Dexterous hand skin for embodied intelligence training arena and method of making same

Abstract

The application relates to the technical field of robots, in particular to a dexterous hand skin for a body intelligent training field, a manufacturing method of the dexterous hand skin, and a dexterous hand. The dexterous hand skin comprises a plurality of film structures, which are respectively arranged on the distal phalanx of a finger, the middle phalanx of the finger and the surface of a palm; connecting lines are connected between the film structures on the distal phalanx of the finger, the middle phalanx of the finger and the palm, the length of the connecting lines between adjacent film structures is greater than the interval between the corresponding film structures, and / or the connecting lines are elastic connecting lines; the film structure comprises an upper electrode layer, a conductive silica gel layer and a lower electrode layer which are arranged in layers, the density of conductive particles in the conductive silica gel layer is arranged in a gradient, and the density of the conductive particles in the edge region of the conductive silica gel layer is greater than the density of the conductive particles in the central region of the conductive silica gel layer. The length design redundancy of the connecting lines or the elastic material of the connecting lines can quickly adapt to different dexterous hands, and the adaptability is improved.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a dexterous hand skin for embodied intelligence training field, a method for manufacturing the same, and a dexterous hand. Background Technology

[0002] With the development of artificial intelligence and robotics, humanoid robots have become a research hotspot. Dexterous hands, as a type of end effector for humanoid robots, have also attracted increasing attention from researchers.

[0003] To mimic the tactile perception of human fingers, existing dexterous hands typically integrate tactile sensors in key areas such as the fingertips to sense information such as pressure and texture of objects, enabling precise manipulation down to the last centimeter. However, existing dexterous hands vary significantly in size and curvature due to different models and structures, requiring custom-made tactile sensors of varying sizes, structures, and manufacturing processes. This results in long development cycles and high costs. Summary of the Invention

[0004] Based on this, this application provides a dexterous hand skin for an embodied intelligent training field and a method for manufacturing the same, a dexterous hand, wherein adjacent thin film structures are connected by connecting lines, the length of the connecting lines is greater than the distance between adjacent thin film structures, and / or the connecting lines are elastic connecting lines, thereby enabling rapid adaptation of sensors to different dexterous hands, thereby improving the adaptability of the dexterous hand skin.

[0005] To achieve the above objectives, this application adopts the following technical solution:

[0006] On one hand, this application provides a dexterous hand skin for an embodied intelligence training field, applied to the surface of a dexterous hand, comprising:

[0007] Multiple thin film structures are respectively located on the distal phalanx, middle phalanx, and palm surface of the dexterous hand;

[0008] Connecting lines connect the thin membrane structures on the distal phalanx, middle phalanx, and palm of the finger. The length of the connecting lines between adjacent thin membrane structures is greater than the spacing between the corresponding thin membrane structures, and / or the connecting lines are elastic connecting lines.

[0009] The thin film structure includes an upper electrode layer, a conductive silicone layer, and a lower electrode layer stacked together. The density of conductive particles in the conductive silicone layer is arranged in a gradient, and the density of conductive particles in the edge region of the conductive silicone layer is greater than that in the center region of the conductive silicone layer.

[0010] In one possible implementation, the density of conductive particles in the conductive silicone layer gradually increases as the distance between the region where the conductive particles are located and the center point of the conductive silicone layer increases.

[0011] In one possible implementation, the conductive silicone layer is formed by curing a conductive slurry, which includes carbon nanotubes and silicone liquid.

[0012] In one possible implementation, the conductive silicone layer forms a gradient arrangement of conductive particle density by applying an electric field to the conductive paste, where the electric field strength in the edge region is greater than that in the center region.

[0013] In one possible implementation, the electric field is formed by a first electrode located in a first annular region and a second electrode located in a second annular region, the second annular region being located outside the first annular region, and the cross-sectional area of ​​the second electrode being larger than that of the first electrode in the direction of the conductive silicone layer plane.

[0014] In one possible implementation, the ratio of the density of conductive particles in the conductive silicone layer in the central region to the density of conductive particles in the conductive silicone layer in the edge region is less than or equal to 1 / 3.

[0015] In one possible implementation, the connecting wire includes a flexible base layer and a conductive layer formed on the surface of the base layer.

[0016] In one possible implementation, the thin film structure includes a main body and multiple branches, with the multiple branches connected to the main body circumferentially around the main body, and at least one gap formed between all the branches.

[0017] In one possible implementation, the electrode lines in the upper electrode layer and the lower electrode layer are arranged perpendicular to each other.

[0018] On the other hand, this application provides a method for making dexterous hand skin, comprising:

[0019] A conductive silicone layer is prepared, wherein the density of conductive particles in the conductive silicone layer is arranged in a gradient, and the density of conductive particles in the edge region of the conductive silicone layer is greater than that in the center region of the conductive silicone layer.

[0020] Fabrication of the upper electrode layer and the lower electrode layer;

[0021] A thin film structure is formed by stacking an upper electrode layer, a conductive silicone layer, and a lower electrode layer.

[0022] Connecting wires are prepared and multiple thin film structures are interconnected using the connecting wires.

[0023] In one possible implementation, the steps for preparing the conductive silicone layer include:

[0024] The carbon nanotubes and liquid silica gel were mixed and then injected into a container;

[0025] An electric field with a stronger field strength in the edge region than in the center region is applied in the normal direction of the container, causing the density of conductive particles in the conductive silicone layer to be arranged in a gradient. The electric field is formed by a first electrode located in the first annular region and a second electrode located in the second annular region. The second annular region is located outside the first annular region. In the direction where the plane of the conductive silicone layer is located, the cross-sectional area of ​​the second electrode is larger than that of the first electrode.

[0026] The container is heated to solidify the liquid silicone, thus obtaining a conductive silicone layer.

[0027] In one possible implementation, the steps for fabricating the connector include:

[0028] The base layer is injection molded or extruded in a wavy cross-section mold;

[0029] The base layer is pre-stretched and shaped.

[0030] Electrode line patterns are sprayed, scraped, or 3D printed onto the substrate surface;

[0031] The dried electrode wire pattern forms a conductive layer.

[0032] In another aspect, this application provides a dexterous hand, including at least one of the aforementioned dexterous hand skins.

[0033] The dexterous hand skin and its manufacturing method for embodied intelligence training field provided in this application, and the dexterous hand, are designed to cover the distal phalanx, middle phalanx and even the surface of the palm with thin film structures. Adjacent thin film structures are connected by connecting lines, the length of which is greater than the distance between adjacent thin film structures, and / or the connecting lines are elastic connecting lines. This allows for rapid adaptation to dexterous hands of different structures and sizes through uniform components, shortening the development cycle and reducing costs.

[0034] Meanwhile, the thin film structure employs a conductive silicone layer with a gradient arrangement of conductive particles, forming a force-sensitive structure with gradient conductivity. On the one hand, for the edge region, this structure improves the response speed of the sensor edge points, thereby ensuring the force detection sensitivity of the edge region points. On the other hand, for the central region, this structure can mitigate the stress concentration caused by the curved convex structure at the central region points, thereby avoiding the problem of oversaturation at the central points and loss of force-sensitive characteristics, ensuring the force detection sensitivity and reliability of the central region points. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the structure of the dexterous hand skin provided in an embodiment of this application;

[0037] Figure 2 for Figure 1 A partially exploded structural diagram of the thin film structure of the skin of a dexterous hand.

[0038] Figure 3 for Figure 1 The diagram shows the structure of the thin film structure of the skin of a dexterous hand when it is located at the distal phalanx of the finger of a dexterous hand.

[0039] Figure 4 for Figure 1 A schematic diagram of the thin film structure of the dexterous hand skin when it is applied to the fingers of the dexterous hand;

[0040] Figure 5 A schematic diagram of the structure of a dexterous hand provided in an embodiment of this application.

[0041] Explanation of reference numerals in the attached figures:

[0042] 100-Dexterous hand skin; 10-Thin film structure; 11-Upper electrode layer; 12-Conductive silicone layer; 13-Lower electrode layer; 14-Main body; 15-Branch; 20-Connecting wire; 200-Dexterous hand; 201-Finger distal phalanx; 202-Finger middle phalanx; 203-Palm; 204-Fixing component. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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 some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0044] With the development of artificial intelligence and robotics, humanoid robots have become a research hotspot. Dexterous hands, as a type of end effector for humanoid robots, have also attracted increasing attention from researchers.

[0045] To mimic the tactile perception of human fingers, existing dexterous hands typically integrate tactile sensors in key areas such as the fingertips to sense information such as pressure and texture of objects, enabling precise manipulation down to the last centimeter. However, existing dexterous hands vary significantly in size and curvature due to different models and structures, requiring custom-made tactile sensors of varying sizes, structures, and manufacturing processes. This results in long development cycles and high costs.

[0046] To overcome the shortcomings of existing technologies, after repeated consideration and verification, the inventors discovered that if thin-film sensors are placed at different points on the dexterous hand corresponding to the distal phalanx, middle phalanx, and palm, and connected by connecting lines between the distal and middle phalanxes and between the middle phalanx and the palm, the sensor placement areas can be adaptively set according to the finger joint positions of the actual dexterous hand size, thus providing a standardized and integrated tactile sensing solution. This solution can be quickly adapted to dexterous hands of different structures and sizes through unified components, thereby shortening the development cycle and reducing costs.

[0047] In view of this, this application provides a dexterous hand skin for an embodied intelligence training field, applied to the surface of a dexterous hand, comprising:

[0048] Multiple thin film structures are respectively located on the distal phalanx, middle phalanx, and palm surface of the dexterous hand;

[0049] Connecting lines connect the distal phalanx, middle phalanx, and thin membrane structures on the palm; the length of the connecting lines between adjacent thin membrane structures is greater than the spacing between the corresponding thin membrane structures, and / or the connecting lines are elastic connecting lines.

[0050] The thin film structure includes an upper electrode layer, a conductive silicone layer, and a lower electrode layer stacked together. The density of conductive particles in the conductive silicone layer is arranged in a gradient, and the density of conductive particles in the edge region of the conductive silicone layer is greater than that in the center region of the conductive silicone layer.

[0051] This application designs a thin-film structure covering the distal and middle phalanges of the fingers and even the surface of the palm. Adjacent thin-film structures are connected by connecting lines, the length of which is greater than the distance between adjacent thin-film structures, and / or the connecting lines are elastic. This allows the skin structure to be quickly adapted to dexterous hands of different structures and sizes using standardized components, shortening the development cycle and reducing costs. Furthermore, because it is more adaptable to dexterous hands of different structures and sizes, multiple embodied intelligent robots need to be deployed in an embodied intelligent training field. Even when these robots have different dexterous hand structures or sizes, the aforementioned skin sensor structure can be quickly deployed on these embodied intelligent robots, thereby improving the robot deployment efficiency in the embodied intelligent training field.

[0052] Meanwhile, the thin-film structure adopts a stacked design of an upper electrode layer, a conductive silicone layer, and a lower electrode layer, combined with a conductive silicone layer with a gradient arrangement of conductive particle density, forming a force-sensitive structure with gradient conductivity. On the one hand, for the edge region, this structure improves the response speed of the sensor edge points, thereby ensuring the force detection sensitivity of the edge region points; on the other hand, for the central region, this structure can weaken the stress concentration caused by the curved convex structure in the central region points, thereby avoiding the problem of oversaturation and loss of force-sensitive characteristics at the central points, ensuring the force detection sensitivity and reliability of the central region points.

[0053] On the other hand, the dexterous hand skin sensor structure provided in this application does not require the sensor to be placed in the knuckle between the palm and the middle segment of the finger, which reduces the cost of the sensor structure while ensuring detection accuracy.

[0054] The contents of this application will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can have a clearer and more detailed understanding of the contents of this application.

[0055] Figure 1 This is a schematic diagram of the structure of the dexterous hand skin provided in an embodiment of this application. Figure 2 for Figure 1 A partially exploded structural diagram of the thin film structure of the skin of the dexterous hand. Figure 3 for Figure 1 The diagram shows a thin film structure of the skin of a dexterous hand when it is located at the distal phalanx of the finger of a dexterous hand. Figure 4 for Figure 1 The diagram shows a thin film structure of the skin of a dexterous hand when it is applied to the fingers of a dexterous hand. Figure 5 A schematic diagram of the structure of a dexterous hand provided in an embodiment of this application.

[0056] The following sections provide a detailed description of the specific structure of the skin for dexterous hands and various possible implementation methods.

[0057] like Figure 1 As shown in the embodiment of this application, the dexterous hand skin 100 for embodied intelligence training is used in the dexterous hand 200. Specifically, the dexterous hand skin 100 is applied to the surface of the dexterous hand 200.

[0058] The dexterous hand skin 100 includes multiple thin film structures 10 and connecting lines 20. The multiple thin film structures 10 are respectively disposed on the surface of the distal phalanx 201, the middle phalanx 202, and the palm 203 of the dexterous hand 200. The connecting lines 20 connect the thin film structures 10 of the distal phalanx 201 and the thin film structures 10 of the middle phalanx 202, and connect the thin film structures 10 of the middle phalanx 202 and the thin film structures 10 on the palm 203.

[0059] The length of the connecting line 20 between adjacent thin film structures 10 is greater than the spacing between the corresponding thin film structures 10, and / or the connecting line 20 is an elastic connecting line.

[0060] Adjacent thin-film structures 10 are connected by connecting lines 20. The length of the connecting lines 20 is greater than the spacing between adjacent thin-film structures 10 on the dexterous hand 200, meaning that the connecting lines have length design redundancy, and / or the connecting lines are flexible connecting lines. This enables rapid adaptation of the sensor to different dexterous hands 200, thereby improving the sensor's adaptability. Rapid adaptation to dexterous hands 200 with different structures and sizes using standardized components shortens the development cycle and reduces costs.

[0061] like Figure 2 As shown, the thin film structure 10 includes an upper electrode layer 11, a conductive silicone layer 12, and a lower electrode layer 13 stacked together. Either the upper electrode layer 11 or the lower electrode layer 13 can be the side of the thin film structure 10 that is in contact with the dexterous hand 200, allowing touch sensing to be achieved through another layer. This enables blind application and also improves the efficiency of deploying the dexterous hand skin 100 on the embodied intelligent robot in the embodied intelligent training field.

[0062] The conductive particles in the conductive silicone layer 12 exhibit a gradient density. Specifically, the conductive particle density at the edge of the conductive silicone layer 12 is greater than that in the central region. This results in a pattern where the electric field lines are denser at the edge and sparser at the center, guiding the conductive particles within the conductive silicone layer 12 to migrate towards the edge, leaving only a very small number of particles in the central region, thus creating a force-sensitive structure with gradient conductivity.

[0063] By designing a thin film structure 10 covering the surface of the distal phalanx 201, the middle phalanx 202, and even the palm 203, a standardized and integrated tactile sensing solution is provided. This solution can be quickly adapted to dexterous hands 200 of different structures and sizes through uniform components, thereby shortening the development cycle and reducing costs.

[0064] Meanwhile, the thin film structure 10 adopts a design of stacking an upper electrode layer 11, a conductive silicone layer 12, and a lower electrode layer 13, and combines it with a conductive silicone layer 12 with a gradient arrangement of conductive particle density to form a force-sensitive structure with gradient conductivity. On the one hand, for the edge region, this structure improves the response speed of the sensor edge points, thereby ensuring the force detection sensitivity of the edge region points; on the other hand, for the central region, this structure can weaken the stress concentration caused by the curved convex structure of the central region points, thereby avoiding the problem of oversaturation of the central points and loss of force-sensitive characteristics, and ensuring the force detection sensitivity and reliability of the central region points.

[0065] In one possible implementation, the thin film structure 10 is also disposed on the knuckle between the middle segment 202 of the finger and the palm 203 of the dexterous hand 200.

[0066] In one possible implementation, the thin film structure 10 may also be located only on the distal phalanges 201 of the fingers and the palm 203 of the dexterous hand 200.

[0067] In one possible implementation, all the connecting lines 20 eventually converge at the dexterous wrist or at a processing module located in other parts of the embodied intelligent robot.

[0068] In one possible implementation, the density of conductive particles in the conductive silicone layer 12 gradually increases as the distance between the region containing the conductive particles and the center point of the conductive silicone layer 12 increases. That is, as the distance between the region containing the conductive particles and the center point of the conductive silicone layer 12 increases, the electric field lines in the corresponding region become denser, and the field strength is thus greater.

[0069] When the fingers or palm of the Dexterous Hand 200 come into contact with an object, the force is initially concentrated in the most prominent central area due to the curved surface. In traditional, uniformly dense conductive silicone, the resistance at the center point drops sharply because it bears most of the pressure, quickly reaching its measurement limit—oversaturation—making it unable to distinguish larger pressure values. Through gradient design, the conductive particle density in the central region is the lowest, resulting in a higher initial resistance. Greater pressure is required to produce a similar change in resistance, thus significantly expanding the sensor's effective measurement range. Meanwhile, in a uniform density design, the edge areas experience less force, and with the same conductive particle density as the center, their resistance change is very weak, leading to low edge sensitivity and slow response. By setting the conductive particle density in the edge region to the highest level, even under low pressure, the high-density conductive particles can form an effective conductive path, generating significant changes in electrical signals. This improves the sensitivity of the edge region and ensures that the sensor can respond quickly and accurately to contact even in non-central areas. This compensates for the uneven stress distribution caused by the curved surface structure, making the resistance-pressure curve of the entire sensor more consistent and linear, whether in the center or at the edge, creating a balanced and linear sensing skin.

[0070] In one possible implementation, the conductive silicone layer 12 is formed by curing a conductive paste, which includes carbon nanotubes and silicone liquid.

[0071] Carbon nanotubes possess an extremely high aspect ratio, enabling them to interlock within a silicone matrix to form a robust, three-dimensional conductive network. Even after repeated deformation, the conductive pathways are rapidly restored, resulting in excellent electrical performance and stability. Furthermore, the carbon nanotube network is resistant to permanent displacement under stress, leading to good repeatability of resistance values ​​and strong creep resistance, ensuring signal stability of the sensor under long-term, cyclic use. Moreover, a smaller amount of carbon nanotubes is required to achieve the same conductivity, helping to maintain the excellent flexibility and elasticity of the silicone matrix itself.

[0072] Meanwhile, by using liquid silicone as the substrate, advanced processes such as casting, printing, and coating can be used to form sensor films. It is highly compatible with modern manufacturing processes, making it easy to achieve large-scale, low-cost, and highly consistent production.

[0073] In one possible implementation, carbon nanotubes constitute 3%-7% of the weight of the silicone liquid in the conductive paste.

[0074] This ratio range effectively balances the mechanical and electrical properties of the conductive silicone layer 12. Specifically, when the weight ratio of carbon nanotubes is within the range of 3%-7%, the Shore hardness of the conductive silicone layer 12 formed after silicone curing can be stably controlled between 40A and 50A, ensuring moderate hardness. Simultaneously, it ensures that the piezoresistive change rate of the formed conductive silicone layer reaches more than 10 times, which is beneficial for improving the piezoresistive sensitivity of the conductive silicone layer 12.

[0075] In one possible implementation, the conductive silicone layer 12 forms a gradient arrangement of conductive particle density by applying an electric field with a stronger field strength at the edge region than at the center region to the conductive paste, i.e., a non-uniform electric field.

[0076] By applying a non-uniform electric field, active and directional manipulation can be achieved. Through precise design of the electric field distribution, such as the shape, position, and voltage of the electrodes, the migration path and final accumulation region of conductive particles can be directly controlled. Furthermore, the electric field parameters can be flexibly adjusted according to the specific surface curvature and expected stress distribution of different dexterous hand fingers to customize and generate the optimal gradient, ensuring optimal performance.

[0077] Compared to achieving gradients through multi-layer printing or composite materials with different formulations, applying a non-uniform electric field can create density variations within a single formulation and material, eliminating the interfaces between different layers. This avoids the risk of failures such as delamination and cracking caused by modulus mismatch or weak interlayer bonding, resulting in higher mechanical reliability and durability of the product. Furthermore, once the electric field parameters are set, the entire process can be completed simultaneously during the curing step, eliminating the need for additional manufacturing steps and facilitating large-scale, efficient, and low-cost mass production.

[0078] In one possible implementation, the electric field is formed by a first electrode located within a first annular region and a second electrode located within a second annular region, with the second annular region situated outside the first annular region. In the direction of the plane of the conductive silicone layer 12, the cross-sectional area of ​​the second electrode is larger than that of the first electrode. That is, the two electrodes form a ring structure of "small inner electrode + large outer electrode," resulting in electric field lines that are denser at the edges and sparser in the center. This guides conductive particles within the conductive silicone layer to migrate towards the edges, leaving only a very small number of particles in the center, thus obtaining a force-sensitive structure with gradient conductivity. In one possible implementation, the second electrode is an annular electrode, and the first electrode is a circular electrode. In another possible implementation, the diameter of the second electrode is larger than the diameter of the first electrode.

[0079] In one possible implementation, the first electrode and the second electrode are arranged concentrically.

[0080] With a concentric double-electrode structure, after energization, a radially non-uniform electric field with gradually increasing electric field strength from the inside to the outside will naturally form in the annular region between the two electrodes. That is, the electric field lines exhibit a pattern of dense electric field lines at the edge region and sparse electric field lines at the center region.

[0081] In this electric field, charged conductive particles, such as carbon nanotubes, are driven by a directional force from a weak electric field near the central first electrode to a strong electric field near the peripheral second electrode. This allows them to migrate and concentrate efficiently and precisely into a designated outer ring region, ultimately forming a pre-defined gradient arrangement.

[0082] Since the electrodes can be either ring-shaped or circular, the resulting electric field is symmetrical in the 360-degree circumferential direction. This ensures that the conductive gradient formed after curing is uniform and consistent throughout the entire circumference, avoiding anisotropy problems such as high sensitivity in some directions and low sensitivity in others, thus ensuring the stability and reliability of the sensor performance.

[0083] In one possible implementation, the second electrode is a square ring electrode or other polygonal ring. The first electrode is a square electrode or other polygonal electrode. For example, both the first and second electrodes can be square or rectangular electrodes.

[0084] In one possible implementation, the ratio of the density of conductive particles in the conductive silicone layer 12 in the central region to the density of conductive particles in the conductive silicone layer 12 in the edge region is less than or equal to 1 / 3.

[0085] By setting a ratio of ≤1 / 3, a clear performance threshold is established, ensuring that the difference in conductive particle density between the center and the edge is large enough to produce a significant difference in resistance-pressure characteristics. This guarantees the strength of the gradient effect, ensures reliable prevention of oversaturation in the central region, and significantly improves edge detection sensitivity, thereby maximizing the effective pressure measurement range of the entire sensor.

[0086] In one possible implementation, the connecting line 20 is a highly elastic electrode line.

[0087] When dexterous hands grasp and manipulate objects, their fingers and joints move rapidly, frequently, and with large amplitudes. Ordinary flexible wires may only bend but lack elastic recovery, easily leading to plastic deformation after repeated movements. High-elasticity electrode wires can extend and retract synchronously and instantly with hand movements, perfectly conforming to dynamic curved surfaces without generating additional mechanical resistance or permanent deformation. The high-elasticity material can almost completely recover its original shape after deformation, effectively releasing internal stress after each movement. This avoids the loosening, twisting, or restriction of joint movement caused by stress relaxation or creep of the connecting wire 20, ensuring the precision and naturalness of the dexterous hand 200's movements. At the same time, the connecting wire 20 needs to withstand thousands or even millions of bending and stretching cycles. The excellent fatigue resistance of the high-elasticity material allows it to withstand such extreme conditions without easily breaking or damaging the internal conductive path, greatly extending the service life of the entire dexterous hand skin 100.

[0088] In one possible implementation, the cross-section of the connecting line 20 is wavy. On the one hand, the wavy connecting line 20 allows for redundant length design. The wavy connecting line 20 can be straightened and bent, so the corresponding sensor placement area can be adaptively set according to the finger joint position of the actual dexterous hand 200 size. It can be quickly adapted to dexterous hands 200 of different structural sizes, thereby realizing the rapid deployment of the dexterous hand skin 100 on the robot in the embodied intelligent training field.

[0089] On the other hand, when the wavy cross-section connector 20 is stretched, it acts like a miniature spring, transforming macroscopic stretching into microscopic bending. This significantly reduces the actual strain experienced by critical components of the connector 20, especially the electrode material, allowing it to withstand greater overall deformation without damage, thus achieving excellent stretchability. The conductive layers in the connector 20, such as metal films and nanowire networks, are typically the weakest parts of the entire structure, most prone to breakage under tension. The wavy structure, by reducing actual strain, provides mechanical protection for these fragile conductive pathways, ensuring the stability of signal transmission.

[0090] Meanwhile, the wavy cross-section not only performs excellently in axial tension, but also has good adaptability to complex deformations such as torsion and compression, which can better fit the complex movements of the dexterous hand's 200 joints and adapt to multidimensional deformation. That is, when the wavy connecting line fits with the joint of the dexterous hand, it will not interfere with the normal joint movement of the dexterous hand.

[0091] In one possible implementation, the connecting line 20 includes a flexible base layer and a conductive layer formed on the surface of the base layer.

[0092] When the dexterous hand 200 performs grasping and bending actions, the connecting wires 20 at its skin and joints are subjected to frequent bending, stretching, and twisting. An elastic substrate layer, such as silicone or polyurethane, ensures that the mechanical properties of the connecting wires 20 are highly matched to the flexible thin-film sensor they connect to and the hand structure, avoiding stress concentration caused by rigidity mismatch and significantly extending the sensor's lifespan. A conductive layer, such as metal nanowires or conductive ink, is attached to the elastic substrate in thin film form. When the substrate deforms within its elastic range, the conductive layer on the surface can stretch without breaking, maintaining the continuity of the conductive path and ensuring stable transmission of electrical signals from the sensing unit to the signal processing unit.

[0093] Meanwhile, the elastic substrate layer itself can also serve as a protective layer for the conductive layer, or an elastomer layer can be easily applied over the conductive layer for encapsulation, making the connecting wire 20 wear-resistant, corrosion-resistant, and adaptable to complex working environments, thus improving the robustness of the entire sensor system.

[0094] In one possible implementation, the base layer is formed by injection molding or extrusion in a wavy cross-section mold, and the conductive layer is formed by spraying, scraping, or 3D printing on the surface of the pre-stretched base layer.

[0095] The conductive layer is fabricated under pre-stretched conditions on the substrate. When the external force is released, the substrate shrinks back, forcing the conductive layer on the surface to form tiny, evenly distributed wrinkles or compressed structures. When the connecting line 20 is stretched again in actual use, it first straightens these pre-existing wrinkles, rather than immediately applying tensile stress to the electrode material itself. During this process, the resistance of the conductive layer hardly changes, providing a buffer zone for the tensile deformation of the connecting line 20, greatly suppressing resistance drift and fluctuations caused by repeated stretching, and ensuring the stability of signal transmission.

[0096] The corrugated cross-section of the substrate inherently endows the connecting wire 20 with excellent stretchability. The corrugated structure can transform macroscopic tensile strain into microscopic bending deformation, thereby significantly reducing the actual strain in sensitive areas. Electrodes are fabricated on the pre-stretched corrugated substrate, enabling the connecting wire 20 to withstand greater tensile deformation and more cycles of fatigue.

[0097] Meanwhile, spraying, scraping, or printing on a pre-stretched flat surface makes it easier to form a uniform, continuous, and defect-free electrode film than on a relaxed, elastic curved surface, improving the quality of the conductive layer and enhancing product consistency and yield.

[0098] like Figure 3As shown, in a possible implementation, the thin film structure 10 includes a main body portion 14 and a plurality of branch portions 15. The plurality of branch portions 15 are respectively connected to the main body portion 14 around the circumferential direction of the main body portion 15, that is, the branch portions 15 extend outward from the main body portion 14, that is, in a direction away from the main body portion 14. At least one gap is formed between all branch portions 15. That is, among all the branch portions 15, a gap may be formed only between two adjacent branch portions 15. Alternatively, among all the branch portions 15, a gap may be formed between every two adjacent branch portions among a part of the branch portions 15. Further alternatively, among all the branch portions 15, a gap is formed between every two adjacent branch portions 15. This can ensure good adhesion between the sensor on the dexterous hand skin and the dexterous hand, and guarantee the accuracy of finger force detection.

[0099] The fingers and palm of a dexterous hand 200 are complex three-dimensional curved surfaces with joint activities. It is difficult for an integral, incision-free planar thin film to closely fit on such curved surfaces, and wrinkles, bulges or peeling are prone to occur at joints. The plurality of branch portions 15, like tentacles, can independently and flexibly cover different sides and contours of fingers or palms, realizing the transition from surface fitting to line fitting, greatly improving the compatibility and fitting degree for irregular curved surfaces, and ensuring the accuracy of force detection for these curved surface areas. When a finger bends, the gaps between the branch portions 15 can effectively absorb and release the concentrated stress generated by deformation, avoiding transmitting the stress to the entire thin film which causes overall wrinkling or damage, and further ensuring the accuracy of force detection.

[0100] In a possible implementation, among all the branch portions 15, a gap is formed only between two adjacent branch portions 15.

[0101] In a possible implementation, among all the branch portions 15, a gap is formed between every two adjacent branch portions 15.

[0102] In a possible implementation, the thin film structure 10 is generally king-shaped. That is, among all the branch portions 15, a gap is formed between every two adjacent branch portions 15.

[0103] Specifically, the thin film structure 10 at the distal phalanx and middle phalanx of a finger is designed to be king-shaped.

[0104] In a possible implementation, the arrangement directions of the electrode lines in the upper electrode layer 11 and the lower electrode layer 13 are perpendicular to each other.

[0105] By having the upper and lower electrode lines perpendicular to each other, they intersect in space to form independent sensing units, thereby achieving spatial positioning of tactile information. This simplifies wiring and reduces interface complexity and cost. The orthogonal matrix structure can simultaneously detect multiple independent pressure points, enabling the Dexterous Hand 200 to perceive complex contact patterns, such as two-finger pinching and three-finger grasping, laying the foundation for tactile gesture-based human-computer interaction.

[0106] The dexterous hand skin 100 for embodied intelligent training provided in this application embodiment includes multiple thin film structures 10 and connecting lines 20. The multiple thin film structures 10 are respectively disposed on the distal phalanx 201, middle phalanx, and palm surface of the dexterous hand 200. The connecting lines 20 connect the thin film structures 10 on the distal phalanx 201, middle phalanx, and palm. The length of the connecting line 20 between adjacent thin film structures 10 is greater than the spacing between the corresponding thin film structures 10, and / or the connecting line 20 is an elastic connecting line. The thin film structure 10 includes an upper electrode layer 11, a conductive silicone layer 12, and a lower electrode layer 13 stacked together. The conductive particles in the conductive silicone layer 12 are arranged in a gradient density. The conductive particle density in the edge region of the conductive silicone layer 12 is greater than the conductive particle density in the central region of the conductive silicone layer 12.

[0107] By designing a thin film structure 10 covering the distal phalanx 201, middle phalanx, and even the surface of the palm, adjacent thin film structures 10 are connected by connecting lines 20. The connecting lines 20 have a length design redundancy, meaning their length is greater than the distance between adjacent thin film structures 10. This allows for rapid adaptation to dexterous hands 200 of different structures and sizes using standardized components, shortening the development cycle and reducing costs. Simultaneously, the thin film structure 10 employs a stacked design of an upper electrode layer 11, a conductive silicone layer 12, and a lower electrode layer 13, combined with a conductive silicone layer 12 featuring a gradient arrangement of conductive particle density, forming a unique gradient force-sensitive structure. This improves the response speed of sensor edge points, ensuring sensitive perception.

[0108] On the other hand, this application provides a method for manufacturing a dexterous hand skin 100, comprising:

[0109] Step S101: Prepare conductive silicone layer 12.

[0110] The conductive particles in the conductive silicone layer 12 are arranged in a gradient, with the density of conductive particles in the edge region of the conductive silicone layer 12 being greater than that in the center region of the conductive silicone layer 12.

[0111] Step S102: Prepare the upper electrode layer 11 and the lower electrode layer 13.

[0112] Step S103: The upper electrode layer 11, the conductive silicone layer 12 and the lower electrode layer 13 are stacked to form a thin film structure 10.

[0113] Step S104: Prepare connecting lines 20 and connect multiple thin film structures 10 to each other through connecting lines 20.

[0114] By organically combining four steps, repeatable and large-scale manufacturing of high-performance flexible sensors has been achieved.

[0115] Step S101 directly addresses the issues of central stress concentration and sluggish edge sensing when the dexterous hand 200 contacts the curved surface. Through the gradient design of the conductive silicone layer 12 itself, pre-compensation is achieved at the physical level, ensuring balanced sensitivity and wide dynamic range across the entire range.

[0116] Steps S102 and S103 construct a standard, mass-producible sandwich structure sensing unit by preparing and stacking the upper electrode layer 11, the conductive silicone layer 12, and the lower electrode layer 13.

[0117] The upper electrode layer 11 or the lower electrode layer 13 can be the side of the thin film structure 10 that is attached to the dexterous hand 200. Touch perception is achieved through another layer, which realizes blind application and also helps to improve the efficiency of the dexterous hand skin 100 on the embodied intelligent robot in the embodied intelligent training field.

[0118] Step S104 connects and interconnects the thin film structure 10, flexibly and reliably integrating multiple independent sensing units into a complete skin system, ensuring effective signal collection and transmission.

[0119] The length of the connecting line 20 between adjacent thin film structures 10 is greater than the spacing between the corresponding thin film structures 10, and / or the connecting line 20 is an elastic connecting line.

[0120] Adjacent thin-film structures 10 are connected by connecting lines 20. These connecting lines 20 have a length redundancy, meaning their length is greater than the spacing between adjacent thin-film structures 10 on the dexterous hand 200. This allows for rapid adaptation of the sensor to different dexterous hands 200, thereby improving sensor compatibility. By using standardized components for rapid adaptation to dexterous hands 200 of different structures and sizes, the development cycle is shortened, and costs are reduced.

[0121] First, the core functional layer conductive silicone layer 12 is prepared, and then laminated and assembled. This makes it easy to adjust the sensor size, shape and distribution to adapt to different models and structures of the dexterous hand 200.

[0122] In one possible implementation, the thin film structure 10 is also located on the first phalanx of the dexterous hand 200.

[0123] In one possible implementation, the thin film structure 10 may also be located only on the distal phalanges 201 of the fingers and the palm 203 of the dexterous hand 200.

[0124] In one possible implementation, all the connecting lines 20 eventually converge at the dexterous wrist or at a processing module located in other parts of the embodied intelligent robot.

[0125] In one possible implementation, the steps for preparing the conductive silicone layer 12 include:

[0126] Step S111: Mix the carbon nanotubes and the liquid silica gel and inject them into a container.

[0127] Step S112: Apply an electric field with a stronger field strength in the edge region than in the center region in the normal direction of the container, so that the density of conductive particles in the conductive silicone layer 12 is arranged in a gradient. The electric field is formed by a first electrode located in the first annular region and a second electrode located in the second annular region. The second annular region is located outside the first annular region. In the direction where the plane of the conductive silicone layer 12 is located, the cross-sectional area of ​​the second electrode is larger than that of the first electrode.

[0128] Step S113: Heat the container to solidify the silicone liquid and obtain the conductive silicone layer 12.

[0129] In one possible implementation, when nanotubes are mixed with liquid silica, the carbon nanotubes account for 3%-7% of the weight of the liquid silica.

[0130] In one possible implementation, the first electrode and the second electrode are arranged concentrically.

[0131] By using concentric circular and ring electrodes, a radially non-uniform electric field that increases from the center to the periphery can be directly generated within the container. The shape of this electric field matches the mechanical requirement of the Dexterous Hand 200, which requires a near-hemispherical curved surface with low central sensitivity and high peripheral sensitivity. Under the action of this electric field, charged conductive particles (carbon nanotubes and ions) are driven by a directional force from a weak electric field near the central first electrode to a strong electric field near the peripheral second electrode, and are efficiently and directionally driven and concentrated into a preset ring region. The entire gradient formation process is completed in one step in the liquid slurry, without the need for subsequent mechanical processing or complex multilayer composites. The process is simple, efficient, and the gradient shape is precisely controllable.

[0132] Since the electric field distribution is fixed, as long as the electrode processing accuracy is guaranteed, the gradient distribution of each conductive silicone layer 12 produced in the same batch or even different batches has extremely high consistency and uniformity, which significantly improves product yield and reliability.

[0133] In one possible implementation, the second electrode of the outer ring is a ring-shaped metal electrode with a diameter of 20 mm to 40 mm.

[0134] Preferably, the second electrode is made of copper or platinum.

[0135] In one possible implementation, the first electrode of the inner ring is a circular metal electrode with a diameter of 3-5 mm.

[0136] Preferably, the first electrode is made of copper or platinum.

[0137] In one possible implementation, the cross-section of the connecting line 20 is wavy. The wavy shape of the connecting line 20 allows for redundant length design. The wavy connecting line 20 is both straight and flexible, thus enabling the adaptive placement of sensor areas based on the finger joint positions of the actual dexterous hand 200 size. This allows for rapid adaptation to dexterous hands 200 of different structural sizes, facilitating the rapid deployment of the dexterous hand skin 100 on the robot in the embodied intelligent training field. Furthermore, the wavy design ensures that when the connecting line 20 is in contact with the joints of the dexterous hand, it will not interfere with the normal joint movements of the dexterous hand 200.

[0138] In one possible implementation, the steps for fabricating the connector 20 include:

[0139] Step S141: Inject or extrude the base layer in a wavy cross-section mold.

[0140] Step S142: Perform pre-stretching and shaping treatment on the base layer.

[0141] Step S143: Spray, scrape, or 3D print electrode line patterns on the substrate surface.

[0142] Step S144: Dry the electrode wire pattern to form a conductive layer.

[0143] A conductive layer is fabricated on a pre-stretched substrate. When the external force is released, the substrate retracts, forcing the conductive layer on the surface to form tiny, uniformly distributed wrinkles or wavy structures. When the connecting wire 20 is stretched during actual use, it first consumes this pre-existing deformation buffer, i.e., straightening these wrinkles, rather than immediately inducing tensile strain on the electrode material itself. Before this buffer is completely consumed, the resistance change of the conductive layer is negligible, greatly suppressing the resistance fluctuations and signal noise generated by the connecting wire 20 during repeated bending of the dexterous hand 200 joints, fundamentally improving the accuracy of tactile perception.

[0144] The wavy cross-section of the substrate can absorb tensile strain through geometric deformation. The pre-stretching process combined with this geometric design not only follows the wavy shape of the substrate, but is also given pre-compressed folds, which enables the connecting wire 20 to withstand tensile deformation and bending cycles far exceeding those of ordinary wires.

[0145] Meanwhile, in the pre-stretched state, the substrate layer becomes relatively flat and taut, making it easier to form continuous, uniform, and defect-free electrode line patterns when spraying, scraping, or printing, thus improving manufacturing precision and yield.

[0146] On the other hand, the connecting line 20 prepared by the above process can enhance the memory of wave shape, thus making the wave shape more stable.

[0147] In one possible implementation, the wavy cross-section mold body is designed with a wave shape according to the range of motion of the dexterous hand joint. The wavelength of the wave is 5-10mm, and the wave height is 2-5mm.

[0148] In one possible implementation, the pre-stretching and shaping process specifically involves placing the wavy base layer under 10% to 20% stretch.

[0149] In one possible implementation, the base layer is TPU (thermoplastic polyurethane elastomer), and the drying temperature is set to 80°C for 1-2 hours. This enhances the wave shape memory, resulting in a more stable wave shape.

[0150] In one possible implementation, the base layer is made of silicone, and the drying temperature is set to 120°C for 1-2 hours. This enhances the wave shape memory, resulting in a more stable wave shape.

[0151] On the other hand, such as Figure 5 As shown, this application provides a dexterous hand 200, including at least one of the aforementioned dexterous hand skins 100.

[0152] Given that the dexterous hand 200 in this embodiment includes the dexterous hand skin 100 described in any of the above embodiments, the structural features and beneficial effects of the dexterous hand 200 including the dexterous hand skin 100 will not be elaborated further in this embodiment.

[0153] like Figure 4 As shown, in one possible implementation, the dexterous hand 200 also includes a fastener 204.

[0154] In one possible implementation, the fastener 204 is a strap that secures the membrane structure 10 to the distal phalanx 201, middle phalanx 202, and palm 203 of the dexterous hand 200 by wrapping.

[0155] On the other hand, this application provides an embodied intelligent robot, including the aforementioned dexterous hand 200.

[0156] Understandably, the embodied intelligent robot also includes a chest cavity mechanism, leg mechanism, and head mechanism. The dexterous hand 200, leg mechanism, and head mechanism are connected to the chest cavity mechanism respectively.

[0157] It should be noted that the terms "one embodiment," "embodiment," "exemplary embodiment," "some embodiments," etc., mentioned in the specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0158] Generally speaking, terms should be understood at least in part by their use in context. For example, at least in part by context, the term "one or more" as used in the text can be used to describe any feature, structure, or characteristic of the singular meaning, or a combination of features, structures, or characteristics of the plural meaning. Similarly, at least in part by context, terms such as "a" or "the" can also be understood to convey either singular or plural usage.

[0159] It should be readily understood that the terms "on," "above," and "on top of" in this application should be interpreted in the broadest possible sense, such that "on" means not only "directly on" something, but also "on" something with an intermediate feature or layer in between. Furthermore, "above" or "on top of" includes not only "above" or "on top of" something, but also "above" or "on top of" something without an intermediate feature or layer in between (i.e., directly on).

[0160] Furthermore, for ease of explanation, spatially relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation other than those shown in the figures. The device may have other orientations (rotated 90° or in other orientations), and the spatially relative descriptive terms used herein may be interpreted accordingly.

[0161] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application 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. 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 this application.

Claims

1. A dexterous hand skin for embodied intelligence training, applied to the surface of a dexterous hand, characterized in that, include: Multiple thin film structures are respectively disposed on the distal phalanx, middle phalanx, and palm surface of the dexterous hand; A connecting line connects the distal phalanx of the finger, the middle phalanx of the finger, and the thin film structures on the palm. The length of the connecting line between adjacent thin film structures is greater than the spacing between the corresponding thin film structures, and / or the connecting line is an elastic connecting line. The thin film structure includes an upper electrode layer, a conductive silicone layer and a lower electrode layer stacked together. The density of conductive particles in the conductive silicone layer is arranged in a gradient, and the density of conductive particles in the edge region of the conductive silicone layer is greater than that in the center region of the conductive silicone layer. The conductive silicone layer is formed by curing a conductive slurry, which includes carbon nanotubes and silicone liquid. The conductive silicone layer forms a gradient arrangement of conductive particle density by applying an electric field with a stronger field strength at the edge region than at the center region to the conductive slurry.

2. The dexterous hand skin according to claim 1, characterized in that, The density of conductive particles in the conductive silicone layer gradually increases as the distance between the area where the conductive particles are located and the center point of the conductive silicone layer increases.

3. The dexterous hand skin according to claim 1, characterized in that, The electric field is formed by a first electrode located in a first annular region and a second electrode located in a second annular region. The second annular region is located outside the first annular region. In the direction of the plane of the conductive silicone layer, the cross-sectional area of ​​the second electrode is larger than that of the first electrode.

4. The dexterous hand skin according to claim 1, characterized in that, The ratio of the density of conductive particles in the conductive silicone layer in the central region to the density of conductive particles in the conductive silicone layer in the edge region is less than or equal to 1 / 3.

5. The dexterous hand skin according to claim 1, characterized in that, The connecting line includes an elastic base layer and a conductive layer formed on the surface of the base layer.

6. The dexterous hand skin according to claim 1, characterized in that, The thin film structure includes a main body and multiple branch portions, with the multiple branch portions connected to the main body in the circumferential direction around the main body, and at least one gap formed between all the branch portions.

7. The dexterous hand skin according to claim 1, characterized in that, The arrangement directions of the electrode lines in the upper electrode layer and the lower electrode layer are perpendicular to each other.

8. A method for manufacturing dexterous hand skin for embodied intelligence training, used to manufacture the dexterous hand skin as described in claim 1, characterized in that, include: To prepare a conductive silicone layer, carbon nanotubes and liquid silicone are mixed and injected into a container. An electric field with a stronger field strength at the edge region than at the center region is applied in the normal direction of the container, causing the density of conductive particles in the conductive silicone layer to be arranged in a gradient. The container is then heated to solidify the liquid silicone, thus obtaining the conductive silicone layer. The conductive particle density at the edge region of the conductive silicone layer is greater than the conductive particle density at the center region of the conductive silicone layer. Prepare the upper electrode layer and the lower electrode layer; The upper electrode layer, the conductive silicone layer, and the lower electrode layer are stacked to form a thin film structure; A connecting wire is prepared, and multiple thin film structures are interconnected through the connecting wire.

9. The method for manufacturing dexterous hand skin according to claim 8, characterized in that, In the step of preparing the conductive silicone layer, the electric field is formed by a first electrode located in a first annular region and a second electrode located in a second annular region. The second annular region is located outside the first annular region, and in the direction where the conductive silicone layer plane is located, the cross-sectional area of ​​the second electrode is larger than that of the first electrode.

10. The method for manufacturing dexterous hand skin according to claim 8, characterized in that, The steps for preparing the connector include: The base layer is injection molded or extruded in a wavy cross-section mold; The base layer is pre-stretched and shaped. Electrode line patterns are sprayed, scraped, or 3D printed onto the surface of the substrate layer. The electrode line pattern is dried to form a conductive layer.

11. A dexterous hand, characterized in that, Includes at least one dexterous hand skin as described in any one of claims 1-7.

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