit pair without affecting the working status of adjacent unit pairs. This configuration achieves the highest precision regional thermal management of the skin system in the spatial dimension. Each thermal management unit can independently respond to its local temperature requirements, completely eliminating temperature crosstalk and control blind spots caused by traditional overall heating or coarse zonal heating. This "one-to-one" sensing and execution closed-loop architecture enables each tiny area to obtain instantaneous and precise temperature control response. For example, in the cheek area, there are both high-temperature points that need to change color and normal points that need to maintain body temperature. The system can heat only the unit pair corresponding to the high-temperature point, while maintaining basic power output for the adjacent normal points, achieving true pixel-level thermal management. The modular design of the thermal management unit pairs gives the skin system good scalability. By increasing the number of unit pairs, the spatial resolution of thermal management can be linearly improved, reserving the hardware foundation for achieving higher precision biomimetic thermal performance in the future. At the same time, the independent operation and non-interference of each unit pair also significantly improves the fault tolerance and reliability of the system.

[0085] In some embodiments, the central controller is further configured to: when performing an active cooling and sweating response, dynamically adjust the heating power of the temperature control unit corresponding to the flexible temperature sensor and the internal pressure of the pressure regulation module on the elastic chamber corresponding to the target micropore region based on the temperature data fed back by the flexible temperature sensor corresponding to the target micropore region, so as to maintain the skin temperature of the target micropore region within a preset cooling target range.

[0086] The central controller is further configured to implement a temperature feedback-based dual-parameter collaborative adjustment mechanism when executing an active cooling and sweating response. Specifically, when the system determines that a certain microporous area needs to initiate sweating and cooling, the central controller continuously receives real-time temperature data from the flexible temperature sensor corresponding to the microporous area. It dynamically compares this real-time temperature with a preset cooling target range (e.g., 32°C to 34°C) and generates two control commands based on the comparison results. One command is sent to the temperature control unit corresponding to the sensor to dynamically adjust its heating power (e.g., pausing heating when the temperature is too high to avoid heat loss, or appropriately heating when the temperature is too low to prevent overcooling). The other command is sent to the pressure regulation module to dynamically adjust the internal pressure of the elastic chamber corresponding to the microporous area, thereby precisely controlling the amount of functional liquid seepage (e.g., increasing pressure to enhance evaporative cooling when the temperature decreases slowly, or reducing pressure to conserve liquid when the temperature drops rapidly). This approach integrates heating and pressure control into a single feedback loop, achieving a dynamic balance and coordinated operation of heating and sweating functions within the same area. This completely resolves the drawbacks of traditional solutions where heating and heat dissipation conflict and operate independently. Based on real-time feedback from the same sensor, dual-parameter adjustment enables the system to adaptively maintain the precise temperature of the target area. Changes in ambient temperature, fluctuations in robot heat generation, and the dynamic effects of sweat evaporation can all be compensated for in real time, achieving true closed-loop constant temperature control. This refined coordinated adjustment mechanism significantly improves the utilization efficiency of functional liquids, allowing them to seep out only when necessary at the most appropriate rate, avoiding ineffective discharge and frequent refilling, and extending the working time of a single refill. This mechanism upgrades the active cooling and sweating response from a simple "open-loop spray" to intelligent heat dissipation with "on-demand supply," ensuring cooling effectiveness while maximizing skin dryness and comfort, providing a more natural and realistic tactile experience for human-computer interaction.

[0087] In some embodiments, the central controller is further configured to execute the following collaborative control strategy: when it is determined based on temperature data that a specific area has both overheating risk and biomimetic color change requirement, the flexible electric heating module is first controlled to heat the specific area until the thermochromic material reaches the target color change state, and then the pressure regulating module is controlled to pressurize the elastic chamber corresponding to the specific area.

[0088] The system employs a composite biomimetic collaborative control strategy to simulate the physiological logic of the human body in an overheated state: "first blushing as a warning, then sweating to dissipate heat." Specifically, the central controller continuously monitors temperature data. When it determines that a specific area simultaneously presents both an "overheating risk" (e.g., the temperature exceeds the high-temperature warning threshold but has not yet reached a dangerous level) and a "biomimetic color-changing requirement" (i.e., a visual warning is needed through color change), it first sends a command to the flexible electrothermal module to heat the temperature control unit corresponding to that area until the thermochromic elastic material reaches the target color-changing state (e.g., turning red or pink), thus completing the visual expression of the high-temperature warning. Based on this, depending on the persistence of the overheating risk, the central controller can choose to immediately activate the pressure regulation module after the color change reaches the target state to pressurize the elastic chamber corresponding to the same area, causing the functional liquid to seep out and achieve active cooling, or simultaneously activate pressurization while maintaining the color-changing state, forming a composite manifestation of "blushing and slight sweating simultaneously." This solution, through a time-sequence control of "color change first, then sweating," achieves for the first time a physiological logic link between visual warning and physical cooling in the same area. This upgrades the robot's thermal management response from a single-function output to a composite performance that conforms to human reaction patterns, significantly enhancing the realism and depth of the biomimetic dynamics. This collaborative control strategy organically coordinates the color-changing and sweating functions in the temporal dimension—color change first attracts external attention to issue a high-temperature warning, while sweating subsequently intervenes to achieve substantial heat dissipation. This avoids both the premature dilution of the visual impact of the warning signal by sweating and the sustained temperature rise caused by prolonged color change without cooling measures, achieving a perfect connection between "warning" and "response." Through the flexibility of "following or synchronizing," the solution further enhances the robot's performance. With flexible configuration, the system can adaptively adjust the response timing according to the urgency of overheating risk. In case of mild overheating, it can adopt the conventional mode of color change followed by sweating, while in case of rapid temperature rise, it can adopt the enhanced mode of color change and sweating synchronized, giving the biomimetic thermal management a dynamic adaptability similar to real physiological reactions. This strategy further enhances the central controller's ability to uniformly schedule the "color" and "wet" functions. Based on the same temperature data source and the same regional coordinates, it achieves precise coordination between the two execution modules, completely solving the problem of the unrelated and disordered timing of color change and sweating functions in traditional solutions. It provides a complete solution for expressing complex physiological states such as "blushing with excitement" and "hot flashes after exercise" in human-computer interaction scenarios.

[0089] In some embodiments, the central controller has preset temperature thresholds corresponding to different biomimetic thermal management response modes, including: a first preset temperature threshold; a second preset temperature threshold, which is higher than the first preset temperature threshold; and a third preset temperature threshold, which is higher than the second preset temperature threshold. The central controller determines and triggers the corresponding response mode by comparing temperature data with the temperature thresholds: when the temperature data is lower than the first preset temperature threshold, a basal body temperature maintenance response is triggered; when the temperature data reaches the second preset temperature threshold but is lower than the third preset temperature threshold, a thermochromic response is triggered; and when the temperature data reaches the third preset temperature threshold, an active cooling and sweating response is triggered.

[0090] Among them, the central controller pre-sets three-level temperature thresholds corresponding to different bionic thermal management response modes, constructing a hierarchical and progressive autonomous decision-making and control logic. The specific implementation method is as follows: The central controller continuously receives temperature data through the temperature information acquisition interface, and sequentially compares the real-time temperature value with the pre-set first temperature threshold T1, second temperature threshold T2, and third temperature threshold T3, where T1 < T2 < T3; according to the comparison result, the central controller automatically determines which response mode should be triggered currently; when the real-time temperature data is lower than T1, it is determined that the basic body temperature needs to be maintained, and then the basic body temperature maintenance response is triggered, controlling the flexible electrothermal module to heat at a lower power to make the skin temperature fall within the target range; when the real-time temperature data reaches T2 but is lower than T3, it is determined that a high-temperature warning needs to be initiated, and then the thermochromic response is triggered, controlling the flexible electrothermal module to heat the corresponding area to trigger the color change of the thermochromic material; when the real-time temperature data reaches T3, it is determined that emergency heat dissipation is required, and then the active cooling and sweating response is triggered, controlling the pressure regulation module to increase the pressure of the corresponding elastic chamber to make the functional liquid exude for cooling. This solution discretizes the continuous temperature change into three response intervals with clear physical meanings through the hierarchical setting of temperature thresholds, enabling the central controller to achieve the most accurate response switching with the simplest logical judgment, avoiding the computational burden and response delay brought by complex fuzzy decision-making algorithms; the progressive relationship between T1, T2, and T3 constructs a complete thermal management chain of "normal → warning → disposal", enabling the skin system to exhibit a progressive physiological response like the human body when facing temperature changes - from maintaining body temperature without feeling, to visual warning expression, and then to active heat dissipation intervention, the whole process is natural, smooth, and well-defined, significantly enhancing the logical realism of bionic thermal management; the three-level thresholds can be flexibly configured according to the robot application scenario, user preference, or environmental conditions (for example, T2 can be set to 37°C for simulating shy blushing or 39°C for simulating high-temperature warning), enabling the same set of skin systems to adapt to different bionic requirements and human-machine interaction scenarios, greatly enhancing the adaptability and customization ability of the product; this trigger mechanism based on threshold comparison provides a clear state judgment basis for subsequent more complex cooperative control strategies (such as "changing color first and then sweating"). When the temperature is between T2 and T3, the system can judge that "there is a risk of overheating and a need for color change", and when the temperature reaches or exceeds T3, the system can judge that "emergency sweating is required", making the timing coordination and priority management between multi-level responses simple and reliable.

[0091] In some embodiments, the flexible electrothermal module includes at least one of a graphene temperature control unit, a metal nanowire temperature control unit, a carbon nanotube film temperature control unit, or a conductive polymer temperature control unit.

[0092] Specifically, the flexible electric heating module employs at least one of the following as heating elements: graphene temperature control unit, metal nanowire temperature control unit, carbon nanotube thin film temperature control unit, or conductive polymer temperature control unit. These nanomaterials or conductive polymers are directly formed onto the surface of the functional layer of the flexible substrate or encapsulated within it in a pre-defined pattern using processes such as screen printing, inkjet printing, spraying, or vacuum coating, forming a thin-layer heating circuit conformal to the flexible substrate. Each temperature control unit can be connected to the central controller via independent electrode leads to achieve independent addressing control of the heating power. In this scheme, materials such as graphene, metal nanowires, and carbon nanotubes possess extremely high thermal conductivity and electrothermal conversion efficiency, enabling rapid heating with low power consumption. This results in instantaneous thermochromic response, significantly improving the dynamic response speed of biomimetic performance. The materials themselves exhibit excellent flexibility and bending life, allowing for synchronous stretching and bending with the flexible substrate functional layer without breakage or performance degradation, ensuring the reliability and stability of the skin system during long-term dynamic use. Heating units fabricated through printing or spraying processes achieve micron-level pattern precision, allowing for the customization of heating areas of arbitrary shapes (such as tree-like branch structures simulating vascular networks) according to biomimetic needs. This ensures precise matching of the heating range with the distribution of the elastic chambers, avoiding energy waste in ineffective heating areas. The conductive polymer temperature control unit also possesses good biocompatibility and low-voltage driving characteristics, making it suitable for interactive scenarios involving close contact with humans, further enhancing system safety. In summary, the optional configuration of various high-performance flexible heating materials enables the flexible electrothermal module to provide an efficient, precise, and reliable heating foundation for thermochromic response and basal body temperature maintenance response while maintaining a thin and flexible profile.

[0093] In some embodiments, the thermochromic elastic material is thermochromic silicone rubber or thermochromic polyurethane, with a color-changing critical temperature range of 33°C to 40°C, and within the color-changing critical temperature range, its color gradually changes from skin color or transparent to red or pink.

[0094] Specifically, the thermochromic elastic material uses thermochromic silicone rubber or thermochromic polyurethane, with a critical temperature range of 33°C to 40°C. When this critical temperature range is reached, the material's color gradually changes from skin-colored or transparent to red or pink. Specifically, by uniformly doping thermochromic microcapsules or thermochromic dyes into the silicone rubber or polyurethane matrix, the material exhibits a base color similar to real skin or remains transparent at room temperature. When the temperature rises to the preset critical range (e.g., 33°C to 40°C), the microcapsule or dye molecules undergo a reversible phase transition or structural change, leading to an alteration in their absorption / reflection characteristics of visible light, thus exhibiting a red or pink visual appearance. This scheme precisely covers the color-changing critical temperature range of 33℃ to 40℃, encompassing the temperature fluctuation range of human facial skin between normal physiological states (approximately 33℃ to 35℃) and emotional excitement / exercise states (approximately 36℃ to 40℃). This allows the thermochromic response to realistically simulate the human physiological phenomenon of "blushing when hot," transforming color change from a random visual performance into a biomimetic expression deeply bound to physical temperature. The gradual color transition from skin color or transparency to red or pink highly replicates the color change process resulting from subcutaneous vasodilation and increased blood flow. This gradual color presentation is more effective than abrupt color changes. Natural and gentle, significantly enhancing the realism and approachability of visual simulation; silicone rubber and polyurethane, as matrix materials, possess excellent elasticity, biocompatibility, and light transmittance, matching the mechanical properties of the elastic chamber, ensuring that the chamber's reversible deformation capability under pressure regulation is unaffected, while its high light transmittance allows the color-changing effect to be clearly presented through the bionic skin layer; the reversible characteristics of the thermochromic material enable the system to support repeated color-changing cycles, and the color-changing response can be turned on or off in real time according to temperature changes, without the need to replace materials or perform complex resets, laying the material foundation for the robot to continuously provide dynamic bionic performance in long-term interaction.

[0095] In some embodiments, the system may further include a heat dissipation module disposed in the functional layer of the flexible substrate and arranged corresponding to the area where the temperature indicated by the temperature data is higher than a preset threshold. The heat dissipation module includes a heat conduction path and a heat dissipation structure.

[0096] The system may also include an independently configured heat dissipation module, integrated within the functional layer of the flexible substrate, and specifically positioned to address areas where the temperature indicated by the temperature data consistently exceeds a preset threshold. Specifically, the heat dissipation module consists of a heat conduction path formed by a highly thermally conductive material (such as graphene thermal conductive film, metal microgrid, or liquid metal channel), and a micro-heat dissipation structure (such as micro-heat dissipation fins, heat spreaders, or phase change heat storage units) connected to the end of the heat conduction path. When the central controller identifies, through temperature data, that the temperature of a certain area (such as the location of the CPU inside the robot's head or a drive component area that is constantly exposed to high temperatures) consistently exceeds a preset safety threshold, the heat conduction path rapidly transfers the heat from that area to the heat dissipation structure, which then dissipates the heat to the external environment through natural convection, forced air cooling, or radiation. By introducing a combination of active and passive heat dissipation modules, a dedicated heat dissipation channel is provided for the high-heat areas of the robot's head, effectively avoiding the risk of overheating damage caused by localized heat accumulation on the skin, and significantly improving the system's thermal safety and long-term operational reliability. The heat dissipation module, together with the flexible electric heating module and pressure regulation module, forms a complete "heating-heat dissipation-temperature control" closed loop, enabling the central controller to prioritize the activation of the heat dissipation module for passive cooling in extreme high-temperature scenarios, avoiding excessive reliance on the resource consumption caused by the evaporation of functional liquids, and achieving optimized allocation of thermal management resources. The placement of the heat dissipation module is dynamically determined based on temperature data, and the allocation of heat dissipation resources can be adaptively adjusted according to the robot's actual operating conditions. For example, the heat dissipation module in the corresponding area is automatically activated when the CPU is under high load, while it remains in standby mode when under low load, ensuring both heat dissipation effect and avoiding unnecessary energy consumption. By integrating the heat dissipation module inside the flexible substrate functional layer, the integrated layered characteristics of the skin structure are maintained, achieving efficient thermal management without the need for external heat dissipation devices, providing a reliable guarantee for the robot's continuous and stable operation in high-load motion, high-temperature environments, or intensive interaction scenarios.

[0097] In some embodiments, the pressure regulating module includes a micro pump, a precision pressure sensor, and a control valve, forming a closed-loop servo control of the pressure within the elastic chamber.

[0098] The pressure regulation module further integrates three core components: a micro-pump, a precision pressure sensor, and a control valve, which together form a closed-loop servo control system for the pressure within the elastic chamber. Specifically, the micro-pump, as the power source, is responsible for pumping functional liquids from the storage and transportation unit into or out of the elastic chamber according to the instructions of the central controller; the control valve assembly is set at various branch nodes of the fluid pipeline to precisely control the flow of liquids to specific areas of the elastic chamber; the precision pressure sensor monitors the actual pressure value inside the elastic chamber or at key nodes of the pipeline in real time and feeds the pressure signal back to the central controller; the central controller compares the received real-time pressure value with the preset target pressure value and dynamically adjusts the speed, start / stop of the micro-pump, or the opening of the control valve according to the deviation, forming a complete closed-loop control loop of "setting-detection-comparison-adjustment-feedback". Through a closed-loop servo control mechanism, the system can precisely stabilize the internal pressure of the elastic chamber near the target value, effectively overcoming the pressure drift problem caused by factors such as changes in liquid viscosity, temperature fluctuations, and differences in pipeline resistance in open-loop control, ensuring consistent and controllable exudation in each sweating response. The introduction of a precision pressure sensor enables the system to monitor pressure in real time. When pipeline blockage, liquid leakage, or micro-pump failure occurs, the central controller can immediately detect pressure anomalies and execute protective measures such as shutdown alarms, significantly improving the reliability and safety of the system. Closed-loop control supports dynamic adjustment of the exudation process. For example, when rapid cooling is required, the pressure can be rapidly increased to a peak pressure to achieve instantaneous exudation, and then reduced to a maintenance pressure to maintain the cooling effect with a small amount of exudation, achieving segmented and precise control of the sweating rate. Fourth, this closed-loop control architecture provides a precise execution basis for subsequent more advanced collaborative control strategies (such as simultaneously adjusting heating and pressure based on temperature feedback), enabling pressure regulation to achieve quantitative control like temperature regulation, laying the hardware foundation for the intelligent and precise biomimetic thermal management.

[0099] In some embodiments, the functional liquid is a liquid with evaporative cooling properties.

[0100] The functional liquid specifically employs liquids with evaporative cooling properties, such as water-based liquids, mixtures of alcohol and water, or low-boiling-point functional fluids with added surfactants. Specifically, this functional liquid can be encapsulated within an elastic chamber and, under the action of a pressure regulating module, seeps out through a microporous structure to the outer surface of the biomimetic epidermis. Upon exposure to air, it rapidly absorbs heat from the skin surface, undergoing a phase change (from liquid to gas), thereby carrying away a large amount of heat and achieving evaporative cooling. Evaporative cooling is the core active heat dissipation mechanism of the human body. By using a liquid with evaporative cooling properties, the biomimetic sweating response is physically identical to the evaporation of human sweat, giving the robot's cooling process the same thermodynamic essence as that of a living organism, rather than simple liquid spraying or passive heat dissipation. This significantly enhances the scientific rigor and realism of the biomimetic function. The heat absorbed during liquid evaporation comes directly from the skin surface, enabling efficient cooling without relying on an external cold source. This is particularly suitable for alleviating localized overheating in robots under high-load motion, high-temperature environments, or scenarios where internal components generate concentrated heat, filling a gap in existing active skin cooling mechanisms for robots. The system eliminates the need for a vacuum; by adjusting the composition and ratio of the liquid (such as adding an appropriate amount of alcohol to lower the boiling point or adjusting the evaporation rate), the cooling effect can be customized according to different application scenarios. For example, a high-volatility formula can be used when rapid cooling is required, or a low-volatility formula can be used when long-term maintenance is required, so that the active cooling sweating response has an adjustable heat dissipation capacity; the evaporative cooling characteristics are deeply coupled with the pressure regulation mechanism of the elastic chamber. The system can precisely adjust the heat carried away by evaporation by controlling the amount of exudation, so as to achieve quantitative management of skin temperature. At the same time, there is no residue after the liquid evaporates, keeping the skin surface dry and clean, and providing a more comfortable and natural tactile experience for human-computer interaction.

[0101] In some embodiments, the distribution density of microporous structures is higher in areas corresponding to the forehead, nose, upper lip, and cheeks than in other areas.

[0102] The micropore structure is not uniformly distributed, but rather biomimetically differentiated based on the physiological characteristics of the human face. The distribution density is significantly higher in areas corresponding to the forehead, nose, upper lip, and cheeks than in other areas (such as the sides of the ears and jaw). Specifically, in the fabrication process of the biomimetic epidermis, through precision laser drilling, micro-injection molding, or photolithography, a greater number of micropores are formed in areas where natural sweating is more concentrated, such as the forehead, nose, upper lip, and cheeks, according to a pre-designed regional density map. In other areas, the pore density is kept lower or even absent, thus macroscopically presenting regionally differentiated sweating characteristics consistent with real skin. By simulating the physiological differences in the distribution of sweat glands in different areas of the human face, the exudation of functional fluid is made more spatially consistent with natural laws. When the active cooling and sweating response is activated, areas such as the forehead and nostrils preferentially exude fluid, presenting a visual appearance consistent with sweating after exercise or under high temperatures, significantly improving the realism and physiological logic of biomimetic sweating. This differentiated layout optimizes the allocation of heat dissipation resources, prioritizing the distribution of limited functional fluid to areas with the highest heat dissipation efficiency (such as large exposed areas like the forehead), reducing fluid waste while ensuring overall cooling effect and extending the effective working time of a single filling. The combination of density micropore regions and spatially corresponding temperature sensors enables the system to perform focused temperature monitoring and precise sweating control in key sweating areas such as the forehead and nose, achieving intelligent thermal management with "strong cooling in high-heat areas and weak intervention in low-heat areas." The differentiated design of micropore density also enhances the visual hierarchy of the biomimetic epidermis. In the absence of sweating, the differences in micropore density in different areas are not easily perceived by the naked eye, while when sweating, they exhibit sweat distribution characteristics consistent with the human body. This gives the biomimetic performance both static realistic texture and dynamic physiological logic, providing a more delicate and natural visual and functional experience for human-computer interaction.

[0103] The following detailed description of the dynamic bionic robot head skin system provided in this application is based on specific embodiments.

[0104] Example 1

[0105] The dynamic bionic robot head skin system provided in this embodiment adopts an integrated layered design, closely fitting the robot's facial bones or support structure. The specific structure and corresponding control method are as follows:

[0106] 1.1 Skin Structure

[0107] The skin structure consists of three layers from the inside out:

[0108] Flexible substrate functional layer: A 0.3mm thick polyimide (PI) flexible circuit board serves as the substrate and carrier. Using screen printing, silver nanowire conductive ink is patterned onto the PI substrate to form multiple independently addressable and controllable temperature control units. These units are finely divided into independent control areas such as the left cheek, right cheek, forehead, nose, and chin. The silver nanowire pattern combines excellent conductivity with flexibility, ensuring reliable operation on curved facial surfaces.

[0109] Functional Intermediate Layer: A 0.15mm thick thermochromic silicone rubber film is used. Multiple independent elastic chambers are sealed on the silicone rubber film corresponding to the facial areas using a laser micro-welding process. Each chamber is filled with a functional liquid—a mixed solution consisting of deionized water, propylene glycol (as an antifreeze and humectant), and a small amount of surfactant. This solution exhibits good evaporative cooling properties and biocompatibility. The selected thermochromic silicone rubber has a color-changing critical temperature range of 34°C to 40°C. Below 34°C, it exhibits a light yellow color similar to the target skin tone (first color); as the temperature rises in the 34°C-40°C range, its color gradually changes to pink to crimson (second color).

[0110] Bionic Epidermal Layer: A 50μm thick transparent thermoplastic polyurethane (TPU) film is used. Its outer surface replicates the microscopic texture and pore structure of real human skin using nanoimprinting technology. Using laser micromachining technology, a tapered micropore array is fabricated on the TPU film in physiologically prone-to-sweating areas of the face, such as the cheeks, forehead, and nose. For example, in the cheek area, the micropore diameter is approximately 30μm, with a distribution density of approximately 150 pores / cm²; the density is even higher in the forehead area. Under no external pressure, the elasticity of the TPU material keeps these micropores naturally closed, preventing unauthorized leakage of liquid.

[0111] 1.2 Perception and Execution Module

[0112] Distributed temperature sensing network: Multiple ultra-thin patch digital temperature sensors (such as TMP117) are embedded in an array between the functional layer and the intermediate functional layer of the flexible substrate, and directly attached to the surface of potentially high-heat-generating components (such as processors and motor drivers) inside the robot's face. This network can monitor the skin surface temperature and the temperature of key internal heat sources in real time and at multiple points.

[0113] Pressure regulation module: Composed of a miniature piezoelectric pump, a high-precision MEMS pressure sensor, and a miniature solenoid valve. It is connected to the inlet of the elastic chamber in each facial region through microchannel tubing, forming a closed-loop servo control of the internal pressure of each chamber or chamber group.

[0114] Central Controller: Employs a high-performance embedded microcontroller (MCU), such as a chip based on the ARM Cortex-M4 core. This MCU is connected via flexible wiring to the drive circuitry of the flexible heating module, all temperature sensors, and the drive circuitry of the pressure regulation module.

[0115] 1.3 Auxiliary Module

[0116] Heat dissipation module: On the back of the flexible substrate functional layer (i.e., the side facing the inside of the robot), corresponding to the temporal region (the main processor area below the temples) and the occipital region, a flexible graphene thermal pad (thermal conduction path) is attached. The end of the thermal pad connects to the aluminum alloy heat dissipation fins (heat dissipation structure) inside the robot's head shell, forming an efficient passive heat dissipation path to conduct away the basic heat generated by the internal components.

[0117] 2. Closed-loop control system and workflow

[0118] The following two typical scenarios demonstrate the collaborative and closed-loop workflow of the central controller.

[0119] Scenario 1: Overheat warning and coordinated heat dissipation under high-intensity computing (corresponding to "high temperature warning blushing" and "active cooling sweating").

[0120] Assuming the robot is performing complex visual recognition and real-time rendering, its head-mounted main processor is running under high load continuously.

[0121] 1. Real-time monitoring: The distributed temperature sensor network detected a sharp rise in the temperature of the "internal heat source in the right temporal region" from 42°C to 48°C within 2 minutes, while the temperature of the "surface of the right cheek" rose from 33°C to 36.5°C. The MCU continuously acquires this data.

[0122] 2. Thermal Management Decisions: The algorithm within the central controller makes the following judgments:

[0123] The surface temperature of the right cheek (36.5℃) is compared with a preset threshold: it has exceeded the second temperature threshold T2 (e.g., 37℃), but has not yet reached the third temperature threshold T3 (e.g., 39℃). According to the preset rules, the system determines that a "high temperature warning and bionic blushing" response needs to be triggered.

[0124] Meanwhile, considering the overheating state of the internal heat source at 48°C and the rate of temperature rise, the system assessment concluded that there was a serious risk of overheating and that proactive heat dissipation intervention was necessary in advance.

[0125] 3. Coordinated Execution: The MCU generates coordinated control signals and performs the following operations:

[0126] Step 1: Triggering a blush warning. The silver nanowire temperature control unit on the right cheek operates at medium power, stabilizing the skin surface temperature at 38°C within 5 seconds. This temperature rise causes the thermochromic silicone rubber chamber wall above this area to gradually change from skin tone to a distinct crimson. This visual effect directly conveys a warning message to the user who may be interacting with the robot: "The system is operating at high load, and facial temperature is rising."

[0127] Step 2: Simultaneously initiate active sweating and cooling. Almost simultaneously, the MCU controls the pressure regulation module to apply a short (1 second) pressure pulse of 12 kPa to the elastic chamber corresponding to the right cheek. The increased pressure inside the chamber forces the functional fluid to seep through the micropores on the TPU epidermis to the skin surface, forming a layer of tiny sweat droplets.

[0128] Step 3: Evaporative Cooling and Closed-Loop Regulation. The exudated liquid evaporates on the skin surface, absorbing a large amount of heat. The distributed temperature sensor network immediately detects that the surface temperature of the right cheek has begun to drop.

[0129] 4. Dynamic Balance and Closed Loop: When the surface temperature tends to drop to 36℃ (below T2), the MCU dynamically reduces the heating power in that area, while maintaining the temperature at around 37℃, keeping the "blushing" state moderately maintained as a continuous, mild warning. Simultaneously, heat from the internal heat source is continuously dissipated through the heat dissipation module, and combined with liquid film evaporation cooling, the temperature rise is curbed and begins to fall. Throughout this process, "blushing" serves as a warning and status indicator, while "sweating" acts as the actual physical heat dissipation method. Both work collaboratively under the central controller's scheduling, forming a complete thermal management closed loop from "overheating detection -> visual warning -> physical heat dissipation -> effect feedback -> status maintenance." When the internal heat source temperature drops below the safe threshold, the system gradually stops heating, the pressure is relieved, the "blushing" effect naturally fades, and the skin returns to normal.

[0130] Scenario 2: Maintaining basal body temperature in low-temperature environments

[0131] Assume the robot is in a low-temperature indoor environment of 18°C.

[0132] 1. Real-time monitoring: The temperature sensing network detected that the skin surface temperature of all areas of the face dropped to about 30°C, which is lower than the preset first temperature threshold T1 (e.g., 34°C).

[0133] 2. Thermal management decision: The central controller determines that the "basal body temperature maintenance" response needs to be activated, with the goal of stabilizing the skin temperature in a comfortable touch temperature range of 34℃-35℃.

[0134] 3. Coordinated Execution: Based on feedback from sensors in each area, the MCU independently adjusts the heating power of the silver nanowire temperature control units in each facial area using a PID control algorithm. For example, slightly higher power is allocated to the nose tip and ear areas, which dissipate heat more easily, while basic power is allocated to the cheek areas.

[0135] 4. Closed-loop maintenance: The system continuously monitors the temperature and dynamically fine-tunes the heating power to counteract environmental heat loss, maintaining the facial skin temperature stably within the target range. This process involves only the independent closed-loop control of the flexible electrothermal module; the pressure regulation module is not activated, the thermochromic material remains at its base skin tone, and the micropores remain closed.

[0136] The implementation of this embodiment successfully verifies how this application solves the problems pointed out in the background art:

[0137] The problem of the disconnect between "blushing" and thermal management has been solved: The "blushing" in this system is physically generated by the thermochromic material through a real temperature rise (whether caused by internal overheating or triggered by active heating). It is a direct and real mapping of the internal thermal state, realizing the leap from "visual performance" to "functional early warning".

[0138] The problem of limited heating function has been solved: the heating module is not only a tool to provide tactile warmth, but also a driving force to trigger a warning blush and an actuator to maintain basic thermal balance. Its role is integrated into the entire thermal management strategy.

[0139] It solves the problem of the lack of active heat dissipation mechanism: evaporative cooling achieved through the micropore array sweating is an efficient and controllable active heat dissipation terminal, which together with the heat conduction heat dissipation module constitutes a complete heat dissipation system.

[0140] The problem of isolated functional modules has been solved: the central controller, acting as the "brain," coordinates heating, color change, and perspiration in an integrated manner based on unified temperature sensing information (as shown in Scenario 1). This enables the physiological logic of "turning red due to heat, sweating when extremely red, and heat dissipating after sweating" to be realized. The various functions are deeply interconnected, forming an organic whole, which significantly improves the realism and intelligence of the robot's emotional and state expression.

[0141] This application also provides a method for controlling a dynamic bionic robot head skin system, thereby achieving control of the dynamic bionic robot head skin system.

[0142] Figure 4 This is a flowchart illustrating a control method for a dynamic bionic robot head skin system provided in one embodiment of this application.

[0143] Reference Figure 4 As shown, the method may include the following steps:

[0144] Step S1: Obtain temperature data characterizing the temperature of at least one area of ​​the robot's skin.

[0145] In some embodiments, in step S1, the central controller acquires temperature data characterizing the temperature of at least one area of ​​the robot's skin through a temperature information acquisition interface. This step is the data foundation and decision-making starting point for the entire biomimetic thermal management process. Specifically, the implementation includes: on the one hand, the temperature information acquisition interface can be directly connected to a flexible temperature sensor array integrated within the skin structure to collect the regional temperature signals sensed by each sensor in real time, and generate temperature data after processing through analog-to-digital conversion and calibration algorithms; on the other hand, this interface can also establish a communication connection with the robot's main control system, reusing the robot's existing temperature monitoring resources (such as CPU temperature and ambient temperature sensors) to receive temperature data pushed by the main control system or obtained upon request; furthermore, the temperature information acquisition interface can also connect to a cloud server or external devices (such as user mobile phones or smart home systems) through a wireless communication module to obtain ambient temperature, weather forecasts, or temperature information carried in remote commands. This step utilizes multiple optional temperature data acquisition methods, enabling the skin system to be flexibly configured according to application scenarios. When working independently, it relies on its built-in sensors for accurate perception; in an integrated environment, it reuses its own resources to reduce cost and power consumption; and in a smart interconnected scenario, it accesses external data to achieve scenario-based thermal management, greatly improving the system's platform adaptability and deployment flexibility. Regardless of the acquisition method used, the central controller can process the data in a unified "temperature data" format, decoupling the perception layer from the decision layer. Subsequent threshold comparisons, pattern judgments, and collaborative control can all operate based on the same data interface, simplifying the design and maintenance of control logic. Real-time temperature data acquisition provides dynamic input for the entire thermal management process, enabling the system to keenly capture temperature changes in different areas of the skin. This provides a reliable basis for subsequent precise triggering of responses such as basal body temperature maintenance, thermochromic changes, or active sweating, ensuring the timeliness and accuracy of biomimetic thermal management.

[0146] Step S2: Based on the temperature data and the comparison results between the temperature data and the preset temperature threshold, determine the biomimetic thermal management response mode that needs to be triggered.

[0147] In some embodiments, in step S2, based on the temperature data obtained in step S1, the central controller compares it with a multi-level temperature threshold preset internally, and automatically determines the bionic thermal management response mode to be triggered according to the comparison result. The specific implementation method is as follows: The central controller pre-sets a first preset temperature threshold (T1), a second preset temperature threshold (T2), and a third preset temperature threshold (T3) corresponding to different response modes, and T1 < T2 < T3 is satisfied; the central controller compares the real-time temperature data with these three thresholds in sequence - when the temperature data is lower than T1, it is determined that the basic body temperature needs to be maintained, and the basic body temperature maintenance response mode is triggered; when the temperature data reaches T2 but is lower than T3, it is determined that high-temperature visual warning needs to be started, and the thermochromic response mode is triggered; when the temperature data reaches or exceeds T3, it is determined that emergency heat dissipation is required, and the active cooling and sweating response mode is triggered. This step discretizes the continuously changing temperature data into a finite number of response modes with clear physical meanings through threshold comparison, making the control decision logic simple and clear, and the execution efficient, avoiding the computational burden and response delay brought by complex fuzzy algorithms; the progressive setting of the three-level threshold constructs a complete thermal management chain of "normal → warning → disposal", enabling the skin system to show a progressive physiological reaction like the human body when facing temperature changes - from maintaining body temperature without feeling, to visual warning expression, and then to active heat dissipation intervention. The whole process is natural, smooth, and well-defined, significantly enhancing the logical realism of bionic thermal management; this judgment mechanism corresponds exactly to the temperature threshold system, realizing the deep integration of the product structure and the control method, providing a clear and reliable state basis for differentially executing different responses in subsequent step S3, and ensuring that each bionic thermal management response is accurately triggered within the most appropriate temperature range.

[0148] Step S3: Generate a control signal and execute the corresponding bionic thermal management response according to the determined response mode.

[0149] Among them, if it is a high-temperature warning and bionic blushing response, control the flexible electrothermal module in the corresponding area to increase the temperature to trigger the color change of the thermochromic elastic material;

[0150] If it is an active cooling and bionic sweating response, control the pressure regulation module to increase the internal pressure of the corresponding elastic chamber, so that at least part of the functional liquid leaks out through the microporous structure;

[0151] If it is a basic body temperature maintenance response, control the flexible electrothermal module to work so that the skin temperature falls within the target range.

[0152] In some embodiments, in step S3, the central controller generates a corresponding control signal based on the response mode determined in step S2 and drives the execution module to implement the corresponding biomimetic thermal management response. The specific implementation method varies depending on the response mode: if the response mode is determined to be thermochromic (i.e., requiring high temperature warning and biomimetic blushing), the central controller sends a heating command to the temperature control unit in the flexible electric heating module corresponding to the target area, activating it to locally heat up at a preset power. The heat is conducted through the flexible substrate functional layer to the corresponding elastic chamber in the functional intermediate layer, causing the thermochromic elastic material wall material to reach the color change critical temperature (e.g., 33°C to 40°C), thereby presenting a red or pink visual appearance. The changes in sensation are manifested through the bionic epidermis. If the response mode is determined to be active cooling and sweating, the central controller sends a pressurization command to the pressure regulation module, starts the micro pump and opens the solenoid valve in the corresponding area, increases the internal pressure of the elastic chamber in the target area, and causes the functional liquid to seep out to the outer surface of the epidermis through the interconnected microporous structure under pressure, achieving active cooling through evaporation and heat absorption. If the response mode is determined to be basal body temperature maintenance, the central controller sends a low-power heating command to the flexible electric heating module, activates the temperature control unit in the corresponding area in an intermittent or continuous manner, and dynamically adjusts the heating power through real-time temperature feedback to stably maintain the skin surface temperature within the target range (such as 30°C to 36°C). This step achieves a seamless transition from "state perception" to "function execution" by precisely matching the execution logic of the three response modes with the judgment results of method step S2. This ensures that each biomimetic thermal management response is accurately triggered within the correct temperature range and spatial region. Different execution modules and control parameters are used for different response modes—thermochromic response relies on precise heating to trigger material color change, active sweating response relies on pressure regulation to achieve liquid exudation, and basal body temperature maintenance response relies on closed-loop temperature control to maintain thermal balance—so that each function can achieve its biomimetic goal in the optimal way, avoiding misallocation and waste of execution resources.

[0153] In some embodiments, when performing an active cooling and sweating response, the method further includes: dynamically adjusting the heating power of the temperature control unit corresponding to the flexible temperature sensor and the internal pressure of the elastic chamber corresponding to the target micropore region by the pressure regulation module based on the temperature data fed back by the flexible temperature sensor corresponding to the target micropore region, so as to maintain the skin temperature of the region within a preset cooling target range.

[0154] During the active cooling and sweating response, the central controller continuously receives real-time temperature data from the flexible temperature sensor corresponding to the target microporous area. This real-time temperature is dynamically compared with a preset cooling target range (e.g., 32°C to 34°C). Based on the comparison result, two control commands are generated simultaneously. One command is sent to the temperature control unit corresponding to the sensor to dynamically adjust its heating power (e.g., pausing heating when the temperature is too high to avoid heat loss, or appropriately heating when the temperature is too low to prevent overcooling). The other command is sent to the pressure regulation module to dynamically adjust the internal pressure of the elastic chamber corresponding to the microporous area, thereby precisely controlling the amount of functional liquid seepage (e.g., increasing pressure to enhance evaporative cooling when the temperature drop slows, or reducing pressure to conserve liquid when the temperature drops rapidly). Ultimately, this keeps the skin temperature in the area stably within the preset cooling target range. This step integrates heating and pressure control into the same feedback loop, achieving a dynamic balance and coordinated operation of "heating" and "sweating" functions in the same area. This completely solves the drawbacks of conflicting and independent heating and heat dissipation in traditional solutions. Based on real-time feedback from the same sensor, dual-parameter adjustment enables the system to adaptively maintain the precise temperature of the target area. Changes in ambient temperature, fluctuations in robot heat generation, and the dynamic effects of sweat evaporation can all be compensated in real time, achieving true closed-loop constant temperature control. This refined coordinated adjustment mechanism significantly improves the utilization efficiency of functional liquids, allowing them to seep out only when necessary at the most appropriate rate, avoiding ineffective discharge and frequent refilling, and extending the working time of a single refill. This mechanism upgrades the active cooling and sweating response from a simple "open-loop spraying" to "on-demand" intelligent heat dissipation, ensuring cooling effect while maximizing the dryness and comfort of the skin surface, providing a more natural and realistic tactile experience for human-computer interaction.

[0155] In some embodiments, when there is both overheating risk and biomimetic color change requirement, the method further includes: first controlling a specific area of ​​the flexible electric heating module to heat until the thermochromic material reaches the target color change state, and then or simultaneously controlling the pressure regulating module to pressurize the elastic chamber corresponding to the specific area.

[0156] When both overheating risk and biomimetic color-changing requirements exist simultaneously, a composite biomimetic collaborative control step is further executed to simulate the physiological logic of the human body: "first blushing as a warning, then sweating to dissipate heat." Specifically, the central controller determines, based on temperature data, that a specific area simultaneously meets two conditions: the temperature exceeds the high-temperature warning threshold (overheating risk) and a visual warning through color change is required (biomimetic color-changing requirement). It first sends a command to the flexible electrothermal module to heat the temperature control unit corresponding to that area, causing the thermochromic elastic material wall to reach the critical color-changing temperature and exhibit the target color-changing state (such as red or pink), thus completing the visual expression of the high-temperature warning. Based on this, depending on the duration or urgency of the overheating risk, the central controller can choose to immediately activate the pressure regulation module after the color change reaches the target state, pressurizing the elastic chamber corresponding to the same area to allow functional liquid to seep out for active cooling, or simultaneously activate pressurization while maintaining the color-changing state, forming a composite performance of "blushing and slight sweating simultaneously." This step, through the sequential control of "color change first, then sweating," achieves for the first time a physiological logic link between visual warning and physical cooling in the same area. This upgrades the robot's thermal management response from a single-function output to a composite performance that conforms to human reaction patterns, significantly enhancing the realism and layering of the biomimetic dynamics. This collaborative control strategy organically coordinates the color change and sweating functions in the time dimension. Color change first attracts external attention to provide a high-temperature warning, while sweating subsequently intervenes to achieve substantial heat dissipation. This avoids both the premature dilution of the visual impact of the warning signal by sweating and the continuous rise in temperature caused by prolonged color change without heat dissipation measures, achieving a perfect connection between "warning" and "response." Through the flexible configuration of "following or synchronizing," the system can adaptively adjust the response sequence according to the urgency of the overheating risk. In cases of mild overheating, the conventional mode of color change followed by sweating can be used, while in cases of rapid temperature rise, an enhanced mode of simultaneous color change and sweating can be used, giving the biomimetic thermal management a dynamic adaptability similar to real physiological reactions.

[0157] In some embodiments, the method further includes comparing temperature data with a first preset temperature threshold, a second preset temperature threshold, and a third preset temperature threshold, wherein the first preset temperature threshold < the second preset temperature threshold < the third preset temperature threshold; when the temperature data is lower than the first preset temperature threshold, it is determined that a basal body temperature maintenance response needs to be triggered; when the temperature data reaches the second preset temperature threshold but is lower than the third preset temperature threshold, it is determined that a thermochromic response needs to be triggered; when the temperature data reaches the third preset temperature threshold, it is determined that an active cooling and sweating response needs to be triggered.

[0158] Among them, the central controller realizes the intelligent autonomous decision-making of the bionic thermal management response by gradually comparing the temperature data obtained in real time with three levels of temperature thresholds preset internally. The specific implementation method is as follows: The central controller presets a first preset temperature threshold (T1), a second preset temperature threshold (T2), and a third preset temperature threshold (T3) arranged in increasing order, and satisfies T1 < T2 < T3; the central controller compares the temperature data with these three thresholds in sequence. When the temperature data is lower than T1, it is determined that the skin is in a normal thermal balance state, and the basic body temperature maintenance response needs to be triggered to maintain a constant temperature; when the temperature data reaches T2 but is lower than T3, it is determined that the skin enters the high-temperature warning state, and the thermochromic response needs to be triggered to give a visual warning through color change; when the temperature data reaches or exceeds T3, it is determined that the skin faces an overheating risk, and the active cooling sweating response needs to be triggered to start liquid evaporation heat dissipation. This step discretizes the continuously changing temperature data into three response intervals with clear physical meanings through the progressive setting of three levels of thresholds, making the control decision logic simple and clear, and the execution efficient, avoiding the computational burden and response delay brought by complex fuzzy algorithms; the progressive relationship between T1, T2, and T3 constructs a complete thermal management chain of "normal → warning → disposal", enabling the skin system to show a progressive physiological reaction like the human body when facing temperature changes, from maintaining body temperature without feeling, to visual warning expression, and then to active heat dissipation intervention. The whole process is natural, smooth, and hierarchical, significantly enhancing the logical realism of bionic thermal management; the three levels of thresholds can be flexibly configured according to the robot application scenario, user preference, or environmental conditions, enabling the same set of control methods to adapt to different bionic needs and human-machine interaction scenarios, greatly enhancing the adaptability and customization ability of the method; this hierarchical judgment mechanism provides a clear state basis for subsequent collaborative control strategies (such as changing color first and then sweating). When the temperature is between T2 and T3, the system can judge that "there is a need to change color", and when the temperature reaches T3, the system can judge that "emergency sweating is needed", making the timing coordination and priority management between multiple responses simple and reliable.

[0159] The above embodiments fully illustrate that the technical solution claimed in this application can be specifically implemented, achieving the expected invention purpose and realizing the closed-loop system that deeply integrates precise thermal management, natural appearance bionics, and active heat dissipation desired in the background technology.

[0160] Compared with the defects of the prior art, this application has the following beneficial effects, forming a complete technical closed-loop:

[0161] 1. A functional leap from passive simulation to active management has been achieved: Addressing the issue in the background technology that "blushing bionics remains merely a visual performance," this application reconstructs "blushing" into a temperature-triggered high-temperature warning function, directly linking color changes to the internal thermal state; and develops "sweating" into an active evaporative cooling function for actual heat dissipation. This upgrades the bionic effect from simple "emotional expression" to a practically effective means of "physiological state indication and regulation," endowing the robot's head skin with true physiological intelligence.

[0162] 2. A complete and collaborative thermal management closed loop is constructed: Addressing the issues of "single-purpose heating function" and "lack of active heat dissipation mechanism" in the background technology, this application constructs a complete "sensing-decision-execution" closed loop by integrating an "independent temperature control unit," a "thermochromic chamber and micropore array," and a "temperature sensing network." The system can not only actively heat to maintain basal body temperature, but also trigger sweating and cooling when overheating through intelligent algorithm decisions, achieving adaptive thermal regulation to the environment and its own state, thus solving the problems of passive and crude skin thermal management strategies in the past.

[0163] 3. Overcoming the bottleneck of functional isolation through deep system integration: Addressing the core issue in the background technology of "isolated functional modules leading to fragmented biomimetic performance," this application deeply integrates the three originally isolated functions—heating (temperature control unit), color change (thermochromic material), and perspiration (pressure regulation)—through the coordinated configuration of a central controller, in terms of thermal mechanism and control logic. For example, an "overheating" event can orderly trigger "warning blush" and "compensatory sweating," achieving a multimodal and synchronized response that conforms to human physiological logic. This transforms the robot's interactive feedback from "fragmented performance" to "systematic life representation," greatly enhancing the realism and credibility of the interaction.

[0164] 4. Optimized the expressiveness and safety of the head as the core interactive interface: This application focuses on the robot's head, the most critical human-computer interaction interface. Through dynamic bionics driven by thermal management, it not only provides rich visual (blushing) and tactile (temperature, slight humidity) feedback channels, but also empowers the robot to convey its internal state (such as overload) to the user through the intuitive method of "blushing warning". This enhances the transparency and safety of the interaction and is a key step towards building a bionic robot with "physiological empathy" capabilities.

[0165] It should be noted that, in this document, the terms "comprising," "including," or any other variations are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0166] The above description is merely a preferred embodiment of this application, but the scope of protection of this application is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this application, based on the technical solution and inventive concept of this application, should be included within the scope of protection of this application. The scope of protection of this application shall be determined by the claims.

Claims

1. A dynamic bionic robotic head skin system, characterized in that, include: An integrated, layered skin structure for covering and adhering to the surface of the robot's head, the skin structure comprising: A flexible substrate functional layer, which integrates a flexible electrothermal module configured to provide differentiated heating to different areas of the skin; A functional intermediate layer is stacked on top of the flexible substrate functional layer, and has at least one elastic chamber filled with a functional liquid inside, wherein at least a portion of the wall material of the elastic chamber is made of a thermochromic elastic material. A biomimetic epidermal layer, layered on top of the functional intermediate layer, has a biomimetic surface texture and is provided with a microporous structure communicating with the elastic chamber. Temperature information acquisition interface, used to acquire temperature data characterizing the temperature of at least one area of ​​the robot's skin; A pressure regulating module, connected to the elastic chamber, is used to regulate the internal pressure of the elastic chamber; The central controller is connected to the flexible electric heating module, the temperature information acquisition interface, and the pressure regulation module. The central controller is configured to: based on the temperature data, coordinate the control of the flexible electric heating module and the pressure regulation module to execute at least one biomimetic thermal management response; The thermal management response includes: The thermochromic response is achieved by controlling the flexible electrothermal module through the central controller to increase the temperature of the target area, thereby triggering the corresponding thermochromic elastic material to change color. Active cooling and sweating response: In response to skin temperature exceeding a threshold, the central controller controls the pressure regulation module to increase the pressure in the elastic chamber, so that at least a portion of the functional liquid seeps out through the microporous structure; And basal body temperature maintenance response.

2. The dynamic bionic robot head skin system according to claim 1, characterized in that, The temperature information acquisition interface is connected to at least one temperature sensor disposed in the skin structure, the temperature sensor being used to sense the temperature of the area and generate the temperature data.

3. The dynamic bionic robot head skin system according to claim 2, characterized in that, The at least one temperature sensor includes a flexible temperature sensor, which is conformally integrated into the surface or interior of the flexible substrate functional layer.

4. The dynamic bionic robot head skin system according to claim 3, characterized in that, The flexible temperature sensors are multiple and arranged in an array to form a flexible temperature sensor array. Each flexible temperature sensor in the flexible temperature sensor array is spatially positioned in relation to multiple independently addressable and controllable temperature control units in the flexible electrothermal module.

5. The dynamic bionic robot head skin system according to claim 4, characterized in that, The microporous structure on the biomimetic epidermis layer forms multiple microporous regions; At least some of the flexible temperature sensors in the flexible temperature sensor array are spatially corresponding to the micropore region, and are used to monitor the temperature changes of the corresponding micropore region.

6. The dynamic bionic robotic head skin system according to any one of claims 1-5, characterized in that, The central controller is further configured to execute the following collaborative control strategy: When it is determined based on the temperature data that a specific area simultaneously has the risk of overheating and the need for biomimetic color change, the flexible electric heating module is first controlled to heat the specific area until the thermochromic material reaches the target color change state. Then, or simultaneously, the pressure regulating module is controlled to pressurize the elastic chamber corresponding to the specific area.

7. The dynamic bionic robot head skin system according to claim 1, characterized in that, The central controller has preset temperature thresholds corresponding to different biomimetic thermal management response modes, including: a first preset temperature threshold; a second preset temperature threshold, which is higher than the first preset temperature threshold; and a third preset temperature threshold, which is higher than the second preset temperature threshold. The central controller determines and triggers a corresponding response mode by comparing the temperature data with the temperature threshold. When the temperature data is lower than the first preset temperature threshold, the basal body temperature maintenance response is triggered; When the temperature data reaches the second preset temperature threshold but is lower than the third preset temperature threshold, the thermochromic response is triggered. When the temperature data reaches the third preset temperature threshold, the active cooling and sweating response is triggered.

8. The dynamic bionic robot head skin system according to claim 1, characterized in that, It also includes a heat dissipation module, which is disposed in the functional layer of the flexible substrate and arranged in relation to the area where the temperature indicated by the temperature data is higher than a preset threshold. The heat dissipation module includes a heat conduction path and a heat dissipation structure.

9. The dynamic bionic robot head skin system according to claim 1, characterized in that, The pressure regulation module includes a micro pump, a precision pressure sensor, and a control valve, forming a closed-loop servo control of the pressure inside the elastic chamber.

10. A method for controlling a dynamic bionic robot head skin system as described in any one of claims 1-9, characterized in that, Includes the following steps: Acquire temperature data characterizing the temperature of at least one region of the robot's skin; Based on the temperature data and the comparison results between the temperature data and the preset temperature threshold, determine the biomimetic thermal management response mode that needs to be triggered. Based on the determined response pattern, a control signal is generated and the corresponding biomimetic thermal management response is executed, wherein: If it is a high temperature warning and a biomimetic blush response, the flexible electrothermal module in the corresponding area is controlled to increase the temperature to trigger the thermochromic elastic material to change color; If the response is active cooling and biomimetic sweating, the control pressure regulation module increases the internal pressure of the corresponding elastic chamber, so that at least part of the functional liquid seeps out through the microporous structure; If the response is to maintain basal body temperature, the flexible heating module is controlled to operate so that the skin temperature falls within the target range.

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