Pressure sensor fingertip for dexterous hand

Abstract

The application relates to the technical field of dexterous hand sensing, and provides a pressure sensor fingertip applied to a dexterous hand. When the outer surface of the soft palm shell of the pressure sensor fingertip is pressed, the pressure is respectively conducted to the measuring electrodes of a pressure distribution measuring layer on the upper layer of a thin film sensor through a convex force guide structure on the inner side of the soft palm shell, so that the function of pressure distribution measurement is realized. Meanwhile, a force value measuring layer is additionally arranged below the pressure distribution measuring layer, a relatively large sensing area is arranged on the force value measuring layer, the pressure is completely conducted to the force value sensing point area of the force value measuring layer, the accuracy of force value sensing is greatly ensured, the problem that the dexterous hand sensing fingertip is difficult to simultaneously realize pressure distribution measurement and high-accuracy force value measurement is solved, and the accuracy of force sensing and the grasping performance of the dexterous hand are improved.

Description

Technical Field

[0001] This invention relates to the field of dexterity hand sensing technology, and in particular to a pressure sensor fingertip for use in dexterity hands. Background Technology

[0002] As a core component of robotics, the dexterous hand is achieving human-like fine manipulation capabilities through the integration of precision transmission, multimodal perception, and intelligent algorithms. Because of its ability to perform precise grasping movements, the dexterous hand has potential applications in industrial precision assembly (such as single-handed mobile phone operation), medical surgery (such as laparoscopic robots), and home services. In particular, its application in medical surgery can assist surgeons or allow them to perform accurate and efficient surgical procedures independently.

[0003] To achieve precise operation in the aforementioned application areas, dexterous fingers need to possess a certain degree of force sensing capability. Currently, dexterous fingertips with force sensing capabilities generally operate in the following modes:

[0004] First, it has an internal sensor that can measure force values ​​relatively accurately. It is equipped with a flexible shell and can provide feedback on the magnitude of the force applied to the fingertip, but it cannot determine the specific location and direction of the pressing force.

[0005] Secondly, it has a multi-point thin-film force sensor inside, equipped with a flexible shell, which can measure the force distribution at various points on the fingertip. However, because the area of ​​each point is small, and the force is dispersed to each sensing point when the fingertip is subjected to force, the accuracy of the force measurement value is poor.

[0006] Third, this type of sensor incorporates one or more cameras and multiple marker points within its flexible shell. The cameras detect the deformation of the shell under pressure, causing the marker points to shift and thus indicating pressure on the fingertip. While it can provide relatively accurate feedback on shell deformation, it requires significant space, each camera needs to be equipped with one, and it requires separate training for different flexible shells, resulting in high hardware and software costs. Furthermore, because this type of sensor actually reports deformation, its shell must be made of a relatively soft material, making it unable to accurately reflect the applied force. Summary of the Invention

[0007] The purpose of this invention is to provide a pressure sensor fingertip for use in dexterous hands, in order to solve the problem that existing dexterous fingertips are difficult to achieve both measurable pressure distribution and high pressure force sensing feedback accuracy.

[0008] In a first aspect, the present invention provides a pressure sensor fingertip for use in a dexterous hand, comprising: a soft outer shell for the fingertip and a bottom shell for the fingertip, wherein a semi-enclosed pressure sensing chamber is formed between the soft outer shell for the fingertip and the bottom shell for the fingertip, wherein a flexible thin-film sensor, a movable plate, a force guide post, and a fixed plate are disposed within the pressure sensing chamber, the movable plate being snapped onto the inner side of the soft outer shell for the fingertip and being displaced relative to the fixed plate as the soft outer shell for the fingertip is pressed; the flexible thin-film sensor includes a pressure distribution measurement layer and a force value measurement layer, wherein the pressure distribution measurement layer is disposed on the movable plate. The force measurement layer is arranged on the fixed plate, and the force guide column is disposed between the movable plate and the force measurement layer. The inner side of the fingertip soft shell is provided with multiple raised force guide structures. The pressure distribution measurement layer includes multiple measuring electrodes for obtaining the dispersed pressure value fed back by the corresponding raised force guide structure. The force measurement layer is provided with a force measurement sensing area. One end of the force guide column contacts the force measurement sensing area, and the other end contacts the side of the movable plate away from the pressure distribution measurement layer for obtaining the total pressure value fed back by the raised force guide structure.

[0009] Optionally, the movable plate has an upper fixing buckle on the side away from the fingertip soft shell, and the fixed plate has a lower fixing buckle, which are interlocked with each other; both sides of the movable plate extend away from the fingertip soft shell to form a first rib plate connector, which has a positioning pin mounting hole; both sides of the fixed plate extend away from the movable plate to form a second rib plate connector, which has a positioning pin movable hole, the length direction of which is perpendicular to the fixed plate, and the positioning pin mounting hole and the positioning pin movable hole are aligned and connected by a positioning pin, so that the movable plate is displaced relative to the fixed plate when the fingertip soft shell is pressed.

[0010] Optionally, the movable plate has an upper fixing buckle on the side away from the fingertip soft shell, and both ends of the movable plate have the upper fixing buckle; both ends of the fixed plate have lower fixing buckles, and the upper fixing buckle and the lower fixing buckle are interlocked.

[0011] Optionally, the two sides of the movable plate extend away from the soft outer shell of the fingertip to form a first rib plate connector. The first rib plate connector is provided with a positioning pin mounting hole. The positioning mounting hole is provided at both ends of the movable plate in the extension direction. The two sides of the fixed plate extend away from the movable plate to form a second rib plate connector. The second rib plate connector is provided with a positioning pin movable hole. The length direction of the positioning pin movable hole is perpendicular to the fixed plate. The positioning pin movable hole is provided at both ends of the fixed plate in the length direction. The positioning pin mounting hole and the positioning pin movable hole are aligned and connected by a positioning pin, so that the movable plate is displaced relative to the fixed plate when the soft outer shell of the fingertip is pressed.

[0012] Optionally, the fixed plate is hinged to the movable plate, with the hinge connection located near the tip region of the fingertip soft shell and the fingertip base shell; both sides of the movable plate extend away from the fingertip soft shell to form a first rib plate connector, and the first rib plate connector is provided with a positioning pin mounting hole; both sides of the fixed plate extend away from the movable plate to form a second rib plate connector, and the second rib plate connector is provided with a positioning pin movable hole, the length direction of the positioning pin movable hole being perpendicular to the fixed plate, the positioning pin mounting hole and the positioning pin movable hole being aligned and connected by a positioning pin, so that when the fingertip soft shell is pressed, the movable plate is displaced relative to the fixed plate.

[0013] Optionally, the fixed plate is further provided with a bottom shell fixing structure on the side away from the movable plate, and the second rib plate connector is further provided with a fixing hole. The bottom shell fixing structure is connected to the fixing hole through the connector for fixed connection with the inner side of the fingertip bottom shell.

[0014] Optionally, the inner side of the fingertip soft shell is provided with multiple fixing slots, and the edge of the movable plate is connected to the fingertip soft shell through the fixing slots; the movable plate is provided with a pressure distribution measuring surface on the side facing the fingertip soft shell, and the pressure distribution measuring layer is bonded and fixed to the pressure distribution measuring surface; the fixed plate is provided with a force measuring surface on the side facing the movable plate, and the force measuring layer is bonded and fixed to the force measuring surface.

[0015] Optionally, the flexible thin-film sensor further includes a component layer, and the fixed plate has a component fixing surface on the side opposite to the movable plate, and the component layer is bonded and fixed to the component fixing surface.

[0016] Optionally, the movable plate has a guide column mounting groove on the side facing the fixed plate, and the end of the guide column away from the fixed plate is embedded in the guide column mounting groove and is bonded and fixed to the guide column mounting groove.

[0017] Optionally, the force guide post is a cylinder, and the end of the force guide post that contacts the force value measurement sensing area has a convex arc surface structure.

[0018] This invention has at least the following technical effects:

[0019] The pressure sensor fingertip provided by this invention, when the outer surface of the soft shell of the fingertip is pressed, the pressure is transmitted along the raised force-guiding structure on the inner side of the soft shell to the measuring electrodes of the pressure distribution measurement layer on the upper layer of the thin-film sensor, thereby realizing the function of pressure distribution measurement. At the same time, by adding an additional force value measurement layer below the pressure distribution measurement layer and setting a relatively large sensing area on the force value measurement layer, accurate measurement of pressure value is achieved. That is, when the outer surface of the soft shell of the fingertip is pressed, the pressure is transmitted sequentially to the pressure distribution measurement layer, the movable plate, the force-guiding column and the force value measurement layer on the upper layer of the thin-film sensor, and is completely transmitted to the force value sensing point area of ​​the force value measurement layer, which greatly ensures the accuracy of force value sensing. This solves the problem that it is difficult for dexterous hand sensing fingertips to simultaneously realize pressure distribution measurement and high-accuracy force value measurement, and improves the accuracy of force perception and grasping performance of dexterous hands. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of a pressure sensor fingertip applied to a dexterous hand, as described in an embodiment of the present invention.

[0022] Figure 2 for Figure 1 Internal structure diagram;

[0023] Figure 3 This is a schematic diagram of the inner structure of the soft outer shell of the fingertip;

[0024] Figure 4 This is a schematic diagram of the internal structure of the fingertip;

[0025] Figure 5 This is a schematic diagram of the thin-film sensor structure;

[0026] Figure 6 This is a schematic diagram of the overall structure of the movable board;

[0027] Figure 7 for Figure 6A schematic diagram of the bottom structure;

[0028] Figure 8 This is a structural diagram of the fixed plate;

[0029] Figure 9 for Figure 8 A schematic diagram of the bottom structure.

[0030] In the picture:

[0031] 1-Soft outer shell for fingertip, 11-Fixing slot, 12-Raised force guiding structure, 13-Protective shield;

[0032] 2-Flexible thin-film sensor, 21-Pressure distribution measurement layer, 22-Force value measurement layer, 23-Component layer;

[0033] 3-Modible plate, 31-Pressure distribution measuring surface, 32-Upper fixing buckle, 33-Positioning pin mounting hole, 34-Mounting groove;

[0034] 4-Guide column;

[0035] 5-Fixing plate, 51-Force measuring surface, 52-Lower fixing buckle, 53-Bottom shell fixing structure, 54-Positioning pin movable hole, 55-Component fixing surface;

[0036] 6-Fingertip bottom shell. Detailed Implementation

[0037] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the meaning consistent with their meaning in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein. It will be understood by those skilled in the art that, unless specifically stated otherwise, the singular forms “a,” “an,” and “the” used herein may also include the plural forms.

[0039] Combination Figures 1 to 9As shown, an embodiment of the present invention provides a pressure sensor fingertip for use in dexterous hands, comprising: a soft outer shell 1 for the fingertip and a bottom shell 6 for the fingertip, wherein a semi-closed pressure sensing chamber is formed between the soft outer shell 1 for the fingertip and the bottom shell 6 for the fingertip, and a flexible thin film sensor 2, a movable plate 3, a force guide column 4 and a fixed plate 5 are provided in the pressure sensing chamber.

[0040] Specifically, the movable plate 3 is snapped onto the inner side of the fingertip soft shell 1, and the movable plate 3 can be displaced relative to the fixed plate 5 as the fingertip soft shell 1 is pressed. That is, the movable plate 3 and the fixed plate 5 are not completely rigidly connected, and a certain displacement is allowed between them, which is beneficial for receiving the pressure transmitted from the fingertip soft shell 1.

[0041] To obtain pressure values ​​more accurately in this embodiment, the flexible thin-film sensor 2 includes a pressure distribution measurement layer 21 and a force measurement layer 22, which are connected by a flexible, bent material. The pressure distribution measurement layer 21 measures the dispersed pressure values, while the force measurement layer 22 acquires the overall pressure value. The pressure distribution measurement layer 21 is arranged on the movable plate 3, and the force measurement layer 22 is arranged on the fixed plate 5. A force guide post 4 is positioned between the movable plate 3 and the force measurement layer 22 to transmit the total pressure received by the movable plate 3 to the force measurement layer 22.

[0042] It should be noted that the thin-film sensor in this embodiment of the invention is constructed by folding an FPC to form multiple capacitive pressure sensors. Alternatively, it can be replaced by screen printing, flexible printing circuits, or other forms of thin-film sensors such as piezoresistive or piezoelectric sensors. This embodiment of the invention does not limit the sensor structure or the thin-film sensing principle.

[0043] Furthermore, the inner side of the fingertip soft shell 1 is provided with multiple raised force-guiding structures 12, and the pressure distribution measurement layer 21 includes multiple measuring electrodes (each measuring electrode is small in size) for acquiring the distributed pressure value fed back by the corresponding raised force-guiding structure 12; while the force value measurement layer 22 is provided with a force value measurement sensing area, one end of the force-guiding column 4 contacts the force value measurement sensing area, and the other end contacts the side of the movable plate 3 opposite to the pressure distribution measurement layer 21, for acquiring the total pressure value fed back by the raised force-guiding structure 12. Since the force value measurement sensing area occupies a larger area than the measuring electrodes and is more concentrated, this enables accurate measurement of the force value.

[0044] Optionally, the inner side of the fingertip soft shell 1 is provided with multiple fixing slots (four are shown in the figure). The edge of the movable plate 3 is connected to the fingertip soft shell 1 through the four fixing slots, eliminating the need for additional connectors, saving internal space, and facilitating the installation and removal of the movable plate 3. In addition, a protective shield 13 is provided at the end of the fingertip soft shell 1 away from the tip, which can prevent external impurities from entering the pressure sensing chamber and causing jamming and pressure measurement position deviation.

[0045] Optionally, the movable plate 3 is provided with a pressure distribution measuring surface 31 on the side facing the fingertip soft shell 1, and the pressure distribution measuring layer 21 is bonded and fixed to the pressure distribution measuring surface 31.

[0046] Optionally, the fixed plate 5 is provided with a force measuring surface 51 on the side facing the movable plate 3, and the force measuring layer 22 is bonded and fixed to the force measuring surface 51.

[0047] Optionally, the flexible thin-film sensor 2 also includes a component layer 23, and the fixing plate 5 has a component fixing surface 55 on the side opposite to the movable plate 3, and the component layer 23 is bonded and fixed to the component fixing surface 55.

[0048] Optionally, the movable plate 3 is provided with a guide column 4 mounting groove 34 on the side facing the fixed plate 5. One end of the guide column 4 away from the fixed plate 5 is embedded in the guide column 4 mounting groove 34 and is bonded and fixed to the guide column 4 mounting groove 34. The other end of the guide column 4 contacts the force value measuring sensing area pressed onto the force value measuring layer 22.

[0049] Optionally, the force guide post 4 is a cylinder (in this embodiment, it is a cylindrical shape), with the same shape and similar size as the outer contour of the force measurement sensing area on the force measurement layer 22 of the thin-film sensor. Alternatively, the lower end face of the post (in contact with the force measurement sensing area) can be designed as a non-planar surface, such as a raised arc structure, to increase local pressure and improve force measurement sensitivity.

[0050] In a specific embodiment, the movable plate 3 is connected relative to the fixed plate 5 in the following way: one end of the movable plate 3 and the fixed plate 5 are connected by a snap-fit, and the other end is connected by a positioning pin and a positioning pin movable hole 54. In this way, the movable plate 3 can be displaced within a certain range when pressed.

[0051] Specifically, the movable plate 3 has an upper fixing buckle 32 on the side away from the fingertip soft shell 1, and the fixed plate 5 has a lower fixing buckle 52. The upper fixing buckle 32 and the lower fixing buckle 52 are interlocked. The two sides of the movable plate 3 extend away from the fingertip soft shell 1 to form a first rib plate connector, and the first rib plate connector is provided with a positioning pin mounting hole 33.

[0052] Furthermore, the two sides of the fixed plate 5 extend away from the movable plate 3 to form a second rib plate connector. The second rib plate connector is provided with a positioning pin movable hole 54. The length direction of the positioning pin movable hole 54 is perpendicular to the fixed plate 5. The positioning pin mounting hole 33 is aligned and engaged with the positioning pin movable hole 54 and connected by the positioning pin, so that the movable plate 3 is displaced relative to the fixed plate 5 when the fingertip soft shell 1 is pressed.

[0053] In another specific embodiment, the specific connection method by which the movable plate 3 can be displaced relative to the fixed plate 5 is as follows: both ends of the movable plate 3 and the fixed plate 5 are connected by snap fasteners. Since the snap fastener connection in this embodiment mainly restricts the separation of the two in opposite directions, the movable plate 3 can be displaced relative to the fixed plate 5 when the two are close together.

[0054] The movable plate 3 is provided with an upper fixing buckle 32 on the side away from the fingertip soft shell 1, and the upper fixing buckle 32 is provided at both ends of the movable plate 3; the fixed plate 5 is provided with a lower fixing buckle 52 at both ends, and the upper fixing buckle 32 and the lower fixing buckle 52 are fastened to each other.

[0055] In another specific embodiment, the specific connection method for enabling the movable plate 3 to move relative to the fixed plate 5 is as follows: both ends of the movable plate 3 and the fixed plate 5 are connected by positioning pins to ensure that the movable plate 3 can move relative to the fixed plate 5 when it is pressed.

[0056] Specifically, the two sides of the movable plate 3 extend away from the soft outer shell 1 of the fingertip to form a first rib plate connector. The first rib plate connector is provided with a positioning pin mounting hole 33. The positioning mounting hole is provided at both ends of the movable plate 3 in the extension direction.

[0057] The two sides of the fixed plate 5 extend away from the movable plate 3 to form a second rib plate connector. The second rib plate connector is provided with a positioning pin movable hole 54. The length direction of the positioning pin movable hole 54 is perpendicular to the fixed plate 5. The fixed plate 5 is provided with the positioning pin movable hole 54 at both ends along the length direction. The positioning pin mounting hole 33 is aligned and connected with the positioning pin movable hole 54 through the positioning pin, so that the movable plate 3 is displaced relative to the fixed plate 5 when the fingertip soft shell 1 is pressed.

[0058] In another specific embodiment, the specific connection method for enabling the movable plate 3 to move relative to the fixed plate 5 is as follows: one end of the movable plate 3 and the fixed plate 5 are connected by a hinge, and the other end is connected by a positioning pin to achieve a movable connection, so as to ensure that the movable plate 3 can move relative to the fixed plate 5 when it is pressed.

[0059] Specifically, the fixed plate 5 is hinged to the movable plate 3, and the hinge connection is located near the tip area of ​​the fingertip soft shell 1 and the fingertip bottom shell 6. Both sides of the movable plate 3 extend away from the fingertip soft shell 1 to form first rib connectors, each with a positioning pin mounting hole 33. Both sides of the fixed plate 5 extend away from the movable plate 3 to form second rib connectors, each with a positioning pin movable hole 54. The length direction of the positioning pin movable hole 54 is perpendicular to the fixed plate 5. The positioning pin mounting hole 33 aligns with the positioning pin movable hole 54 and is connected by a positioning pin, so that when the fingertip soft shell 1 is pressed, the movable plate 3 displaces relative to the fixed plate 5.

[0060] It should be noted that the connection method between the movable plate 3 and the fixed plate 5 is not limited to the four methods mentioned above. Other methods that can achieve the upper and lower limits and the adjustable position between the movable plate 3 and the fixed plate 5 are all within the scope of the present invention, and no specific restrictions are imposed on their specific structures.

[0061] In some embodiments, the fixed plate 5 is further provided with a bottom shell fixing structure 53 on the side away from the movable plate 3, and the second rib plate connector is also provided with a fixing hole (which is blocked in the figure and not shown). The bottom shell fixing structure 53 is connected through the fixing hole of the connector and is used to fix it to the inner side of the fingertip bottom shell 6.

[0062] The pressure sensor fingertip provided in this embodiment of the invention allows pressure to be transmitted along the raised force-guiding structure 12 on the inner side of the fingertip soft shell 1 to the measuring electrodes (sensing points) of the pressure distribution measuring layer 21 when the outer surface of the fingertip soft shell 1 is pressed, thereby realizing the function of measuring pressure distribution. Since the upper layer of the thin-film sensor has a large number of pressure distribution measuring electrodes, but each electrode has a small area, it is difficult to accurately measure the pressure value. Therefore, this embodiment of the invention adds an additional force value measuring layer 22 below the pressure distribution measuring layer 21, and sets a relatively large sensing area on the force value measuring layer 22 to achieve accurate measurement of the pressure value. When the outer surface of the soft shell 1 of the fingertip is pressed, the pressure is sequentially transmitted to the pressure distribution measurement layer 21, the movable plate 3, the force guide column 4 and the force measurement layer 22 on the upper layer of the thin film sensor, and is completely transmitted to the force sensing point area of ​​the force measurement layer 22 (almost all the force transmitted to the thin film sensor is pressed to the force sensing area through the force guide column 4), which greatly ensures the accuracy of force sensing, thereby solving the problem that it is difficult for dexterous hand sensing fingertip to simultaneously achieve pressure distribution measurement and high-accuracy force measurement, and improving the accuracy of force perception and grasping performance of dexterous hand.

[0063] Those skilled in the art will understand that the steps, measures, and schemes in the various operations, methods, and processes discussed in this invention can be alternated, modified, combined, or deleted. Furthermore, other steps, measures, and schemes in the various operations, methods, and processes discussed in this invention can also be alternated, modified, rearranged, decomposed, combined, or deleted. Furthermore, steps, measures, and schemes in the prior art that are similar to those disclosed in this invention can also be alternated, modified, rearranged, decomposed, combined, or deleted.

[0064] In the description of this invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention 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. Therefore, they should not be construed as limitations on this invention.

[0065] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0066] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0067] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A pressure sensor fingertip for use in a dexterous hand, characterized in that, include: The fingertip has a soft outer shell and a base shell, with a semi-enclosed pressure sensing chamber formed between them. The pressure sensing chamber contains a flexible thin-film sensor, a movable plate, a guide column, and a fixed plate. The movable plate is snapped onto the inside of the fingertip's soft outer shell and can move relative to the fixed plate as the fingertip's soft outer shell is pressed. The flexible thin-film sensor includes a pressure distribution measurement layer and a force measurement layer. The pressure distribution measurement layer is arranged on the movable plate, the force measurement layer is arranged on the fixed plate, and the force guide column is disposed between the movable plate and the force measurement layer. The inner side of the fingertip soft shell is provided with multiple raised force guiding structures. The pressure distribution measurement layer includes multiple measuring electrodes for obtaining the dispersed pressure value fed back by the corresponding raised force guiding structure. The force value measurement layer is provided with a force value measurement sensing area. One end of the force guiding column is in contact with the force value measurement sensing area, and the other end is in contact with the side of the movable plate away from the pressure distribution measurement layer, for obtaining the total pressure value fed back by the raised force guiding structure. The movable plate is provided with an upper fixing buckle on the side away from the soft shell of the fingertip, and the fixing plate is provided with a lower fixing buckle. The upper fixing buckle and the lower fixing buckle are fastened to each other. Both sides of the movable plate extend away from the soft outer shell of the fingertip to form a first rib plate connector, and the first rib plate connector is provided with a positioning pin mounting hole. The two sides of the fixed plate extend away from the movable plate to form a second rib plate connector. The second rib plate connector is provided with a positioning pin movable hole. The length direction of the positioning pin movable hole is perpendicular to the fixed plate. The positioning pin mounting hole is aligned with the positioning pin movable hole and connected by the positioning pin, so that the movable plate is displaced relative to the fixed plate when the fingertip soft shell is pressed.

2. The pressure sensor fingertip for use in a dexterous hand according to claim 1, characterized in that, The movable plate has an upper fixing buckle on the side away from the soft shell of the fingertip, and both ends of the movable plate have the upper fixing buckle; both ends of the fixed plate have lower fixing buckles, and the upper fixing buckles and the lower fixing buckles are interlocked.

3. The pressure sensor fingertip for use in a dexterous hand according to claim 1, characterized in that, Both sides of the movable plate extend away from the soft outer shell of the fingertip to form a first rib plate connector. The first rib plate connector is provided with a positioning pin mounting hole. Both ends of the movable plate in the extension direction are provided with the positioning pin mounting hole. The two sides of the fixed plate extend away from the movable plate to form a second rib plate connector. The second rib plate connector is provided with a positioning pin movable hole. The length direction of the positioning pin movable hole is perpendicular to the fixed plate. The fixed plate is provided with the positioning pin movable hole at both ends along the length direction. The positioning pin mounting hole and the positioning pin movable hole are aligned and connected by the positioning pin, so that when the fingertip soft shell is pressed, the movable plate is displaced relative to the fixed plate.

4. The pressure sensor fingertip for a dexterous hand according to claim 3, characterized in that, The fixed plate is provided with a bottom shell fixing structure on the side away from the movable plate, and the second rib plate connector is also provided with a fixing hole. The bottom shell fixing structure is connected to the fixing hole through the connector and is used to fix it to the inner side of the fingertip bottom shell.

5. The pressure sensor fingertip for use in a dexterous hand according to any one of claims 1 to 4, characterized in that, The inner side of the fingertip soft shell is provided with multiple fixing slots, and the edge of the movable plate is connected to the fingertip soft shell through the fixing slots; The movable plate has a pressure distribution measuring surface on the side facing the soft outer shell of the fingertip, and the pressure distribution measuring layer is bonded and fixed to the pressure distribution measuring surface; The fixed plate has a force measuring surface on the side facing the movable plate, and the force measuring layer is bonded and fixed to the force measuring surface.

6. The pressure sensor fingertip for use in a dexterous hand according to any one of claims 1 to 4, characterized in that, The flexible thin-film sensor also includes a component layer, and the fixed plate has a component fixing surface on the side opposite to the movable plate. The component layer is bonded and fixed to the component fixing surface.

7. The pressure sensor fingertip for use in a dexterous hand according to any one of claims 1 to 4, characterized in that, The movable plate has a guide column mounting groove on the side facing the fixed plate. The end of the guide column away from the fixed plate is embedded in the guide column mounting groove and is bonded and fixed to the guide column mounting groove.

8. The pressure sensor fingertip for a dexterous hand according to claim 7, characterized in that, The force guide column is a cylinder, and the end of the force guide column that contacts the force value measurement sensing area has a convex arc surface structure.

Images