Decouplable ultrasonic haptic system, robotic haptic system, and robot

Abstract

The present disclosure relates to the field of ultrasonic sensing, and particularly relates to a decoupled ultrasonic haptic system, a robotic haptic system and a robot. The decoupled ultrasonic haptic system comprises an ultrasonic control device, an ultrasonic sensing layer and a flexible structure layer. The flexible structure layer uses a flexible material as a substrate and internally embeds at least two layers of columnar fillers. The ultrasonic sensing layer is configured to emit ultrasonic waves and receive ultrasonic echoes. The ultrasonic echoes generated by the flexible structure layer include ultrasonic echoes reflected by each layer of columnar fillers. When the flexible structure layer is subjected to a tangential force, the flexible structure layer will produce tangential deformation, thereby driving each layer of columnar fillers to rotate, so that the echo characteristics of the ultrasonic echoes reflected by each layer of columnar fillers change. The ultrasonic control device is further configured to determine a tangential force sensing result of the flexible structure layer according to the echo characteristics of the ultrasonic echoes reflected by each layer of columnar fillers. Thus, the decoupled measurement of the tangential force can be effectively realized by using ultrasonic waves.

Images