Multi-dimensional force sensing matrix platform composed of multiple low-cost force sensors

Abstract

The utility model relates to a multi-dimensional force sensing matrix platform composed of a plurality of low-cost force sensors, and belongs to the technical field of human body services. Comprising a mounting base, and the mounting base is provided with an interface used for being connected with corresponding physiotherapy terminal equipment; the mounting bracket is provided with an interface for connecting the corresponding controllable operation platform; the force sensing assembly comprises a force sensor, and the force sensor is arranged between the mounting base and the mounting bracket; the number of the force sensing assemblies is three or more. A plurality of force sensing assemblies are arranged to detect different directions of contact force between the physiotherapy equipment and a human body, and when the contact force is in an inclined state, axial tension and pressure generated on each force sensing assembly are different, so that the large force inclination direction can be judged according to the difference of the tension and pressure detected by the plurality of groups of force sensing assemblies; the posture of the manipulator can be adjusted, so that the force detected by each group of force sensors tends to be the same, the posture of the force at the tail end can be measured and controlled, and the physical therapy service can be better performed on the human body.

Description

Technical Field

[0001] The utility model belongs to the technical field of medical physiotherapy robots, in particular to a multi-dimensional force sensing matrix platform composed of a plurality of low-cost force sensors. Background Art

[0002] When the existing physiotherapy manipulator performs massage or shock wave therapy, the human body contact force detection mostly only detects the magnitude of the upward one-dimensional force, and cannot sense the tilt state of the force, that is, it cannot sense and detect the force posture of the end of the manipulator contacting the human body, and cannot provide more complete physiotherapy services accordingly. If a multi-dimensional force sensor solution is adopted, the cost will be very high. At the same time, the physiotherapy equipment of the physiotherapy robot, such as the shock wave physiotherapy instrument and the life meridian instrument, is generally installed by fastening the mounting frame with screws, which is difficult to quickly disassemble and replace, and inconvenient to maintain.

[0003] Therefore, there is a need for a multi-dimensional force sensing matrix platform composed of multiple low-cost force sensors. The platform is hollow and can be quickly disassembled and replaced with the intermediate physical therapy equipment, so that the tilt state of the force can be detected at a low cost. Utility Model Content

[0004] 1. Technical problems to be solved by the utility model

[0005] The utility model aims to solve the problem that the existing massage therapy machines are difficult to accurately detect the size and direction of the contact force at a low cost.

[0006] 2. Technical solution

[0007] In order to achieve the above-mentioned purpose, the technical solution provided by the utility model is:

[0008] The utility model discloses a multi-dimensional force sensing matrix platform composed of a plurality of low-cost force sensors, including

[0009] A mounting base, wherein the mounting base is provided with an interface for connecting a corresponding physiotherapy terminal device;

[0010] A mounting bracket, wherein the mounting bracket is provided with an interface for connecting to a corresponding controllable operation platform;

[0011] A force sensing assembly, the force sensing assembly comprising a force sensor, the force sensor being disposed between a mounting base and a mounting bracket;

[0012] The force sensing components are provided with three or more.

[0013] Preferably, the lower end of the force sensing assembly is installed on the mounting bracket evenly distributed along the circumference, and the upper end of the force sensor is finally connected to the physiotherapy device through an intermediate component. When the force at the contact point between the physiotherapy device and the human body is tilted in direction, the different force values ​​of each sensor can be used to calculate the force tilt angle.

[0014] Preferably, the measuring direction of the force sensor is consistent with the relative small movement direction of the mounting base and the mounting bracket, and the relative small movement of the mounting base and the mounting bracket causes the force sensor and the mounting bracket to pull and press and measure.

[0015] Preferably, the force sensing assembly includes a force sensor and a movable connecting piece mounted on the outside of the force sensor, the two ends of the movable connecting piece are respectively connected to the mounting base and the mounting bracket, the movable direction of the movable connecting piece is consistent with the measuring direction of the force sensor and the relative slight movement direction of the mounting base and the mounting bracket, and the relative slight movement of the mounting base and the mounting bracket drives the force sensor in the movable connecting piece and the mounting bracket to pull and compress and measure.

[0016] Preferably, the movable connecting part includes a sensor guide sleeve and a sensor guide shaft arranged in the sensor guide sleeve, the sensor guide shaft includes a cylindrical connecting part 1 and a cylindrical connecting part 2 which are connected to each other, the cylindrical connecting part 1 is provided with an internal threaded hole at one end away from the cylindrical connecting part 2, and the top external threaded shaft of the force sensor is matched and connected with the internal threaded hole.

[0017] Preferably, the sensor guide sleeve comprises a guide sleeve body, a middle section of the guide sleeve body is hollow with a cylindrical hole, and the middle section of the guide sleeve body extends outward to form a connecting protrusion, and the connecting protrusion is hollow and communicated with the cylindrical hole.

[0018] Preferably, the movable connecting part also includes a connecting block, which is recessed inward to form a cavity for accommodating the sensor guide sleeve, and the bottom of the connecting block cavity includes a accommodating groove and a mounting hole four, the accommodating groove is matched with the connecting protrusion, the mounting hole four is matched with the cylindrical hole, and mounting holes three are provided on the protrusions at both ends of the connecting block cavity, and the mounting hole three is matched with the mounting interface three on the mounting base.

[0019] Preferably, the second mounting hole of the sensor guide sleeve is correspondingly matched and connected with the seventh mounting hole on the mounting bracket.

[0020] Preferably, the mounting bracket comprises a bracket plate 1 and a bracket plate 2 connected to each other, the bracket plate 1 being provided with a hollow cargo through hole 1, the hollow cargo through hole 1 being arranged in cooperation with the through hole on the mounting base, the bracket plate 1 being further provided with a mounting hole 5, a mounting hole 6, an insulating ring sleeve mounting hole and a ranging component mounting hole, a wire groove being provided at the connection between the bracket plate 1 and the bracket plate 2, an inner positioning ring being provided on the side of the bracket plate 1 away from the bracket plate 2, the inner positioning ring being arranged on the circumferential outer side of the hollow cargo through hole 1, and the outer positioning ring being arranged on the arc-shaped edge of the bracket plate 1.

[0021] Preferably, the mounting base further comprises a base connecting plate, a plurality of notches are evenly arranged on the edge of the base connecting plate and force sensing components are arranged in the notches.

[0022] 3. Beneficial effects

[0023] Compared with the prior art, the technical solution provided by the utility model has the following beneficial effects:

[0024] A multi-dimensional force sensing matrix platform composed of multiple low-cost force sensors includes a mounting base, the mounting base is provided with an interface for connecting to a corresponding physical therapy terminal device; a mounting bracket, the mounting bracket is provided with an interface for connecting to a corresponding controllable operation platform; a force sensing component, the force sensing component includes a force sensor, the force sensor is arranged between the mounting base and the mounting bracket; the force sensing components are provided with three or more. By setting up multiple force sensing components, the magnitude and direction of action of the contact force between the physical therapy device and the human body are detected. When the contact force is in an inclined state, the axial tensile pressure generated on each force sensing component is different, so that the approximate force inclination direction can be judged by the difference in the magnitude of the contact force of multiple groups of force sensing components, and the posture of the manipulator can be adjusted so that the force detected on each group of force sensors tends to be the same, so that the posture of the end force can be measured and controlled, and at the same time, the combined force can determine the magnitude of the contact force to better provide physical therapy services to the human body. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 The overall structure of a multi-dimensional force sensing matrix platform composed of multiple low-cost force sensors in the utility model is shown in FIG. Figure 1 ;

[0026] Figure 2 The overall structure of a multi-dimensional force sensing matrix platform composed of multiple low-cost force sensors in the utility model is shown in FIG. Figure 2 ;

[0027] Figure 3 It is a structural schematic diagram of the mounting base of Example 1;

[0028] Figure 4 It is a structural schematic diagram and a cross-sectional diagram of the force sensing assembly of Example 1;

[0029] Figure 5 It is a structural schematic diagram of the sensor guide sleeve of Example 1;

[0030] Figure 6 It is a structural schematic diagram of the sensor guide shaft of Example 1;

[0031] Figure 7 is a schematic diagram of the connection block structure of Example 1;

[0032] Figure 8This is a schematic diagram of the structure of the mounting bracket of Example 1.

[0033] Explanation of the symbols in the schematic diagram:

[0034] 2200, mounting base; 2210, base connecting plate; 2211, mounting interface three; 2233, through hole;

[0035] 4000, force sensing assembly; 4100, force sensor; 4200, sensor guide sleeve; 4210, mounting hole 2; 4220, cylindrical hole; 4240, connecting protrusion; 4250, guide sleeve body; 4300, sensor guide shaft; 4310, internal threaded hole; 4320, cylindrical connecting piece 1; 4330, cylindrical connecting piece 2; 4400, connecting block; 4410, mounting hole 3; 4420, mounting hole 4; 4430, receiving groove; 4500, self-locking nut;

[0036] 5000, mounting bracket; 5100, mounting hole five; 5200, mounting hole six; 5300, mounting hole seven; 5400, hollow load through hole one; 5500, insulating ring sleeve mounting hole; 5600, wire trough; 5700, outer positioning ring; 5800, inner positioning ring; 5900, distance measuring component mounting hole. DETAILED DESCRIPTION

[0037] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0038] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0039] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0040] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0041] In addition, the terms "installed", "set", "provided with", "connected", "connected", and "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0042] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0043] Example 1

[0044] Refer to the attached Figure 1-8 In this embodiment, a multi-dimensional force sensing matrix platform composed of a plurality of low-cost force sensors includes:

[0045] An installation base 2200, wherein the installation base 2200 is provided with an interface for connecting a corresponding physical therapy terminal device;

[0046] A mounting bracket 5000, wherein the mounting bracket 5000 is provided with an interface for connecting to a corresponding controllable operation platform;

[0047] A force sensing assembly 4000, wherein the force sensing assembly 4000 includes a force sensor 4100, and the force sensor 4100 is disposed between the mounting base 2200 and the mounting bracket 5000;

[0048] The force sensing components 4000 are provided with three or more.

[0049] The platform of this embodiment detects the size and direction of the contact force between the physical therapy equipment and the human body by setting up multiple force sensing components 4000. When the contact force is in an inclined state, the axial pulling and pressing forces generated on each force sensing component 4000 are different. Therefore, the approximate force inclination direction can be determined by the different sizes of pulling and pressing forces detected by multiple groups of force sensing components 4000. The posture of the manipulator can be adjusted so that the forces detected on each group of force sensors tend to be the same, so that the posture of the end force can be measured and controlled. At the same time, the combined force of each sensor can determine the size of the actual contact force to provide better physical therapy services to the human body.

[0050] Moreover, the present application can realize accurate measurement of the size and direction of human body contact force by adopting a simple tension pressure sensor 4100, thus greatly saving costs.

[0051] The lower end of the force sensing assembly 4000 is evenly distributed and installed on the mounting bracket 5000 along the circumference, and the upper end of the force sensor 4100 is finally connected to the physical therapy device through the intermediate component. When the force at the contact point between the physical therapy device and the human body is tilted in direction, the different force values ​​of each sensor force sensor 4100 can be used to calculate the force tilt angle. When the force tilts in any direction, it can be accurately detected by the corresponding force sensing assembly 4000, thereby improving the comprehensiveness of the detection.

[0052] The measuring direction of the force sensor 4100 is consistent with the relative small movement direction of the mounting base 2200 and the mounting bracket 5000. The relative small movement of the mounting base 2200 and the mounting bracket 5000 causes the force sensor 4100 and the mounting bracket 5000 to pull and press and measure.

[0053] The mounting bracket 5000 includes a bracket plate 1 and a bracket plate 2 connected to each other, the bracket plate 1 is provided with a hollow cargo through hole 1 5400, and the hollow cargo through hole 1 5400 is arranged in coordination with the through hole 2233 on the mounting base 2200, the bracket plate 1 is also provided with a mounting hole 5100, a mounting hole 6 5200, an insulating ring sleeve mounting hole 5500 and a ranging component mounting hole 5900, a wire groove 5600 is provided at the connection between the bracket plate 1 and the bracket plate 2, the side of the bracket plate 1 away from the bracket plate 2 is provided with an inner positioning ring 5800 and an outer positioning ring 5700, the inner positioning ring 5800 is arranged on the circumferential outer side of the hollow cargo through hole 1 5400, and the outer positioning ring 5700 is arranged on the arc edge of the bracket plate 1.

[0054] The mounting base 2200 further includes a base connecting plate 2210 , and a plurality of notches are evenly arranged on the edge of the base connecting plate 2210 , and force sensing components 4000 are arranged in the notches.

[0055] It also includes a mounting bracket 5000 connected to the over-force elastic release protection component 2000, the mounting bracket 5000 includes a bracket plate 1 and a bracket plate 2 which are arranged perpendicular to each other, the bracket plate 1 is provided with a hollow load-carrying through hole 1 5400, the bracket plate 1 is arranged in cooperation with the mounting base 2200, and the hollow load-carrying through hole 1 5400 is arranged in cooperation with the through hole 2233 on the mounting base 2200, the bracket plate 1 is also provided with a mounting hole 5100, a mounting hole 6 5200, a mounting hole 7 5300, an insulating ring sleeve mounting hole 5500 and a ranging component mounting hole 5900, a wire groove 5600 is provided at the connection between the bracket plate 1 and the bracket plate 2, and an inner positioning ring 5800 and an outer positioning ring 5700 are provided on the side of the bracket plate 1 away from the bracket plate 2, the inner positioning ring 5800 is arranged on the circumferential outer side of the hollow load-carrying through hole 1 5400, and the outer positioning ring 5700 is arranged on the arc edge of the bracket plate 1.

[0056] Example 2

[0057] The structure of this embodiment is roughly the same as that of embodiment 1, except that the force sensing assembly 4000 of this embodiment includes a force sensor 4100 and a movable connecting piece mounted on the outside of the force sensor 4100, the two ends of the movable connecting piece are respectively connected to the mounting base 2200 and the mounting bracket 5000, the movable direction of the movable connecting piece is consistent with the measuring direction of the force sensor 4100 and the relative slight movement direction of the mounting base 2200 and the mounting bracket 5000, and the relative slight movement of the mounting base 2200 and the mounting bracket 5000 drives the force sensor 4100 and the mounting bracket 5000 in the movable connecting piece to pull and press and measure.

[0058] The movable connecting part includes a sensor guide sleeve 4200 and a sensor guide shaft 4300 arranged in the sensor guide sleeve 4200, and the sensor guide shaft 4300 includes a cylindrical connecting part 1 4320 and a cylindrical connecting part 2 4330 connected to each other. The cylindrical connecting part 1 4320 is provided with an internal threaded hole 4310 at one end away from the cylindrical connecting part 2 4330, and the top external threaded shaft of the force sensor 4100 is matched and connected with the internal threaded hole 4310.

[0059] The sensor guide sleeve 4200 includes a guide sleeve body 4250 , a cylindrical hole 4220 is formed in the middle of the guide sleeve body 4250 , and a connecting protrusion 4240 is formed extending outward from the middle of the guide sleeve body 4250 . The connecting protrusion 4240 is hollow and communicates with the cylindrical hole 4220 .

[0060] The movable connecting part also includes a connecting block 4400, which is recessed inward to form a cavity for accommodating the sensor guide sleeve 4200. The bottom of the cavity of the connecting block 4400 includes a receiving groove 4430 and a fourth mounting hole 4420. The receiving groove 4430 is arranged in cooperation with the connecting protrusion 4240, and the fourth mounting hole 4420 is arranged in cooperation with the cylindrical hole 4220. The protrusions at both ends of the cavity of the connecting block 4400 are provided with mounting holes 3 4410, and the mounting holes 3 4410 are arranged in cooperation with the mounting interface 3 2211 on the mounting base 2200.

[0061] The second mounting hole 4210 of the sensor guide sleeve 4200 is correspondingly matched and connected with the seventh mounting hole 5300 on the mounting bracket 5000.

[0062] The sensor guide shaft 4300 includes a cylindrical connector 1 4320 and a cylindrical connector 2 4330 connected to each other, the width of the cylindrical connector 1 4320 is greater than the width of the cylindrical connector 2 4330, and an internal threaded hole 4310 is provided at one end of the cylindrical connector 1 4320 away from the cylindrical connector 2 4330. The cylindrical connector 1 4320 is disposed in the cylindrical hole 4220 and is tightly matched with the inner wall of the cylindrical hole 4220 with a small gap, so that the tension of the sensor guide shaft 4300 can reliably pass through the axis of the sensor guide shaft 4300 to avoid overturning and deflection causing inaccurate measurement and damage to the sensor guide shaft 4300, and the cylindrical connector 2 4330 is connected to the mounting hole 4420 through a self-locking nut 4500. Multiple groups of force sensing components 4000 are evenly distributed on the mounting bracket 5000. When the contact force is in an inclined state, the axial pulling pressure generated by the multiple groups of force sensing components 4000 is different. Therefore, the approximate force inclination direction can be determined by the difference in the magnitude of the multiple groups of contact forces. The posture of the manipulator can be adjusted so that the force detected on each group of force sensors tends to be the same, making the posture of the end force measurable and controllable. At the same time, the combined force of each sensor can determine the accurate contact force to provide better physical therapy services to the human body.

[0063] The above-described embodiments only express a certain implementation method of the utility model, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the utility model. It should be pointed out that, for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the patent of the utility model shall be based on the attached claims.

Claims

1. A multi-dimensional force sensing matrix platform consisting of multiple low-cost force sensors, characterized in that: include A mounting base (2200), wherein the mounting base (2200) is provided with an interface for connecting to a corresponding physical therapy terminal device; A mounting bracket (5000), wherein the mounting bracket (5000) is provided with an interface for connecting to a corresponding controllable operation platform; A force sensing assembly (4000), the force sensing assembly (4000) comprising a force sensor (4100), the force sensor (4100) being arranged between a mounting base (2200) and a mounting bracket (5000); The force sensing components (4000) are provided with three or more.

2. A multi-dimensional force sensing matrix platform composed of a plurality of low-cost force sensors according to claim 1, characterized in that: The lower end of the force sensing assembly (4000) is evenly distributed and installed along the circumference on the mounting bracket (5000), and the upper end of the force sensor (4100) is finally connected to the physical therapy device through an intermediate component. When the force at the contact point between the physical therapy device and the human body is tilted in direction, the different force values ​​of each sensor force sensor (4100) can be used to calculate the force tilt angle.

3. The multi-dimensional force sensing matrix platform composed of a plurality of low-cost force sensors according to claim 1, characterized in that: The measurement direction of the force sensor (4100) is consistent with the relative micro-movement direction of the mounting base (2200) and the mounting bracket (5000). The relative micro-movement of the mounting base (2200) and the mounting bracket (5000) causes the force sensor (4100) and the mounting bracket (5000) to pull, compress and measure.

4. The multi-dimensional force sensing matrix platform composed of a plurality of low-cost force sensors according to claim 1, characterized in that: The force sensing assembly (4000) comprises a force sensor (4100) and a movable connecting piece mounted on the outside of the force sensor (4100), wherein two ends of the movable connecting piece are respectively connected to a mounting base (2200) and a mounting bracket (5000), and the movable direction of the movable connecting piece is consistent with the measuring direction of the force sensor (4100) and the relative slight movement direction of the mounting base (2200) and the mounting bracket (5000). The relative slight movement of the mounting base (2200) and the mounting bracket (5000) drives the force sensor (4100) and the mounting bracket (5000) in the movable connecting piece to be stretched and compressed and measured.

5. The multi-dimensional force sensing matrix platform composed of a plurality of low-cost force sensors according to claim 4, characterized in that: The movable connecting part includes a sensor guide sleeve (4200) and a sensor guide shaft (4300) arranged in the sensor guide sleeve (4200), and the sensor guide shaft (4300) includes a cylindrical connecting part 1 (4320) and a cylindrical connecting part 2 (4330) connected to each other, and an internal threaded hole (4310) is provided at one end of the cylindrical connecting part 1 (4320) away from the cylindrical connecting part 2 (4330), and the top external threaded shaft of the force sensor (4100) is matched and connected with the internal threaded hole (4310).

6. The multi-dimensional force sensing matrix platform composed of a plurality of low-cost force sensors according to claim 5, characterized in that: The sensor guide sleeve (4200) includes a guide sleeve body (4250), the middle section of which is hollow and provided with a cylindrical hole (4220), and the middle section of which extends outward to form a connecting protrusion (4240), and the connecting protrusion (4240) is hollow and connected to the cylindrical hole (4220).

7. The multi-dimensional force sensing matrix platform composed of a plurality of low-cost force sensors according to claim 5, characterized in that: The movable connecting part also includes a connecting block (4400), and the connecting block (4400) is recessed inward to form a cavity for accommodating the sensor guide sleeve (4200). The bottom of the cavity of the connecting block (4400) includes a receiving groove (4430) and a mounting hole four (4420). The receiving groove (4430) is arranged in cooperation with the connecting protrusion (4240), and the mounting hole four (4420) is arranged in cooperation with the cylindrical hole (4220). The protrusions at both ends of the cavity of the connecting block (4400) are provided with mounting holes three (4410), and the mounting holes three (4410) are arranged in cooperation with the mounting interface three (2211) on the mounting base (2200).

8. The multi-dimensional force sensing matrix platform composed of a plurality of low-cost force sensors according to claim 5, characterized in that: The second mounting hole (4210) of the sensor guide sleeve (4200) is correspondingly matched and connected with the seventh mounting hole (5300) on the mounting bracket (5000).

9. The multi-dimensional force sensing matrix platform composed of a plurality of low-cost force sensors according to claim 6, characterized in that: The mounting bracket (5000) comprises a bracket plate 1 and a bracket plate 2 connected to each other, the bracket plate 1 being provided with a hollow cargo through hole 1 (5400), the hollow cargo through hole 1 (5400) being arranged in cooperation with the through hole (2233) on the mounting base (2200), the bracket plate 1 being further provided with a mounting hole 5 (5100), a mounting hole 6 (5200), an insulating ring sleeve mounting hole (5500) and a distance measuring component mounting hole (5900), a wire groove (5600) being provided at the connection between the bracket plate 1 and the bracket plate 2, the side of the bracket plate 1 away from the bracket plate 2 being provided with an inner positioning ring (5800) and an outer positioning ring (5700), the inner positioning ring (5800) being arranged on the circumferential outer side of the hollow cargo through hole 1 (5400), and the outer positioning ring (5700) being arranged on the arc-shaped edge of the bracket plate 1.

10. The multi-dimensional force sensing matrix platform composed of a plurality of low-cost force sensors according to claim 9, characterized in that: The mounting base (2200) further comprises a base connecting plate (2210), and a plurality of notches are evenly arranged on the edge of the base connecting plate (2210), and force sensing components (4000) are arranged in the notches.

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