Array type sensor wiring structure of device simulating human hand operation
By using a single acquisition device to connect all the measurement plates in the humanoid hand operating device and merging the row and column connection points of the sensitive point array, the problem of complex wiring is solved, and simplified wiring and improved sensing capabilities are achieved in a limited space.
Patent Information
- Application Number
- CN202520173962.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-26
- Publication Date
- 2026-02-06
- Estimated Expiration
- 2035-01-26
AI Technical Summary
The array-type sensor wiring structure of the humanoid hand operating device is complex and has a long bus, making it difficult to lay out in the limited space inside the humanoid hand.
A single acquisition device is used to connect all measurement chips. By integrating signal lines, the wiring structure is simplified, the bus length is shortened, and the wiring path is optimized by merging the row and column connection points of the sensitive point array.
This technology simplifies wiring, shortens bus length, reduces signal interference risk, improves system reliability and stability, and enhances sensing capabilities within the limited space inside a human-like hand.
Smart Images
Figure CN223877004U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of humanoid robot, in particular to an array type sensor wiring structure of a humanoid hand operating device. BACKGROUND
[0002] The humanoid hand operating device is an automatic operating device that can imitate some actions of human hands to grasp, carry objects or operate tools according to a set program. It has the characteristics of being able to complete various expected work through programming, and has the advantages of both human hands and machines in structure and performance.
[0003] The humanoid hand operating device includes a humanoid hand, a wiring structure and a collection device. The humanoid hand usually includes a palm and a plurality of fingers. The wiring structure usually includes a measuring sheet laid on the palm and the plurality of fingers, and a signal line connected to the measuring sheet.
[0004] In the related art, the number of collection devices is multiple, and each collection device is connected to one or part of the measuring sheets through the signal line, resulting in a complex wiring structure and a long bus, which is difficult to lay in the limited space inside the humanoid hand. CONTENT OF THE UTILITY MODEL
[0005] The present application aims to provide an array type sensor wiring structure of a humanoid hand operating device, which aims to solve the defects of the related art, such as complex wiring structure, long bus and difficulty in laying in the limited space inside the humanoid hand.
[0006] Additional aspects and advantages of the present application will be set forth in part in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the application.
[0007] According to a first aspect of the present application, an array type sensor wiring structure of a humanoid hand operating device is provided, which includes a humanoid hand, a wiring structure and a collection device. The humanoid hand includes a palm and a plurality of fingers. Each finger includes at least one knuckle. The wiring structure includes a measuring sheet laid on the palm and each knuckle of the plurality of fingers, and a signal line connected to the measuring sheet. The measuring sheet contains an array of sensitive points with force sensing and / or temperature sensing capabilities. The collection device is one, and all the measuring sheets are connected to the collection device through the signal line. The collection device is used to transmit the information measured by the measuring sheets to an upper computer.
[0008] In an exemplary embodiment of the present application, one measuring sheet is laid on each knuckle and / or one measuring sheet is laid on the palm. Each measuring sheet contains an array of sensitive points, which is a matrix array formed by the intersection of a plurality of rows and a plurality of columns of sensitive points.
[0009] In an exemplary embodiment of the present application, the acquisition device is provided with a plurality of row connection points.
[0010] The number of rows of the sensitive point array on different knuckles of the same finger is the same or different. When the number of rows is the same, the same row of sensitive points on different knuckles is combined into a signal line connected to one row connection point of the acquisition device. When the number of rows is different, the number of rows of each knuckle is the least, and the sensitive points on each row of the knuckle are combined into a signal line connected to one row connection point of the acquisition device.
[0011] In an exemplary embodiment of the present application, the acquisition device is further provided with a plurality of column connection points.
[0012] The number of columns of the sensitive point array on the same knuckle of different fingers is the same or different. When the number of columns is the same, the same column of sensitive points on the same knuckle is combined into a signal line connected to one column connection point of the acquisition device. When the number of columns is different, the number of columns of each knuckle is the least, and the sensitive points on each column of the knuckle are combined into a signal line connected to one column connection point of the acquisition device.
[0013] In an exemplary embodiment of the present application, the number of columns of the sensitive point array on different knuckles of the same finger is equal and the number of columns is not greater than the number of rows of the sensitive point array on any one knuckle of the same finger.
[0014] In an exemplary embodiment of the present application, the plurality of fingers includes a little finger, a ring finger, a middle finger, an index finger, and a thumb, and the little finger, the ring finger, the middle finger, the index finger, and the thumb each include three knuckles, which are a first knuckle, a second knuckle, and a third knuckle from the finger palm to the direction away from the finger palm.
[0015] In an exemplary embodiment of the present application, the number of rows of the sensitive point array on the first knuckle, the second knuckle, and the third knuckle of the little finger, the ring finger, the middle finger, the index finger, and the thumb is 2-20 rows, and the number of columns of the sensitive point array on the first knuckle, the second knuckle, and the third knuckle of the little finger, the ring finger, the middle finger, the index finger, and the thumb is 2-10 columns.
[0016] In an exemplary embodiment of the present application, the length of the first knuckle, the second knuckle, and the third knuckle of the little finger, the ring finger, the middle finger, the index finger, and the thumb is 5-30 mm, and the width of the first knuckle, the second knuckle, and the third knuckle of the little finger, the ring finger, the middle finger, the index finger, and the thumb is 5-30 mm.
[0017] In an exemplary embodiment of the present application, each row of the sensitive point array on the artificial palm is connected to one row connection point on the acquisition device through a signal line, and each column of the sensitive point array is connected to one column connection point on the acquisition device through a signal line.
[0018] In an exemplary embodiment of the present application, the number of rows of the sensitive point array on the artificial palm is 4-64, and the number of columns is 4-64; the length of the artificial palm is 50-300 mm, and the width is 50-300 mm.
[0019] The exemplary embodiments of the present application can have the following partial or all beneficial effects:
[0020] 1. In the array sensor wiring structure of the artificial hand operation device provided in the exemplary embodiments of the present application, the acquisition device is provided as one, and the sensitive point arrays of all the measurement pieces are connected to the one acquisition device through signal lines. Through the integration of the acquisition device and the signal lines, the wiring structure is simplified, the total bus length is shortened, and the wiring is facilitated in the limited space inside the artificial hand.
[0021] 2. In the array sensor wiring structure of the artificial hand operation device provided in the exemplary embodiments of the present application, the acquisition device is provided with a plurality of row connection points, the number of rows of the sensitive point arrays of different knuckles of the same artificial finger is the same or different, when the same, the same row of sensitive points on different knuckles are respectively merged into a signal line connected to one row connection point of the acquisition device, and when different, each row of sensitive points on the knuckle with the least number of rows is respectively merged with the same row of sensitive points on other knuckles into a signal line connected to one row connection point of the acquisition device. Through the above arrangement, the wiring of the row of sensitive points of the sensitive point array on the plurality of artificial fingers is merged as much as possible, and the total bus length is shortened.
[0022] 3. In the array sensor wiring structure of the artificial hand operation device provided in the exemplary embodiments of the present application, the acquisition device is further provided with a plurality of column connection points; the number of columns of the sensitive point arrays of the same named knuckles on different artificial fingers is the same or different, when the same, the same column of sensitive points on the same named knuckles is merged into a signal line connected to one column connection point of the acquisition device, and when different, each column of sensitive points on the knuckle with the least number of columns is respectively merged with the same column of sensitive points on the same named knuckles of other artificial fingers into a signal line connected to one column connection point of the acquisition device. Through the above arrangement, the wiring of the column of sensitive points of the sensitive point array on the plurality of artificial fingers is merged as much as possible, and the total bus length is shortened.
[0023] 4. In the array sensor wiring structure of the human hand operation device provided in the example embodiment of the present application, the number of columns of the sensitive point array on different knuckles of the same finger is equal to and no more than the number of rows of the sensitive point array on any knuckle of the same finger. Merging the signal lines in a larger number of rows can further shorten the bus length.
[0024] It should be understood that the general description above and the following detailed description are only exemplary and explanatory and are not restrictive of the present application. BRIEF DESCRIPTION OF DRAWINGS
[0025] The accompanying drawings, which are incorporated herein and form a part of the specification, illustrate embodiments consistent with the present application and, together with the description, further serve to explain the principles of the application. It is to be understood that the drawings are designed solely for purposes of illustration to be used in conjunction with the description in
[0026] Figure 1 Fig. 1 shows a schematic diagram of the array sensor wiring structure of the human hand operation device in the example embodiment of the present application;
[0027] Figure 2 Fig. 2 shows a schematic diagram of the overall structure of the wiring connection between the sensitive point array and the acquisition device in the example embodiment of the present application;
[0028] Figure 3 Fig. 3 shows a schematic diagram of the wiring row connection between the sensitive point array and the acquisition device in the example embodiment of the present application;
[0029] Figure 4 Fig. 4 shows a schematic diagram of the wiring column connection between the sensitive point array and the acquisition device in the example embodiment of the present application.
[0030] BRIEF DESCRIPTION OF DRAWINGS
[0031] 1, human hand; 11, human palm; 12, human finger; 2, measurement sheet; 21, signal line; 3, acquisition device. DETAILED DESCRIPTION
[0032] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments, however, can be implemented in many different forms and should not be construed as limited to the implementations set forth herein; rather, these implementations are provided so that this disclosure will be thorough and complete, and will fully convey the inventive concept of example embodiments to those skilled in the art. Like reference numerals refer to like elements throughout the drawings, and descriptions of the same or similar elements can be omitted. In addition, the drawings are only schematic and are not necessarily drawn to scale.
[0033] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples in the accompanying drawings. It is understood that if the device of the icon is flipped so that it is upside down, the component described as "upper" will become the component described as "lower." When a structure is "upper" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.
[0034] The terms “a,” “one,” “the,” and “at least one” are used to indicate the existence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first” and “second” are used only as markers and are not a limitation on the number of objects.
[0035] like Figure 1 and Figure 2 As shown in this embodiment, an array-type sensor wiring structure for a humanoid hand manipulation device is provided. The humanoid hand manipulation device includes a humanoid hand 1, a wiring structure, and a data acquisition device 3. The humanoid hand 1 includes a humanoid palm 11 and several humanoid fingers 12, each of the humanoid fingers 12 including at least one knuckle. The wiring structure includes measuring plates 2 laid on each knuckle of the humanoid palm 11 and the several humanoid fingers 12, and signal lines 21 connected to the measuring plates 2. The measuring plates 2 include an array of sensitive points with force sensing and / or temperature sensing capabilities. The data acquisition device 3 is a single device, and all the measuring plates 2 are connected to the data acquisition device 3 through the signal lines 21. The data acquisition device 3 is used to transmit the information measured by the measuring plates 2 to a host computer.
[0036] In a preferred embodiment of this invention, the proto-human hand 1 has several proto-finger 12, including a proto-little finger, a proto-ring finger, a proto-middle finger, a proto-index finger, and a proto-thumb, meaning the proto-human hand 1 has a five-finger structure consisting of a thumb and four fingers. However, it should be noted that this embodiment is not limited to a five-finger structure. In other embodiments, the proto-human hand 1 can be a thumb and two fingers, a thumb and three fingers, or a two-, three-, four-, or five-finger structure without a thumb.
[0037] Each of the proto-finger 12 in the proto-hand 1 includes at least one knuckle. In a preferred embodiment of this invention, to facilitate grasping of objects, each proto-finger 12 includes multiple knuckles. However, in other embodiments, it is permissible for one or more proto-finger 12 to include only one knuckle.
[0038] In the embodiment, the measurement sheet 2 comprises a sensitive point array with force sensing capability and / or temperature sensing capability. In some embodiments, the sensitive point array is composed of an array sensor, which comprises a pressure sensor array, a temperature sensor array. The sensitive point density of the pressure sensor array and the temperature sensor array is not limited in the embodiment.
[0039] The acquisition device 3 comprises a plurality of board cards, each of which comprises a substrate and elements. In some embodiments, the plurality of board cards can be divided into a plurality of first board cards and a second board card. The first board cards have elements such as strobes, operational amplifiers, analog-to-digital converters, etc. on the substrate. In use, the first board cards convert the analog signals collected by the measurement sheet 2 into digital signals and output the measurement results in the form of digital signals. The second board card has elements such as FPGAs on the substrate. The functions of the second board card include: controlling the sampling rate, controlling the scanning of sensitive points (also referred to as measurement points), performing preprocessing (filtering, zeroing, etc.), and communicating with an upper computer (such as a computer or a controller of a humanoid robot).
[0040] In the related art, the number of acquisition devices 3 is multiple, and each acquisition device 3 is connected to one or part of the measurement sheets 2 through a signal line 21, resulting in a complex wiring structure and a long bus length, which is difficult to lay in the limited space inside the humanoid hand 1.
[0041] Therefore, in the embodiment, the acquisition device 3 is provided as one, and the sensitive point arrays of all the measurement sheets 2 are connected to the one acquisition device 3 through the signal line 21. Through the integration of the acquisition device 3 and the signal line 21, the wiring structure is simplified, and the bus length of the wiring is shortened, which is conducive to laying in the limited space inside the humanoid hand 1. In addition, through the simplification of the wiring structure and the shortening of the bus length of the wiring, it is also conducive to reducing the risk of signal interference, thereby improving the reliability and stability of the overall system.
[0042] In order to ensure that the humanoid hand operating device can achieve accurate and comprehensive detection on the target object, in the embodiment, one measurement sheet 2 is laid on each finger joint of the plurality of fingers 12, and a measurement sheet 2 is also laid on the palm 11. Each measurement sheet 2 comprises a sensitive point array formed by the intersection of a plurality of rows and a plurality of columns of sensitive points. Compared with the related art in which the measurement sheet 2 is laid only on the front surface of the fingertip joint of the finger 12, the above-mentioned manner adopted in the embodiment realizes wide-range detection, enhances the perception ability of the humanoid hand operating device, and enables it to capture more details of the target object, for example, improves the accuracy of identifying the specific contact position and the accuracy of identifying the shape of the target object.
[0043] In order to further simplify the wiring structure and shorten the bus length of the wiring, for example, Figure 2 and Figure 3As shown in some embodiments of the present application, a plurality of row connection points are provided on the acquisition device 3, the number of rows of the sensitive point array on each of the plurality of artificial fingers 12 is set to be the same, and the same row of sensitive points on different knuckles of the same artificial finger 12 are combined into a signal line 21 connected to one row connection point of the acquisition device 3. Here, the "same row" needs to be explained: the same row refers to the same row of sensitive points in the sensitive point array of different knuckles, for example Figure 2 As shown in the middle, the little finger has three knuckles, from bottom to top, they are the first knuckle, the second knuckle and the third knuckle, the first row of the first knuckle sensitive point array is the first row, the first row of the second knuckle and the third knuckle sensitive point array is also the first row, the first row of the three knuckles is the same row, the second row and the third row are similar and will not be repeated here.
[0044] Through the above setting, the wiring of the row of sensitive points of the sensitive point array on the plurality of artificial fingers 12 is combined as much as possible, and the total bus length is shortened.
[0045] Of course, the embodiments of the present application are not limited to the above embodiments.
[0046] In some other embodiments, considering the differences in length and function of different knuckles, different numbers of rows can also be allocated to each knuckle, so as to more accurately match its specific needs. For example, longer knuckles may need more rows to capture more abundant information, while shorter knuckles can use fewer rows, thereby enhancing the adaptability of the artificial hand operating device to complex environments. In these embodiments, the number of rows of the sensitive point array on each of the plurality of artificial fingers 12 can be set to be different according to the length of different knuckles. When the number of rows of the sensitive point array of different knuckles is different, each row of sensitive points on the knuckle with the least number of rows is combined with the same row of sensitive points on other knuckles into a signal line 21 connected to one row connection point of the acquisition device 3. Through the above setting, even if the number of rows of the sensitive point array on different knuckles is different, the wiring is combined as much as possible, and the total bus length is shortened.
[0047] For better understanding of the above described, the following is an exemplary description of the same finger 12 different knuckles on the sensitive point array row number is not the same, to the little finger as an example, the third knuckle sensitive point array row number is set to 5 rows, the second knuckle sensitive point array row number is set to 4 rows, the first knuckle sensitive point array row number is set to 3 rows, then the first knuckle is the least number of rows of knuckles. The first knuckle on each row of sensitive points are combined with the same row of sensitive points on the second knuckle and the third knuckle to a signal line 21, for example, the first knuckle of the first row, the second knuckle of the first row and the third knuckle of the first row are combined into a signal line 21, the first knuckle of the second row, the second knuckle of the second row and the third knuckle of the second row are combined into a signal line 21, the first knuckle of the third row, the second knuckle of the third row and the third knuckle of the third row are combined into a signal line 21, these combined signal lines 21 are connected to the corresponding row connection points on the acquisition device 3.
[0048] It should be noted that on the basis of the above described, further line can be further combined, for example, the second knuckle on the row of sensitive points (the fourth row) and the third knuckle on the row of sensitive points (the fourth row and the fifth row) are further combined, and the combined manner is the same as the above described, which will not be described here.
[0049] Of course, the second knuckle and the third knuckle on the row of sensitive points can not be combined, but directly connected to the different row connection points on the acquisition device 3 through the signal line 21.
[0050] In order to further simplify the wiring structure and shorten the total length of the wiring, in the embodiment of the present application, when the same number of sensitive points on different knuckles of the same finger 12 are combined, in order to further shorten the length of the signal line 21, the same column number of sensitive points in the same knuckle on different fingers 12 can also be combined. In this way, the length of the signal line 21 is effectively shortened under the premise of ensuring that each sensitive point can be distinguished.
[0051] As shown in Figure 2 and Figure 4 In the embodiment of the present application, the column number of the sensitive point array on the same knuckle on different fingers 12 can also be set to the same number or different number. Further explained, if there are three knuckles in each of the plurality of different fingers 12, the three knuckles of each finger 12 are respectively set as the first knuckle, the second knuckle and the third knuckle, the first knuckles of each of the different fingers 12 are the same knuckle, the second knuckles of each of the different fingers 12 are the same knuckle, and the third knuckles of each of the different fingers 12 are the same knuckle.
[0052] Specifically, when the same, the same name joint same column sensitive point is combined to a signal line 21, and then connected to a column connection point of the acquisition device 3.
[0053] When different, each column sensitive point on the least column number joint is combined with the same column sensitive point of the same name joint of other artificial fingers 12 to a signal line 21 connected to a row connection point of the acquisition device 3. In addition to the least column number joint, the same name joint on the other artificial fingers 12 still has the same column sensitive point which can be combined to a signal line 21 and then connected to a column connection point of the acquisition device 3. Of course, the remaining sensitive points can also be directly connected to different column connection points of the acquisition device 3 through the signal line 21 without column combination.
[0054] In the embodiment of the application, the column number of the sensitive point array on different joints of the same artificial finger 12 is equal, and the column number is not greater than the row number of the sensitive point array on any joint of the same artificial finger 12. Through the above layout of the rows and columns of the sensitive point array, the wiring can be combined to the maximum extent, and the length of the bus is shortened.
[0055] In the embodiment of the application, in order to realize more delicate tactile feedback, the first joint, the second joint and the third joint of the artificial little finger, the artificial ring finger, the artificial middle finger, the artificial index finger and the artificial thumb are all equipped with a sensitive point array. The row number of the sensitive point array is 2-20, and the column number of the sensitive point array is 2-10. It is ensured that the finger can capture rich and delicate tactile information when perceiving the environment.
[0056] In the embodiment of the application, each of the plurality of measurement pieces 2 comprises M*N*O*P (M represents the row number of the sensitive point, N represents the column number of the sensitive point, O represents the number of joints on each artificial finger 12, and P represents the number of fingers, and M and N are both integers greater than 0)
[0057] The following are two preferred embodiments of the row and column array of the sensitive point position in the measurement piece 2 on the artificial finger 12:
[0058] Embodiment one, 12*8*3*5, in this layout mode, the artificial finger 12 is set to 5, each finger is set to three joints, and the row of the sensitive point on each measurement piece 2 is set to 12 rows and the column is set to 8 columns.
[0059] Embodiment two, (14+12+10)*8*5, in this layout mode, the artificial finger 12 is set to 5, each finger is set to three joints, the row number of the sensitive point of the first joint is set to 14, the row number of the sensitive point of the second joint is set to 12, and the row number of the sensitive point of the third joint is set to 10, and the column number of the sensitive point of each joint is set to 8.
[0060] In the embodiments of the present application, in order to achieve similar morphology and function as real fingers, the length of the first, second and third knuckles of the imitation little finger, imitation ring finger, imitation middle finger, imitation index finger and imitation thumb is 5-30 mm, and the width of the first, second and third knuckles of the imitation little finger, imitation ring finger, imitation middle finger, imitation index finger and imitation thumb is 5-30 mm. Not only does it ensure that the bionic fingers are highly similar to human fingers in appearance, but also achieves fine operation and tactile feedback in function.
[0061] In the imitation palm 11 of the embodiments of the present application, in order to achieve accurate tactile signal transmission, the tactile sensors in each row of the sensitive point array are connected to the row connection points on the acquisition device 3 through independent signal lines 21, and the sensitive points in each column are connected to the column connection points of the device through another group of signal lines 21. Through the above layout, it is ensured that the tactile information of each sensitive point can be accurately captured and processed.
[0062] In the design of the bionic palm, in order to simulate the complex tactile perception of the human palm, the number of rows and columns of the sensitive point array is set in the range of 4 to 64, ensuring that the imitation palm 11 can capture extremely delicate tactile information, whether it is a soft touch or a complex target object recognition, it can provide accurate feedback. At the same time, the length and width of the imitation palm 11 are set in the range of 50 to 300 mm, not only achieving high imitation degree with the real palm in appearance, but also ensuring the flexibility and adaptability of the bionic palm in various application scenarios in function.
[0063] Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the application. The present application is intended to cover any variations, uses or adaptations of the application following the general principles thereof and including such departures from the present disclosure as come within known use or custom in the art to which the present application pertains. The specification and examples are to be regarded as exemplary only, and the true scope and spirit of the present application is indicated by the appended claims.
Claims
1. An array sensor wiring structure of a human hand-like operating device, the human hand-like operating device comprising a human hand-like hand (1), a wiring structure, and a collection device (3), the human hand-like hand (1) comprising a human hand-like palm (11) and a plurality of human hand-like fingers (12), each of the human hand-like fingers (12) comprising at least one knuckle, the wiring structure comprising a measurement sheet (2) laid on the human hand-like palm (11) and each knuckle of the plurality of human hand-like fingers (12), and a signal line (21) connected to the measurement sheet (2), the measurement sheet (2) containing an array of sensitive points having a force sensing ability and / or a temperature sensing ability, characterized in that, The acquisition device (3) is one, all the measuring pieces (2) are connected to the acquisition device (3) through the signal lines (21), and the acquisition device (3) is used for transmitting the information measured by the measuring pieces (2) to an upper computer; The acquisition device (3) is provided with a plurality of row connection points; The number of rows of the sensitive point arrays of different knuckles of the same finger (12) is the same or different, when the same, the same row sensitive points on different knuckles are respectively combined into a signal line (21) connected to a row connection point of the acquisition device (3), and when different, each row of sensitive points on the knuckle with the least number of rows is respectively combined with the same row sensitive points on the same knuckle of other fingers (12) into a signal line (21) connected to a row connection point of the acquisition device (3).
2. The array sensor wiring structure of the human-like hand operation device according to claim 1, wherein Each of the knuckles is paved with a measuring piece (2), and / or the palm (11) is paved with a measuring piece (2); each of the measuring pieces (2) comprises a sensitive point array formed by a plurality of rows and a plurality of columns of sensitive points intersecting to form a matrix array.
3. The array sensor wiring structure of the anthropomorphic hand manipulation device according to claim 1, wherein The acquisition device (3) is further provided with a plurality of column connection points; The number of columns of the sensitive point arrays of the same knuckle on different fingers (12) is the same or different, when the same, the same column sensitive points on the same knuckle are combined into a signal line (21) connected to a column connection point of the acquisition device (3), and when different, each column of sensitive points on the knuckle with the least number of columns is respectively combined with the same column sensitive points of the same knuckle of other fingers (12) into a signal line (21) connected to a column connection point of the acquisition device (3).
4. The array sensor wiring structure of the human-like hand operation device according to claim 3, wherein The number of columns of the sensitive point arrays of different knuckles of the same finger (12) is equal and does not exceed the number of rows of the sensitive point array on any one knuckle of the same finger (12).
5. The array sensor wiring structure of the human-like hand operation device according to any one of claims 1 to 4, characterized by, The plurality of fingers (12) includes a little finger, a ring finger, a middle finger, an index finger and a thumb, and the little finger, the ring finger, the middle finger, the index finger and the thumb each comprise three knuckles, which are a first knuckle, a second knuckle and a third knuckle from the palm (11) to the direction away from the palm (11).
6. The array sensor wiring structure of the human-like hand operation device according to claim 5, wherein The number of rows of the sensitive point arrays on the first knuckle, the second knuckle and the third knuckle of the little finger, the ring finger, the middle finger, the index finger and the thumb is 2-20 rows, and the number of columns of the sensitive point arrays on the first knuckle, the second knuckle and the third knuckle of the little finger, the ring finger, the middle finger, the index finger and the thumb is 2-10 columns.
7. The array sensor wiring structure of the anthropomorphic hand operating device according to claim 6, wherein The length of the first knuckle, the second knuckle and the third knuckle of the little finger, the ring finger, the middle finger, the index finger and the thumb is 5-30 mm, and the width of the first knuckle, the second knuckle and the third knuckle of the little finger, the ring finger, the middle finger, the index finger and the thumb is 5-30 mm.
8. The array sensor wiring structure of the human-like hand operation device according to claim 2, wherein Each row of sensitive points in the sensitive point array on the palm (11) is connected to a row connection point on the acquisition device (3) through a signal line (21), and each column of sensitive points is connected to a column connection point on the acquisition device (3) through a signal line (21).
9. The array of sensors for a humanoid hand according to claim 8, wherein The number of rows of the sensitive point array on the palm imitation (11) is 4-64, and the number of columns is 4-64; the length of the palm imitation (11) is 50-300 mm, and the width is 50-300 mm.