Flexible dexterous hand touch sensing electronic skin based on FPC

Abstract

The utility model discloses a flexible dexterous hand touch sensing electronic skin based on an FPC (Flexible Printed Circuit), which comprises a palm FPC carrier plate, and a palm longitudinal electrode and a palm transverse electrode which are arranged on the palm FPC carrier plate, and the staggered points of the palm longitudinal electrode and the palm transverse electrode form a palm touch sensing capacitor unit. The finger longitudinal electrodes and the finger transverse electrodes are arranged on the finger FPC carrier plate, staggered points of the finger longitudinal electrodes and the finger transverse electrodes form a finger touch sensing capacitor unit, the electronic skin has a touch sensing function and can simulate the touch of a human body, so that the mechanical arm has more intelligent and flexible operation capability, and the mechanical arm is more flexible to operate. The external environment and object characteristics can be sensed more accurately, the operation of the manipulator can be controlled more accurately, and the operation precision and safety are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of flexible electronics, in particular to a flexible and dexterous hand tactile perception electronic skin based on FPC. Background Art

[0002] With the rise of industrial intelligence, robots are widely used in assembly, handling, welding and other tasks on automated production lines, which can improve production efficiency, reduce costs and reduce manual labor. In the medical field, robots can be used for surgical assistance, rehabilitation training, etc., to help doctors perform precise operations or help disabled people recover their functions. In the field of scientific research, robots can be used for laboratory operations, sample processing, etc., to improve experimental efficiency and accuracy.

[0003] The robot can achieve high-precision movements and operations through precise programming and control, avoiding the influence of human factors on operating accuracy. It can complete some tasks that require high precision. The robot can work continuously for a long time without errors due to fatigue or repetitive movements. It is suitable for highly repetitive operations.

[0004] After searching, in the prior art, the announcement number is CN115625713A, which discloses a manipulator grasping method and manipulator based on tactile-visual fusion perception. The manipulator grasping method based on tactile-visual fusion perception includes: when the gripper contacts the object to be grasped, the visual image of the object to be grasped is collected by the visual camera, and the tactile image of the object to be grasped is collected by the optical tactile sensor; the attribute information of the object to be grasped is obtained according to the visual image, and the deformation information of the contact surface between the gripper and the object to be grasped is obtained according to the tactile image, wherein the attribute information includes position information; the target action is obtained according to the attribute information and the deformation information of the contact surface, and the gripper is controlled to perform the target action to grasp the object to be grasped. It can greatly reduce the difficulty of signal modulation and processing, reduce the calculation overhead, and reduce the material cost of the related signal modulation circuit without sacrificing the dynamic detection performance of the sensor, thereby making the overall sensing system cheaper and easier to use.

[0005] However, the device and the prior art still have the following defects:

[0006] Compared with human hands, existing robotic arms still have limitations in flexibility and adaptability, and cannot handle objects of various shapes and materials as flexibly as human hands. The main reason is that human hands obtain environmental information through perception methods such as touch, and can adjust hand movements in real time, while robotic arms have relatively limited perception and feedback capabilities, and cannot accurately perceive the characteristics of objects, resulting in inaccurate operations. There is a lack of electronic skin that can simulate human tactile perception to give robotic arms the sense of touch to perceive the magnitude of force applied to objects.

[0007] To this end, it is necessary to provide a flexible and dexterous hand tactile perception electronic skin based on FPC (flexible printed circuit board) to solve the defects raised by the above technical problems. Utility Model Content

[0008] The purpose of the utility model is to provide a flexible and dexterous hand tactile perception electronic skin based on FPC to solve the problems raised in the above background technology.

[0009] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0010] A flexible and dexterous hand tactile perception electronic skin based on FPC is arranged on a mechanical palm and mechanical fingers, comprising a palm FPC carrier (1), a palm longitudinal electrode (2) and a palm transverse electrode (3) arranged on the palm FPC carrier (1), a finger FPC carrier, and a finger longitudinal electrode (5) and a finger transverse electrode (7) arranged on the finger FPC carrier, wherein the intersection of the palm longitudinal electrode (2) and the palm transverse electrode (3) constitutes a capacitance unit for palm tactile perception;

[0011] The intersection points of the finger longitudinal electrodes (5) and the finger transverse electrodes (7) form a capacitance unit for finger tactile perception;

[0012] The capacitor unit for palm tactile perception is arranged in a mechanical palm region between two adjacent fingers of the dexterous hand, and the capacitor unit for finger tactile perception is arranged in a region between adjacent joints of each finger.

[0013] Preferably, the palm FPC carrier includes an upper palm PI film and a lower palm PI film, a dielectric layer is arranged between the upper palm PI film and the lower palm PI film, and both sides of the dielectric layer are tightly fitted with the surfaces of the upper palm PI film and the lower palm PI film respectively, the palm longitudinal electrode is arranged on the upper palm PI film, the palm transverse electrode is arranged on the lower palm PI film, and the upper palm PI film and the lower palm PI film are both attached to the palm surface of the robot palm.

[0014] The order of laying layers on the electronic skin is: a PI film, a wire is set on the PI film, and another layer of PI film is added to form an upper or lower PI film. The inner side of the upper or lower PI film is etched with gold to form a corresponding capacitor strip, and the capacitor strip forms a corresponding electrode;

[0015] One side of the corresponding electrode of the upper PI film and the lower PI film is butted, and a dielectric layer is arranged between the upper PI film and the lower PI film.

[0016] Preferably, the dexterous hand has three fingers, and the palm longitudinal electrodes (2) and palm transverse electrodes (3) are respectively provided in three groups, and the three groups of palm longitudinal electrodes (2) and palm transverse electrodes (3) are arranged in a triangular shape.

[0017] Preferably, the palm longitudinal electrode (2) and the palm transverse electrode (3) have the same overall structure, and only the directions of the capacitor bars are different. The palm longitudinal electrode (2) comprises a first electrode connection end (21), a first palm longitudinal capacitor bar (22), a first wire (23) and a second palm longitudinal capacitor bar (24). The first electrode connection end (21) is electrically connected to one end of a plurality of first palm longitudinal capacitor bars (22), and the other end of at least a portion of the first palm longitudinal capacitor bars (22) is electrically connected to a corresponding plurality of second palm longitudinal capacitor bars (24) through the first wire (23). All the first palm longitudinal capacitor bars (22) form a first palm longitudinal block, and all the second palm longitudinal capacitor bars (24) form a second palm longitudinal block. The capacitor bar coverage area of ​​the first palm longitudinal block is greater than the capacitor bar coverage area of ​​the second palm longitudinal block.

[0018] The palm transverse electrode (3) comprises a second electrode connection end (31), a first palm transverse capacitor bar (32), a second wire (33) and a second palm transverse capacitor bar (34); the second electrode connection end (31) is electrically connected to one end of a plurality of first palm transverse capacitor bars (32), and the other end of at least a portion of the first palm transverse capacitor bars (32) is electrically connected to a corresponding plurality of second palm transverse capacitor bars (34) via the second wire (33);

[0019] The intersection points of the plurality of first palm longitudinal capacitor bars (22) and the plurality of first palm transverse capacitor bars (32) respectively constitute a plurality of palm tactile sensing capacitor units in an outer circle, and the intersection points of the plurality of second palm longitudinal capacitor bars (24) and the plurality of second palm transverse capacitor bars (34) respectively constitute a plurality of palm tactile sensing capacitor units in an inner circle.

[0020] Preferably, the finger FPC carrier includes an upper finger PI film and a lower finger PI film, a dielectric layer is arranged between the upper finger PI film and the lower finger PI film, and both sides of the dielectric layer are tightly fitted with the surfaces of the upper finger PI film and the lower finger PI film respectively, the finger longitudinal electrode is arranged on the upper finger PI film, and the finger transverse electrode is arranged on the lower finger PI film.

[0021] Preferably, the side of the upper finger PI film (4) or the lower finger PI film (6) that is not in contact with the dielectric layer is attached to the front and back surfaces of the fingers of the dexterous hand, the finger transverse electrodes on the lower finger PI film (6) and the finger longitudinal electrodes on the upper finger PI film (4) are perpendicularly staggered, and the lower finger PI film (6) surrounds the fingers of the dexterous hand in a circle in the transverse direction.

[0022] Each finger of the dexterous hand has two joints, and the finger longitudinal electrode (5) includes four finger longitudinal capacitor blocks, each of which corresponds to the front and back sides of the adjacent joint area on the finger; all the finger longitudinal capacitor blocks are connected together through corresponding wires, one end of the first finger longitudinal capacitor block is connected to the third electrode connection end (51), and when in use, it is folded from the middle to cover the front and back sides;

[0023] The finger transverse electrode (7) comprises two finger transverse capacitor blocks, and the capacitor bars of each finger transverse capacitor block are vertically staggered with the capacitor bars of a group of finger longitudinal capacitor blocks located on the front and back sides.

[0024] The number, length and width of the capacitor bars in the capacitor block of the utility model can be adjusted according to the actual situation under the premise of the allowable range of FPC processing and good signal processing.

[0025] Preferably, the finger longitudinal electrode comprises a third electrode connection end, a first finger longitudinal capacitor bar, a third wire, a second finger longitudinal capacitor bar, a third finger longitudinal capacitor bar and a fourth finger longitudinal capacitor bar, the first finger longitudinal capacitor bar, the second finger longitudinal capacitor bar, the third finger longitudinal capacitor bar and the fourth finger longitudinal capacitor bar are arranged vertically and are electrically connected to each other through the third wire, the third wire is placed at the joint of the mechanical finger, and the first finger longitudinal capacitor bar is also electrically connected to the third electrode connection end;

[0026] The finger transverse electrode includes a fourth electrode connection end, a first finger transverse capacitor bar, a second finger transverse capacitor bar and a fourth wire. The fourth electrode connection end is electrically connected to the first finger transverse capacitor bar and the second finger transverse capacitor bar respectively through the fourth wire. The intersection points of the first finger transverse capacitor bar, the first finger longitudinal capacitor bar and the fourth finger longitudinal capacitor bar respectively constitute a plurality of capacitor units for finger tactile perception. The intersection points of the second finger transverse capacitor bar, the second finger longitudinal capacitor bar and the third finger longitudinal capacitor bar respectively constitute a plurality of capacitor units for finger tactile perception.

[0027] Compared with the prior art, the beneficial effects of the utility model are:

[0028] 1. The electronic skin of the utility model has a tactile perception function, which can simulate the touch of the human body, making the manipulator have more intelligent and flexible operation capabilities, and can perceive the external environment and object characteristics more accurately.

[0029] 2. The electronic skin is made of flexible FPC material, which has good flexibility and adaptability. It can better adapt to objects of different shapes and curved surfaces, and improve the operational flexibility and adaptability of the manipulator.

[0030] 3. Through the capacitor unit, high-precision perception of touch can be achieved, which can more accurately control the operation of the robot and improve operational accuracy and safety. The electronic skin can be widely used in various fields, including industrial production, medical rehabilitation, service robots, etc., bringing more possibilities and application scenarios to these fields.

[0031] Other features and advantages of the utility model will be described in the following description, and partly become apparent from the description, or understood by implementing the utility model. The purpose and other advantages of the utility model can be realized and obtained by the structures indicated in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the palm FPC carrier structure of the utility model;

[0033] Figure 2 It is a schematic diagram of the structure of the upper palm PI film and the palm longitudinal electrode of the utility model;

[0034] Figure 3 It is a schematic diagram of the structure of the lower palm PI film and the palm lateral electrode of the utility model;

[0035] Figure 4 This is a schematic diagram of the structure of the finger FPC carrier board of the utility model;

[0036] Figure 5 It is a schematic diagram of the upper finger PI film and the finger longitudinal electrode structure of the utility model;

[0037] Figure 6 This is a schematic diagram of the structure of the lower finger PI film and the finger lateral electrode of the utility model;

[0038] Figure 7 It is a pressure sensitivity curve diagram of the electronic skin of the utility model;

[0039] Figure 8 The pressure sensitivity curve for comparison is Figure 7 The enlarged image of the lower left corner;

[0040] Fig. 9 This is a dynamic characteristic diagram of the capacitor unit of the utility model.

[0041] In the figure:

[0042] 1. Palm FPC carrier board; 11. Upper palm PI film; 12. Lower palm PI film;

[0043] 2. Palm longitudinal electrode; 21. First electrode connection end; 22. First palm longitudinal capacitor strip; 23. First wire; 24. Second palm longitudinal capacitor strip;

[0044] 3. Palm transverse electrode; 31. Second electrode connection end; 32. First palm transverse capacitor strip; 33. Second wire; 34. Second palm transverse capacitor strip;

[0045] 4. Upper finger PI film;

[0046] 5. finger longitudinal electrode; 51. third electrode connection terminal; 52. first finger longitudinal capacitor strip; 53. third wire; 54. second finger longitudinal capacitor strip; 55. third finger longitudinal capacitor strip; 56. fourth finger longitudinal capacitor strip;

[0047] 6. Lower finger PI film;

[0048] 7. Finger transverse electrode; 71. Fourth electrode connection terminal; 72. First finger transverse capacitor strip; 73. Second finger transverse capacitor strip; 74. Fourth wire. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the utility model.

[0050] See also Figures 1 to 8 , the utility model provides embodiments:

[0051] A flexible and dexterous hand tactile sensing electronic skin based on FPC, which is arranged on a mechanical palm and mechanical fingers, is a flexible tactile sensing unit, and the flexible tactile sensing unit includes a palm FPC carrier board 1 and a palm longitudinal electrode 2 and a palm transverse electrode 3 arranged on the palm FPC carrier board 1, and the intersection of the palm longitudinal electrode 2 and the palm transverse electrode 3 constitutes a palm tactile sensing capacitor unit;

[0052] The flexible tactile sensing unit further includes a finger FPC carrier board and a finger longitudinal electrode 5 and a finger transverse electrode 7 arranged on the finger FPC carrier board. The intersection of the finger longitudinal electrode 5 and the finger transverse electrode 7 constitutes a capacitor unit for finger tactile sensing.

[0053] How it works

[0054] The capacitor unit for palm tactile perception is arranged in the region of the manipulator palm between two adjacent fingers of the dexterous hand, and the capacitor unit for finger tactile perception is arranged in the region between adjacent joints of each finger. The palm longitudinal electrode (2) and the palm transverse electrode (3) are composed of two electrode blocks of different sizes, which can fill the space between adjacent fingers on the palm to the greatest extent, thereby improving the accuracy of signal collection. The capacitor unit is formed by the intersection points of the longitudinal electrode and the transverse electrode, and each capacitor unit is a sensor unit, so that when subjected to pressure, it can simulate the touch of the human body, thereby realizing the function of human tactile perception on the contact surface of the manipulator.

[0055] Example 1

[0056] like Figures 1 to 3 As shown, the palm FPC carrier board 1 includes an upper palm PI film 11 and a lower palm PI film 12, a dielectric layer is arranged between the upper palm PI film 11 and the lower palm PI film 12, and the two sides of the dielectric layer are tightly fitted with the surfaces of the upper palm PI film 11 and the lower palm PI film 12 respectively, the palm longitudinal electrode 2 is arranged on the upper palm PI film 11, the palm transverse electrode 3 is arranged on the lower palm PI film 12, the upper palm PI film 11 and the lower palm PI film 12 are both attached to the palm surface of the robot palm, and a flexible circuit board that can hold the palm transverse electrode 3, the palm longitudinal electrode 2 and the wire is formed by the upper palm PI film 11-dielectric layer-lower palm PI film 12.

[0057] The dexterous hand in this embodiment is a three-finger dexterous hand, and the palm part is triangular in shape. In order to increase the area of ​​the contact sensing area of ​​the palm, three groups of palm longitudinal electrodes 2 and palm transverse electrodes 3 are respectively provided, and the three groups of palm longitudinal electrodes 2 and palm transverse electrodes 3 are respectively arranged in a triangular shape on the upper palm PI film 11 and the lower palm PI film 12, and the arrangement of the three groups of electrodes avoids the finger positions.

[0058] The palm longitudinal electrode 2 includes a first electrode connection end 21, a first palm longitudinal capacitor bar 22, a first wire 23 and a second palm longitudinal capacitor bar 24. The first electrode connection end 21 is electrically connected to one end of a plurality of first palm longitudinal capacitor bars 22 respectively, and the other ends of the plurality of first palm longitudinal capacitor bars 22 are electrically connected to the corresponding plurality of second palm longitudinal capacitor bars 24 respectively through the first wire 23.

[0059] The palm transverse electrode 3 includes a second electrode connection end 31, a first palm transverse capacitor bar 32, a second wire 33 and a second palm transverse capacitor bar 34, the second electrode connection end 31 is electrically connected to one end of a plurality of first palm transverse capacitor bars 32, and the other ends of the plurality of first palm transverse capacitor bars 32 are electrically connected to the corresponding plurality of second palm transverse capacitor bars 34 through the second wire 33;

[0060] Among them, the intersection points of multiple first palm longitudinal capacitor bars 22 and multiple first palm transverse capacitor bars 32 respectively constitute a number of palm tactile perception capacitor units in the outer circle layer, and the intersection points of multiple second palm longitudinal capacitor bars 24 and multiple second palm transverse capacitor bars 34 respectively constitute a number of palm tactile perception capacitor units in the inner circle layer.

[0061] When the upper palm PI film 11-the dielectric layer-the lower palm PI film 12 are attached together, a plurality of first palm longitudinal capacitor bars 22 and second palm longitudinal capacitor bars 24 are interlaced with the first palm transverse capacitor bars 32 and second palm transverse capacitor bars 34 respectively to form a plurality of matrix-like interlaced points. Each interlaced point forms a capacitor unit. When the area is subjected to force, the capacitor unit will send out an electrical signal, thereby giving the robot the ability to simulate the tactile perception of the human palm.

[0062] The specific principle is: when the first palm longitudinal capacitor bar 22 and the second palm longitudinal capacitor bar 24 are respectively in contact with one of the multiple intersecting points of the first palm transverse capacitor bar 32 and the second palm transverse capacitor bar 34, a capacitive coupling effect is formed. The capacitive coupling effect means that when two capacitors are close to or in contact, an equivalent capacitor is formed, and its capacity is affected by the two capacitors. When the intersecting points of the two capacitor bars are in contact, an equivalent capacitor is formed, and the charge therein changes, thereby generating a current flow, which can be detected and converted into an electrical signal, similar to the principle of a touch screen, and will not be elaborated on here.

[0063] Example 2

[0064] like Figures 4 to 6 As shown, the finger FPC carrier includes an upper finger PI film 4 and a lower finger PI film 6, a dielectric layer is arranged between the upper finger PI film 4 and the lower finger PI film 6, and the two sides of the dielectric layer are respectively tightly attached to the surface of the upper finger PI film 4 and the lower finger PI film 6. The finger longitudinal electrode 5 is arranged on the upper finger PI film 4, and the finger transverse electrode 7 is arranged on the lower finger PI film 6.

[0065] The difference from the palm construction of the manipulator in Example 1 is that since the palm is often a plane, it is only necessary to stick the palm FPC carrier board 1 on the palm surface of the manipulator, and the fingers of the manipulator are composed of multiple strip-shaped joints, and the joints need to be bent to grab objects. Therefore, it is necessary to give tactile perception to the surface of each finger, so the upper finger PI film 4 needs to be folded from the middle to surround the longitudinal front and back sides of each finger, and staggered sensing points need to be formed, and the horizontal lower finger PI film 6 needs to surround the upper finger PI film 4 to form multiple sensing staggered points. Specifically, a reasonable choice is made according to the finger length and the number of finger joints of the manipulator.

[0066] The finger longitudinal electrode 5 includes a third electrode connection end 51, a first finger longitudinal capacitor bar 52, a third wire 53, a second finger longitudinal capacitor bar 54, a third finger longitudinal capacitor bar 55 and a fourth finger longitudinal capacitor bar 56. The first finger longitudinal capacitor bar 52, the second finger longitudinal capacitor bar 54, the third finger longitudinal capacitor bar 55 and the fourth finger longitudinal capacitor bar 56 are arranged longitudinally and are electrically connected to each other through the third wire 53. The third wire 53 is placed at the joint of the mechanical finger. The first finger longitudinal capacitor bar 52 is also electrically connected to the third electrode connection end 51. The four finger longitudinal capacitor bars have the same structure in pairs. After being folded in half, they are laid out in the area between adjacent joints of the finger from the front and back sides of the finger respectively.

[0067] The finger transverse electrodes 7 each include a fourth electrode connection end 71, a first finger transverse capacitor bar 72, a second finger transverse capacitor bar 73 and a fourth wire 74. The fourth electrode connection end 71 is electrically connected to the first finger transverse capacitor bar 72 and the second finger transverse capacitor bar 73 through the fourth wire 74. The first finger transverse capacitor bar 72 and the intersection points of the first finger longitudinal capacitor bar 52 and the fourth finger longitudinal capacitor bar 56 respectively constitute a plurality of capacitor units for finger tactile perception. The second finger transverse capacitor bar 73 and the intersection points of the second finger longitudinal capacitor bar 54 and the third finger longitudinal capacitor bar 55 respectively constitute a plurality of capacitor units for finger tactile perception.

[0068] The finger transverse electrode 7 is interlaced with the first finger longitudinal capacitor bar 52, the second finger longitudinal capacitor bar 54, the third finger longitudinal capacitor bar 55 and the fourth finger longitudinal capacitor bar 56 to form a plurality of interlaced points, each of which can form a capacitor unit for finger tactile perception. The principle is consistent with the palm principle of the manipulator in Example 1, thereby giving the fingers of the manipulator the ability to simulate the tactile perception of human fingers.

[0069] Example 3

[0070] like Figures 7-8As shown, on the basis of Example 1 and Example 2, the palm FPC carrier 1 and multiple finger FPC carriers are installed on the manipulator, the width of each capacitor strip is 2 mm, and the length is adjusted according to the design size. The manipulator is tested under working conditions, and the following table is obtained:

[0071]

[0072]

[0073] The above table is Figure 7 The table of pressure capacitance of the manipulator after installing the palm FPC carrier 1 and multiple finger FPC carriers. It can be seen from the table that as the force of the manipulator grabbing objects is different, the capacitance obtained at the intersection of the palm FPC carrier 1 and the finger FPC carrier is also different, and as the pressure increases, the capacitance also increases. Therefore, the manipulator can sense the pressure of grabbing objects and Figure 7 and Figure 8 It can be seen from the curve that, compared with ordinary capacitive pressure sensors, the electronic skin of the utility model has high sensing sensitivity and a large force detection range, thereby being able to well enable the robot to simulate the magnitude of force perceived by the human body.

[0074] In this embodiment, the dielectric layer of the electronic skin is a non-woven dielectric layer soaked in a polyvinyl alcohol-phosphoric acid ion gel mixture, and the thickness of the non-woven fabric is 1 mm. The thickness of the upper PI film is 0.2 mm, and the thickness of the upper and lower PI films is the same.

[0075] Figure 8 In the figure, the capacitance pressure sensor used as a control is a 4 μm pore porous structure flexible pressure sensor described in the article Highly Sensitive Pressure Sensor Based on Bioinspired Porous Structure for Real-Time Tactile Sensing in the journal Advanced Electronic Materials, and its sensitivity is much lower than that of the present application.

[0076] like Fig. 9 As shown, it is a dynamic characteristic diagram of the capacitor unit composed of the intersection points of the longitudinal capacitor strips and the transverse capacitor strips, the horizontal axis unit is time (S), and the vertical axis unit is capacitance (F). It can be concluded from the figure that when pressure is applied to the intersection points of the manipulator, the capacitor unit at the intersection points fluctuates up and down with the application of pressure and no pressure, so it can be known that the detection point of the intersection point can actively and dynamically respond to external pressure stimulation, so it can also be known that the electronic skin of the utility model has high sensing sensitivity, and when it is specifically used on the manipulator, it can make the manipulator grasp objects flexibly.

[0077] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

[0078] Anything not described in the present invention is applicable to the prior art.

Claims

1. A flexible and dexterous hand tactile sensing electronic skin based on FPC, characterized by: It is arranged on a mechanical palm and mechanical fingers, and comprises a palm FPC carrier (1), a palm longitudinal electrode (2) and a palm transverse electrode (3) arranged on the palm FPC carrier (1), a finger FPC carrier, a finger longitudinal electrode (5) and a finger transverse electrode (7) arranged on the finger FPC carrier, wherein the intersection of the palm longitudinal electrode (2) and the palm transverse electrode (3) constitutes a capacitance unit for palm tactile perception; The intersection points of the finger longitudinal electrodes (5) and the finger transverse electrodes (7) form a capacitance unit for finger tactile perception; The capacitor unit for palm tactile perception is arranged in a mechanical palm region between two adjacent fingers of the dexterous hand, and the capacitor unit for finger tactile perception is arranged in a region between adjacent joints of each finger.

2. The FPC-based flexible and dexterous hand tactile sensing electronic skin according to claim 1, characterized in that: The palm FPC carrier board (1) comprises an upper palm PI film (11) and a lower palm PI film (12), a dielectric layer is arranged between the upper palm PI film (11) and the lower palm PI film (12), a palm longitudinal electrode (2) and a palm transverse electrode (3) are arranged on the inner side of the upper palm PI film (11) and the lower palm PI film (12) relative to the dielectric layer, and two sides of the dielectric layer are tightly fitted to the surfaces of the upper palm PI film (11) and the lower palm PI film (12), respectively. The side of the upper palm PI film (11) or the lower palm PI film (12) that is not in contact with the medium layer is attached to the palm surface of the dexterous hand.

3. The FPC-based flexible and dexterous hand tactile sensing electronic skin according to claim 1, characterized in that: The palm longitudinal electrode (2) and the palm transverse electrode (3) have the same overall structure, and only the directions of the capacitor bars are different. The palm longitudinal electrode (2) comprises a first electrode connection end (21), a first palm longitudinal capacitor bar (22), a first wire (23) and a second palm longitudinal capacitor bar (24). The first electrode connection end (21) is electrically connected to one end of a plurality of first palm longitudinal capacitor bars (22), and the other end of at least a portion of the first palm longitudinal capacitor bars (22) is electrically connected to a corresponding plurality of second palm longitudinal capacitor bars (24) through the first wire (23). All the first palm longitudinal capacitor bars (22) form a first palm longitudinal block, and all the second palm longitudinal capacitor bars (24) form a second palm longitudinal block. The capacitor bar coverage area of ​​the first palm longitudinal block is greater than the capacitor bar coverage area of ​​the second palm longitudinal block. The palm transverse electrode (3) comprises a second electrode connection end (31), a first palm transverse capacitor bar (32), a second wire (33) and a second palm transverse capacitor bar (34); the second electrode connection end (31) is electrically connected to one end of a plurality of first palm transverse capacitor bars (32), and the other end of at least a portion of the first palm transverse capacitor bars (32) is electrically connected to a corresponding plurality of second palm transverse capacitor bars (34) via the second wire (33); The intersection points of the plurality of first palm longitudinal capacitor bars (22) and the plurality of first palm transverse capacitor bars (32) respectively constitute a plurality of palm tactile sensing capacitor units in an outer circle, and the intersection points of the plurality of second palm longitudinal capacitor bars (24) and the plurality of second palm transverse capacitor bars (34) respectively constitute a plurality of palm tactile sensing capacitor units in an inner circle.

4. The FPC-based flexible and dexterous hand tactile sensing electronic skin according to claim 3, characterized in that: The width of the capacitor strip is 1.5-2.5 mm.

5. The FPC-based flexible and dexterous hand tactile sensing electronic skin according to claim 2, characterized in that: The dexterous hand has three fingers, and the palm longitudinal electrodes (2) and palm transverse electrodes (3) are respectively provided in three groups, and the three groups of palm longitudinal electrodes (2) and palm transverse electrodes (3) are arranged in a triangular shape.

6. The FPC-based flexible and dexterous hand tactile sensing electronic skin according to claim 1, characterized in that: The finger FPC carrier comprises an upper finger PI film (4) and a lower finger PI film (6), a dielectric layer is arranged between the upper finger PI film (4) and the lower finger PI film (6), finger longitudinal electrodes (5) and finger transverse electrodes (7) are arranged on the inner sides of the upper finger PI film (4) and the lower finger PI film (6) relative to the dielectric layer, respectively, and two surfaces of the dielectric layer are tightly fitted to the surfaces of the upper finger PI film (4) and the lower finger PI film (6), respectively.

7. The FPC-based flexible and dexterous hand tactile sensing electronic skin according to claim 6, characterized in that: The side of the upper finger PI film (4) or the lower finger PI film (6) that is not in contact with the dielectric layer is attached to the front and back surfaces of the fingers of the dexterous hand, the finger transverse electrodes on the lower finger PI film (6) and the finger longitudinal electrodes on the upper finger PI film (4) are perpendicularly staggered, and the lower finger PI film (6) surrounds the fingers of the dexterous hand in a circle in the transverse direction.

8. The FPC-based flexible and dexterous hand tactile sensing electronic skin according to claim 6, characterized in that: Each finger of the dexterous hand has two joints, and the finger longitudinal electrode (5) includes four finger longitudinal capacitor blocks, each of which corresponds to the front and back sides of the adjacent joint area on the finger; all the finger longitudinal capacitor blocks are connected together through corresponding wires, one end of the first finger longitudinal capacitor block is connected to the third electrode connection end (51), and when in use, it is folded from the middle to cover the front and back sides; The finger transverse electrode (7) comprises two finger transverse capacitor blocks, and the capacitor bars of each finger transverse capacitor block are vertically interlaced with the capacitor bars of a group of finger longitudinal capacitor blocks located on the front and back sides.

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