An inductive mechanism and a tactile sensing device

Abstract

The application provides a sensing mechanism and a tactile sensing device. The sensing mechanism comprises a sensing part, a force measuring part, and a support part. The sensing part comprises a circuit board and a sensing layer for detecting a force position and / or a profile. The sensing layer is arranged on one side of the circuit board. The support part is connected to the circuit board and is capable of bending when the sensing part is subjected to a Z-axis direction pressure. The force measuring part comprises a strain gauge for detecting the Z-axis direction pressure when the support part is subjected to the bending deformation. The sensing mechanism and the tactile sensing device provided by the application can accurately measure the Z-axis direction pressure by using the strain gauge and the deformation of the support part subjected to the Z-axis force. The application separates the position sensing and the force value measurement, thereby ensuring the detection accuracy of the contact point position and / or the profile, and significantly improving the accuracy and consistency of the pressure detection by using the high linearity and reliability of the strain gauge.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and more specifically, relates to a sensing mechanism and a tactile sensing device. Background Technology

[0002] In the design of biomimetic robots, it is necessary not only to identify the contact position and / or contour of the robotic finger, but also to detect the pressure applied when the robotic finger contacts an object. This is crucial for the control precision of the robotic finger. To improve the tactile sensation when contacting objects, existing robotic fingers are usually made of materials with a certain degree of flexibility. The sensors used are typically pressure-resistive, capacitive, piezoelectric, optical, inductive, and strain gauge sensors, which cannot meet the detection requirements of positional accuracy, pressure magnitude, and consistency between different sensors. Utility Model Content

[0003] The purpose of this application is to provide a sensing mechanism to solve the technical problem that the sensors of existing mechanical fingers cannot meet the detection requirements of position accuracy, pressure magnitude, and consistency between different sensors.

[0004] To achieve the above objectives, the technical solution adopted in this application is: to provide a sensing mechanism, comprising:

[0005] The sensing element includes a circuit board and a sensing layer for detecting the location and / or contour of the force applied, the sensing layer being disposed on one side of the circuit board;

[0006] The force measuring element includes a support for bending deformation when the sensing element is subjected to pressure in the Z-axis direction and a strain gauge for detecting pressure in the Z-axis direction when the support for bending deformation, the support being connected to the circuit board.

[0007] This application embodiment uses a sensor to accurately sense the position and / or contour of the contact between the sensing mechanism and the object. By using a support to support the circuit board, the force on the position and / or contour sensor can be transmitted to the support. By using a strain gauge, the deformation of the support along the Z-axis can be used to accurately measure the pressure on the support along the Z-axis, thereby obtaining the pressure on the sensor along the Z-axis. This not only ensures the accuracy of the contact point position detection but also the accuracy of the pressure magnitude detection.

[0008] In one embodiment, the sensing element is an FSR sensor; and / or,

[0009] The sensing layer is provided with a resistor array or a capacitor array.

[0010] By employing the above-mentioned technical means, the contact position and / or contour can be accurately measured.

[0011] In one embodiment, the strain gauge is a silicon strain gauge, a metal foil strain gauge, or a printable ink strain gauge; and / or,

[0012] The strain gauges are multiple, and the multiple strain gauges form a full-bridge or half-bridge Wheatstone circuit.

[0013] By employing the above-mentioned technical means, the pressure level can be detected, facilitating the calculation of the pressure level.

[0014] In one embodiment, the support member has a first arm at each end along its length that is connected to the circuit board, and the strain gauge is provided on each of the first arms.

[0015] By employing the aforementioned technical means, the deformation can be increased using the first arm, thereby improving detection accuracy.

[0016] In one embodiment, the first arm is arranged along the length direction of the support member, and the support member is provided with second arms connected to the circuit board at both ends along the width direction. Each second arm is located at the middle of the support member along the length direction, and each second arm is provided with the strain gauge.

[0017] By adopting the above-mentioned technical means, it is beneficial to maintain the stability of the sensing element and the support element, and to improve the pressure detection accuracy.

[0018] In one embodiment, at each end of the support member along its length: the number of first arms is multiple, and the multiple first arms are arranged along the width direction of the support member; or,

[0019] There are multiple first arms, and the multiple first arms are arranged in a circular array.

[0020] By adopting the above-mentioned technical means, it is beneficial to maintain the stability of the sensing element and the support element, and to improve the pressure detection accuracy.

[0021] In one embodiment, the support member is spaced apart from the circuit board, and the support member is provided with a plurality of support blocks, which are connected to the circuit board.

[0022] By employing the aforementioned technical means, the circuit board can be suspended in the air, avoiding contact with the support components and preventing interference.

[0023] In one embodiment, each of the support blocks is provided with a strain gauge on the side near the middle of the support member, and the corresponding strain gauge bends when the support block pushes against the deformation of the support member.

[0024] By employing the above-mentioned technical means, it is helpful to increase the deformation of the strain gauge and improve the detection accuracy.

[0025] In one embodiment, the sensing layer is in the form of a flat plate or an arc-shaped plate.

[0026] By adopting the above-mentioned technical means, the needs of different object contact scenarios can be met.

[0027] This application also provides a tactile sensing device, including the sensing mechanism described in any of the above embodiments.

[0028] By employing the sensing mechanism described in the above embodiments, it is possible to detect the pressure along the Z-axis while simultaneously detecting the contact position of the object, thus meeting the requirements of accuracy, high consistency, linearity, reliability, and repeatability. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 A three-dimensional structural schematic diagram of the sensing mechanism provided in the first embodiment of this application;

[0031] Figure 2 An exploded view of the sensing mechanism provided in the first embodiment of this application;

[0032] Figure 3 for Figure 2 Front view of the force measuring component;

[0033] Figure 4 This is a three-dimensional structural diagram of the force measuring component provided in the embodiments of this application;

[0034] Figure 5 A three-dimensional structural schematic diagram of the sensing mechanism provided in the second embodiment of this application;

[0035] Figure 6 An exploded view of the sensing mechanism provided in the second embodiment of this application;

[0036] Figure 7 A three-dimensional structural schematic diagram of the sensing mechanism provided in the third embodiment of this application;

[0037] Figure 8 An exploded view of the sensing mechanism provided in the third embodiment of this application.

[0038] The following are the labeling elements in the figure:

[0039] 100. Sensing mechanism; 200. Sensing mechanism; 300. Sensing mechanism;

[0040] 10. Sensor; 11. Sensor layer; 12. Circuit board;

[0041] 20. Force measuring component; 21. Strain gauge; 22. Support component; 221. First support arm; 222. Second support arm; 23. Support block;

[0042] 40. Sensor; 41. Sensor layer; 42. Circuit board;

[0043] 70. Sensor; 71. Sensor layer; 72. Circuit board;

[0044] 80. Force measuring component; 81. Strain gauge; 82. Support component; 821. First support arm; 83. Support block. Detailed Implementation

[0045] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0046] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0047] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0048] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0049] Force-sensitive resistors (FSRs) typically consist of a conductive polymer layer and conductive electrodes, forming a pressure-sensitive resistive structure between the two layers. When external pressure is applied to its surface, the resistance of the conductive polymer itself may decrease, and the contact area between the conductive layers increases, thereby reducing the overall resistance value. Its resistance has a linear but monotonically decreasing relationship with the applied force, making it suitable for measuring and detecting relative forces. FSR sensors offer advantages such as simple structure, low cost, fast response speed, and customizable size, and are widely used in human-machine interfaces, wearable devices, medical rehabilitation, robotic tactile sensing, seat occupancy detection, and industrial automation. FSRs can be manufactured through screen printing, flexible circuit board processing, or inkjet printing, and can be adapted to various shapes and curved surfaces, including planar and curved structures such as fingertips, palms, and insoles.

[0050] Although the grid-like arrangement of FSR sensors can accurately identify contact locations and contours, the consistency, linearity, and accuracy of pressure recognition by FSR sensors are not high. Existing robotic fingertips and dexterous hands, during operation, not only need to identify contact locations and contours, but also need to accurately measure the magnitude of pressure.

[0051] The inventors of this application recognized that single sensing principles (such as pure FSR or pure strain gauge arrays) have inherent physical limitations in simultaneously achieving high spatial resolution and high-precision force measurement. While FSR arrays provide excellent position and profile information, their force response suffers from significant nonlinearity, hysteresis, and drift, making them unsuitable for precise force quantification. Conversely, while strain gauges provide highly linear and repeatable force measurements, arraying them to achieve high spatial resolution is costly and structurally complex.

[0052] The core idea of ​​this application lies in functional decoupling: by synergistically integrating the FSR sensing layer and the strain gauge support structure—two heterogeneous sensors—the advantages of each are utilized while their respective disadvantages are avoided. This design is not a simple superposition, but a synergistic solution that ultimately achieves comprehensive performance with both high spatial resolution and high force accuracy, which is difficult to achieve with a single sensing technology.

[0053] Therefore, this application provides a novel technical approach that breaks through the limitations of a single sensing paradigm. An embodiment of this application provides a sensing mechanism 100, which includes a sensing element 10 and a force measuring element 20. The sensing element 10 accurately detects the contact position, while the force measuring element 20 detects the pressure magnitude, thereby meeting the requirements for position detection accuracy and pressure detection accuracy.

[0054] Please refer to the following: Figures 1 to 3The sensing mechanism 100 provided in this application embodiment will now be described. The sensing mechanism 100 includes a sensing element 10 and a force measuring element 20. The sensing element 10 includes a circuit board 12 and a sensing layer 11. The sensing layer 11 is used to detect the force location and / or contour, and is disposed on one side of the circuit board 12. The force measuring element 20 includes a support member 22 and a strain gauge 21. The support member 22 is used to bend and deform when the sensing element 10 is subjected to pressure in the Z-axis direction. The strain gauge 21 is used to detect the Z-axis pressure when the support member 22 bends and deforms. The support member 22 is connected to the circuit board 12. The strain gauge 21 measures the Z-axis pressure with high accuracy and consistency, and good linearity, reliability, and repeatability.

[0055] It should be noted that the sensing layer 11 can be directly disposed on the surface of the circuit board 12, or it can be disposed on the circuit board 12 by means of a support material with a certain shape and elasticity. When the side of the sensing mechanism 100 near the sensing layer 11 comes into contact with an object, the sensing layer 11 can detect the position and / or contour of the force, i.e., the contact area; the pressure of the object on the sensing layer 11 is transmitted to the support member 22 through the circuit board 12, causing the support member 22 to undergo a certain deformation, i.e., the support member 22 locally displaces along the Z-axis direction. After the support member 22 deforms, the strain gauge 21 can detect the pressure on the support member 22 along the Z-axis direction, where the Z-axis direction can be understood as the thickness direction of the support member 22. The support member 22 is a sheet material that can elastically deform with the pressure of the sensing element 10. The strain gauge 21 can be disposed on the side of the support member 22 near the sensing element 10, or on the side of the support member 22 away from the sensing element 10, or inside or on the side of the support member 22. The sensing layer 11 and the strain gauge 21 are respectively disposed on the circuit board 12 and the support member 22, thereby separating the sensing layer 11 and the strain gauge 21 from each other. The support member 22 may be made of metal, high-strength plastic, and / or composite materials. The support member 22 may be, but is not limited to, a plate-like structure, and the support member 22 may be, but is not limited to, perpendicular to the Z-axis direction.

[0056] This embodiment of the application employs a sensing element 10 to accurately sense the position and / or contour of the contact between the sensing mechanism 100 and the object. The circuit board 12 is supported by a support member 22, which transmits the force from the sensing element 10 to the support member 22. By using a strain gauge 21, the deformation of the support member 22 along the Z-axis under force is utilized to accurately measure the pressure on the support member 22 in the Z-axis direction, achieving high precision and consistency. This allows for the determination of the pressure exerted on the sensing element 10 along the Z-axis, ensuring not only the accuracy of the contact point position and / or contour detection but also the accuracy of the pressure magnitude detection. By separating position sensing and force measurement, this application not only ensures the accuracy of the contact point position and / or contour detection but also significantly improves the accuracy and consistency of pressure detection by utilizing the high linearity and reliability of the strain gauge.

[0057] In one embodiment of this application, please refer to Figures 1 to 3 The sensing element 10 is an FSR sensor. When the FSR sensor comes into contact with an object, it can identify the position and / or contour of the contact area. By using an FSR sensor, it has the advantages of simple structure, low cost, fast response speed and customizable size.

[0058] In one embodiment of this application, the sensing layer 11 is provided with a resistor array or a capacitor array. A resistor array detects the contact position of an object by utilizing changes in resistance when the object comes into contact with it, while a capacitor array detects the contact position by utilizing changes in capacitance when the object comes into contact with it. By employing a resistor array or a capacitor array, an FSR sensor can be formed, which can conveniently and accurately locate the contact area between the object and the sensing layer 11, thereby accurately identifying the position and / or contour of the object.

[0059] In one embodiment of this application, please refer to Figures 1 to 3 The strain gauge 21 is a silicon strain gauge, a metal foil strain gauge, or a printable ink strain gauge. This allows the strain gauge 21 to be attached to the surface of the support 22 so that the strain gauge 21 can bend and deform when the support 22 bends and deforms.

[0060] In one embodiment of this application, please refer to Figures 1 to 3 There are multiple strain gauges 21, which form a full-bridge or half-bridge Wheatstone circuit. In this way, the pressure in the Z-axis direction can be calculated based on the resistance values ​​of the multiple strain gauges 21.

[0061] In the first embodiment of this application, please refer to Figures 1 to 3 The support member 22 has first arms 221 connected to the circuit board 12 at both ends along its length X. Each first arm 221 is equipped with a strain gauge 21. This use of the first arms 221 to support the circuit board 12 helps the strain gauges 21 to bend and deform along the Z-axis direction when the sensing element 10 is subjected to force at both ends along its length. Specifically, the end of the first arm 221 furthest from the middle of the support member 22 (i.e., the free end) is connected to the circuit board 12. This helps increase the bending amplitude under force and helps eliminate deformation caused by force along the X and Y axes, reducing interference with Z-axis force detection.

[0062] In one embodiment of this application, please refer to Figures 1 to 3The first arm 221 is arranged along the length direction X of the support member 22. The support member 22 has second arms 222 connected to the circuit board 12 at both ends along the width direction Y. Each second arm 222 is located at the middle of the support member 22 along the length direction X, and each second arm 222 is equipped with a strain gauge 21. This helps maintain the stability of the circuit board 12 on the support member 22 and allows the support member 22 to deform when the sensing element 10 is subjected to pressure in the Z-axis direction at both ends along the width direction.

[0063] In one embodiment of this application, there are multiple first arms 221 arranged in a circular array. This arrangement of the first arms 221 to support the circuit board 12 facilitates the bending deformation of the corresponding strain gauges 21 along the Z-axis direction under stress. Optionally, the number of first arms 221 can be three, four, or five, which facilitates the formation of half-bridge or full-bridge Wheatstone circuits.

[0064] In one embodiment of this application, please refer to Figures 1 to 3 The support member 22 is spaced apart from the circuit board 12, and multiple support blocks 23 are provided on the support member 22, which are connected to the circuit board 12. The use of support blocks 23 allows the circuit board 12 to be suspended from the support member 22, facilitating deformation of the support member 22 when the sensing element 10 is subjected to force. Optionally, the middle part of the support member 22 is used to connect the support arm, and the support blocks 23 are located at the edge of the support member 22, that is, the support blocks 23 are located at the free ends of the first support arm 221 and the second support arm 222, and the strain gauge 21 is located at the fixed ends of the first support arm 221 and the second support arm 222. This facilitates deformation of the first support arm 221 and the second support arm 222 when subjected to force along the Z-axis.

[0065] In the first embodiment of this application, please refer to Figures 1 to 3 Each support block 23 has a strain gauge 21 on one side near the middle of the support member 22. When the support block 23 pushes against the support member 22 and deforms, the corresponding strain gauge 21 bends.

[0066] Specifically, the free end of the first arm 221 is provided with a support block 23, and the fixed end of the first arm 221 is provided with a strain gauge 21. This facilitates the bending deformation of the strain gauge 21 when the first arm 221 is subjected to force.

[0067] Specifically, the free end of the second arm 222 is provided with a support block 23, and the fixed end of the second arm 222 is provided with a strain gauge 21. This facilitates the bending deformation of the strain gauge 21 when the second arm 222 is subjected to force.

[0068] In the first embodiment of this application, please refer to Figures 1 to 3The sensing layer 11 is in the shape of an arc plate. When the contact surface is not perpendicular to the Z-axis plane, the sensing layer 11 can still fit the contact area well, so as to meet the requirements of the tactile sensing device and position the contact area.

[0069] In the second embodiment of this application, please refer to Figure 5 and Figure 6 The sensing mechanism 200 includes a sensing element 40 and a force measuring element 20. The sensing element 40 includes a circuit board 42 and a sensing layer 41. The sensing layer 41 is used to detect the position and / or contour of the force, and the sensing layer 41 is disposed on one side of the circuit board 42. The force measuring element 20 includes a support member 22 and a strain gauge 21. The support member 22 is used to bend and deform when the sensing element 40 is subjected to pressure in the Z-axis direction. The strain gauge 21 is used to detect the pressure in the Z-axis direction when the support member 22 bends and deforms. The support member 22 is connected to the circuit board 42.

[0070] In the second embodiment of this application, please refer to Figure 5 and Figure 6 The sensing layer 41 is flat. When the sensing layer 41 is facing an object, the contact surface is parallel to the plane of the sensing layer 41. This allows it to fit the contact area well, so as to meet the requirements of the tactile sensing device and locate the contact area.

[0071] In the second embodiment of this application, please refer to Figure 5 and Figure 6 The sensing layer 41 is equipped with a resistor array or a capacitor array. A resistor array detects the contact position of an object by utilizing changes in resistance when the object comes into contact with it, while a capacitor array detects the contact position by utilizing changes in capacitance when the object comes into contact with it. By employing a resistor array or a capacitor array, the contact area between the object and the sensing layer 41 can be conveniently and accurately located, thereby accurately identifying the object's position and / or outline.

[0072] In the third embodiment of this application, please refer to Figures 7 to 8 The sensing mechanism 300 includes a sensing element 70 and a force measuring element 80. The sensing element 70 includes a circuit board 72 and a sensing layer 71. The sensing layer 71 is used to detect the position and / or contour of the force, and the sensing layer 71 is disposed on one side of the circuit board 72. The force measuring element 80 includes a support member 82 and a strain gauge 81. The support member 82 is used to bend and deform when the sensing element 70 is subjected to pressure in the Z-axis direction. The strain gauge 81 is used to detect the pressure in the Z-axis direction when the support member 82 bends and deforms. The support member 82 is connected to the circuit board 72.

[0073] In the third embodiment of this application, please refer to Figures 7 to 8At each end of the support member 82 along the length direction X: there are multiple first arms 821, and these multiple first arms 821 are arranged along the width direction Y of the support member 82. It should be noted that the length and width of the multiple first arms 821 may differ. This helps to maintain the stability of the circuit board 72 on the support member 82 and allows the support member 82 to deform when the sensing element 70 is subjected to pressure in the Z-axis direction.

[0074] Optionally, the support block 83 and the free end of the first arm 821 can be connected by screws. This facilitates the disassembly of the sensing element 70. Of course, in other embodiments, it can also be fixed by adhesive.

[0075] This application also provides a tactile sensing device, including the sensing mechanism 100 in any of the above embodiments. By employing the sensing mechanism 100 in the above embodiments, the requirements for position and / or contour accuracy detection can be met, and the requirements for pressure accuracy, high consistency, linearity, reliability, and repeatability can be effectively satisfied. The tactile sensing device of this application can be a product such as a robotic arm.

[0076] In this embodiment of the application, for a support arm with a rectangular cross-section, the surface strain at the fixed end is:

[0077] ε = (6FL) / (Ebt²);

[0078] Where: ε - surface strain of the support arm (dimensionless); F - vertical force applied to the free end (N); L - length of the support arm (m); E - Young's modulus of the beam material (Pa); b - width of the beam (m); t - thickness of the beam (m).

[0079] The resistance change of strain gauge 21 is linearly related to the strain:

[0080] ΔR / R = K * ε;

[0081] Where: ΔR - change in resistance; R - original resistance of strain gauge; K - sensitivity coefficient of strain gauge (generally around 2 for metal strain gauges, 50-200 for silicon strain gauges, and 5-50 for printable ink strain materials).

[0082] When using a full-bridge structure, the output voltage of the bridge is:

[0083] ΔV = V*K*(6FL) / (Ebt²);

[0084] Where: V - bridge excitation voltage (V); ΔV - bridge output voltage change.

[0085] Therefore, it can be determined that:

[0086] Given that the structural parameters (L, b, t), material (E), strain gauge (K), and excitation voltage (V) of the support arm are determined:

[0087] ΔV ∝ F, meaning that the change in the strain gauge output signal (voltage) is proportional to the force F.

[0088] The voltage signal is directly proportional to the applied force. Furthermore, the production and reliability of strain gauges have been extensively verified. The sensing mechanism provided in this application can effectively meet the requirements of accuracy, high consistency, linearity, reliability, and repeatability.

[0089] In the limited space of fingertips and dexterous hands, the several support arm structures used in this application embodiment help eliminate coupling interference caused by forces in the X-axis or Y-axis direction; coupled with the FSR sensor grid structure distributed on the contact surface, the advantages of FSR sensors and strain gauge sensors can be effectively utilized while avoiding their disadvantages. In a limited space, the location and / or contour of pressure can be accurately and consistently detected at the fingertips, fingertips, palms, or other parts of the robot that need to identify pressure, while accurately, repeatably, and with high consistency identifying the magnitude of pressure and torque.

[0090] Those skilled in the art will understand that the core of this application lies in achieving high-precision position and force measurement through a functionally decoupled heterogeneous sensing structure. Therefore, any equivalent substitutions or obvious modifications made based on this core concept to the specific geometry of the support member, the number and layout of strain gauges, the material selection of the sensing layer, etc., even if not explicitly described in this specification, should be considered to fall within the spirit and scope of the appended claims. For example, the support member can be designed as a ring, a spiderweb shape, or any other structure capable of achieving the intended force transmission and deformation functions.

[0091] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A sensing mechanism, characterized in that, include: The sensing element includes a circuit board and a sensing layer for detecting the location and / or contour of the force applied, the sensing layer being disposed on one side of the circuit board; The force measuring element includes a support for bending deformation when the sensing element is subjected to pressure in the Z-axis direction and a strain gauge for detecting pressure in the Z-axis direction when the support for bending deformation, the support being connected to the circuit board.

2. The sensing mechanism as described in claim 1, characterized in that: The sensing element is an FSR sensor; and / or, The sensing layer is provided with a resistor array or a capacitor array.

3. The sensing mechanism as described in claim 1, characterized in that: The strain gauge is a silicon strain gauge, a metal foil strain gauge, or a printable ink strain gauge; and / or, The strain gauges are multiple, and the multiple strain gauges form a full-bridge or half-bridge Wheatstone circuit.

4. The sensing mechanism as described in claim 1, characterized in that: The support member has a first arm at each end along its length that is connected to the circuit board, and each first arm is provided with a strain gauge.

5. The sensing mechanism as described in claim 4, characterized in that: The first support arm is arranged along the length direction of the support member, and the support member is provided with a second support arm connected to the circuit board at both ends along the width direction. Each second support arm is located at the middle of the support member along the length direction, and the strain gauge is provided on each second support arm.

6. The sensing mechanism as described in claim 4, characterized in that, At each end of the support member along its length: there are multiple first arms, and these multiple first arms are arranged along the width direction of the support member; or, There are multiple first arms, and the multiple first arms are arranged in a circular array.

7. The sensing mechanism as described in claim 1, characterized in that: The support member is spaced apart from the circuit board, and the support member is provided with multiple support blocks, which are connected to the circuit board.

8. The sensing mechanism as described in claim 7, characterized in that: Each of the support blocks has a strain gauge on one side near the middle of the support member. When the support block pushes against the deformation of the support member, the corresponding strain gauge bends.

9. The sensing mechanism according to any one of claims 1 to 8, characterized in that: The sensing layer is in the shape of a flat plate or an arc-shaped plate.

10. A tactile sensing device, characterized in that: Includes the sensing mechanism as described in any one of claims 1-9.

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