Dexterous hand and robot

Abstract

The application discloses a dexterous hand and a robot, and relates to the technical field of robots. The dexterous hand comprises a palm part, a plurality of finger parts, a driving mechanism and a tactile sensor; the finger part is rotationally connected with the palm part; the driving mechanism is connected with the finger part and is used for driving the finger part to rotate; the tactile sensor is arranged on the finger part and is used for collecting tactile information perceived by the finger part; wherein the resolution of the tactile sensor on at least two finger parts is different. The dexterous hand provided by the application can accurately collect tactile information in a complex operation scene and can effectively reduce the cost.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a dexterous hand and a robot. Background Technology

[0002] As a type of end effector for robots, the core objective of a dexterous hand is to mimic the structure and function of a human hand, enabling precise manipulation of objects in various scenarios. The control precision of the dexterous hand determines the robot's ability to perform complex tasks.

[0003] Currently, in order to improve the perception ability of dexterous hands, tactile sensors are generally set up to collect tactile information perceived by the fingers. However, the dexterous hands currently available are difficult to simultaneously ensure accurate collection of tactile information and control costs in complex operation scenarios. Utility Model Content

[0004] This application provides a dexterous hand and robot that can accurately collect tactile information in complex operating scenarios while effectively reducing costs.

[0005] In a first aspect, this application provides a dexterous hand, which includes a palm portion, multiple finger portions, a drive mechanism, and a tactile sensor; The finger portion is rotatably connected to the palm portion; The drive mechanism is connected to the finger portion and is used to drive the finger portion to rotate; The tactile sensor is disposed on the finger and is used to collect tactile information perceived by the finger. Among them, the tactile sensors on at least two of the fingers have different resolutions.

[0006] Secondly, this application provides a robot that includes a dexterous hand as described above.

[0007] The dexterous hand and robot provided in this application include a palm, multiple fingers, a drive mechanism, and tactile sensors. The fingers are rotatably connected to the palm. The drive mechanism is connected to the fingers and drives them to rotate. Tactile sensors are disposed on the fingers to collect tactile information perceived by the fingers. At least two fingers have different resolutions of tactile sensors. Since higher-resolution tactile sensors collect more accurate tactile information but are more expensive, this application, by setting different resolutions for the tactile sensors on at least two fingers, allows for the placement of higher-resolution tactile sensors on fingers requiring higher resolution, while lower-resolution sensors are placed on the remaining fingers. This enables the dexterous hand to accurately collect tactile information in complex operating scenarios, improving tactile perception performance while avoiding performance redundancy, effectively reducing manufacturing costs, and ensuring the reliability of tactile information acquisition. This achieves a refined balance between tactile perception performance and manufacturing costs while meeting user needs. Attached Figure Description

[0008] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1 This is a schematic diagram of the structure of a dexterous hand provided in an embodiment of this application; Figure 2 This is a schematic diagram of another dexterous hand provided in an embodiment of this application; Figure 3 This is a schematic diagram of another dexterous hand provided in an embodiment of this application; Figure 4 This is a schematic diagram of another dexterous hand provided in an embodiment of this application; Attached image description: 100 - Dexterous hand; 10 - Palm; 20 - Fingers; 21 - Proximal phalanx; 22 - Middle phalanx; 23 - Terminal phalanx; 30 - Tactile sensor; 31 - First sensor; 32 - Second sensor; 40 - Angle detection unit. Detailed Implementation

[0010] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0011] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0012] In the following description, the terms "first," "second," etc., are used for descriptive convenience only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0013] In this application, unless otherwise expressly specified and limited, the term "connection" shall be interpreted broadly. For example, "connection" may be a fixed mechanical connection, a detachable mechanical connection, or an integral part; or, "connection" may be a direct connection or an indirect connection through an intermediate medium.

[0014] Furthermore, in the embodiments of this application, directional terms such as "up," "down," "left," "right," "horizontal," and "vertical" may be defined relative to the orientation in which the components are schematically placed in the accompanying drawings. It should be understood that these directional terms can be relative concepts, used for relative description and clarification, and can change accordingly depending on the orientation in which the components are placed in the accompanying drawings.

[0015] The terms "parallel," "perpendicular," and "identical" (e.g., identical length, identical width, etc.) mentioned in the embodiments of this application are all relative to the current technological level, and not absolute and strict mathematical definitions. There can be a predetermined angular deviation between two mutually parallel or perpendicular components. In one embodiment, the predetermined angle can be within the range of ±10°, for example, a predetermined angular deviation of ±5°.

[0016] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0017] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of a dexterous hand provided in an embodiment of this application.

[0018] like Figure 1 As shown, this application embodiment provides a dexterous hand 100, which can perform grasping, handling, and other operations on objects, enabling the robot to perform different operations and functions. The dexterous hand 100 includes a palm portion 10, multiple finger portions 20, a drive mechanism (not shown), and a tactile sensor 30. The palm portion 10 can serve as a base for the dexterous hand 100, and can be used to place various components required to drive the dexterous hand 100, including but not limited to controllers, connecting lines, and drive mechanisms. The palm portion 10 is also used to contact objects; when driving the dexterous hand 100 to grasp an object, the palm portion 10 contacts the object to be grasped.

[0019] It should be noted that when the dexterous hand 100 is applied to a robot, the dexterous hand 100 can also be connected to the robot's main body structure. For example, the dexterous hand 100 can be connected to the robot's arm, so that the dexterous hand 100 of the present application embodiment can be applied to various types of robots.

[0020] The dexterous hand 100 may also include a plurality of finger portions 20, which are rotatably connected to the palm portion 10. Specifically, the finger portions 20 are rotatable relative to the palm portion 10. For example, some of the finger portions 20 are rotatable relative to the palm portion 10, while the remaining finger portions 20 are fixedly connected to the palm portion 10; or, for example, each of the plurality of finger portions 20 is rotatable relative to the palm portion 10.

[0021] It should be noted that the angle range in which the finger part 20 can rotate relative to the palm part 10 can be any range, but in order to meet the bionic requirements of the dexterous hand 100, the angle range in which the finger part 20 can rotate relative to the palm part 10 is generally similar to the angle range in which the human finger can rotate relative to the palm.

[0022] In some optional embodiments, the finger portion 20 is capable of rotating relative to the palm portion 10 along a first direction; in other optional embodiments, the finger portion 20 is capable of rotating relative to the palm portion 10 along a second direction; in still other optional embodiments, the finger portion 20 is also capable of rotating relative to the palm portion 10 along both the first and second directions. It should be noted that the rotation of the finger portion 20 relative to the palm portion 10 described in this application refers to the rotation of the knuckles of the finger portion 20 adjacent to the palm portion 10 relative to the palm portion 10.

[0023] The first direction and the second direction are different. Generally, the first direction can be the flexion and extension direction of the finger 20, so as to... Figure 1 Taking the posture of the finger 20 as an example, the finger 20 can swing up and down relative to the palm 10; the second direction can be the lateral swing direction of the finger 20, so as to... Figure 1 Taking the position of the finger part 20 as an example, the finger part 20 can swing left and right relative to the palm part 10.

[0024] It should be noted that the multiple finger parts 20 may include two or more finger parts 20, and each finger part 20 is rotatably connected to the palm part 10. For example, the multiple finger parts 20 may include only two finger parts 20 or three finger parts 20. In order to meet the biomimetic requirements of the dexterous hand 100, the multiple finger parts 20 correspond one-to-one with human fingers, that is, the multiple finger parts 20 include five finger parts 20, namely the thumb part, index finger part, middle finger part, ring finger part, and little finger part.

[0025] The drive mechanism is connected to the finger portion 20 and is used to drive the finger portion 20 to rotate. Specifically, the drive mechanism can be used to drive the finger portion 20 to rotate relative to the palm portion 10. It should be noted that the drive mechanism can also be directly installed on the finger portion 20.

[0026] For example, the drive mechanism can be located within the palm part 10. The drive mechanism can be a micro motor, such as a brushless DC motor and a stepper motor, etc., without specific limitations.

[0027] The dexterous hand 100 may also include a tactile sensor 30 disposed on the finger portion 20, the tactile sensor 30 being used to collect tactile information perceived by the finger portion 20. Specifically, the tactile sensor 30 may be disposed in any area of ​​the finger portion 20 that can contact an object, such as the fingertip and / or finger pad area of ​​the finger portion 20, without specific limitation.

[0028] Among them, tactile sensors 30 with different resolutions can be set on different fingers 20.

[0029] For example, different resolution tactile sensors 30 can be distinguished by their resolution. For instance, tactile sensors 30 with different resolutions can be divided into a first sensor 31 and a second sensor 32. The tactile sensor 30 with a higher resolution (e.g., greater than the first resolution threshold) is used as the first sensor 31, while the tactile sensor 30 with a lower resolution (e.g., less than or equal to the first resolution threshold) is used as the second sensor 32.

[0030] For example, the tactile sensors 30 with different resolutions can also be distinguished by the principle of acquiring tactile information. For instance, the tactile sensors 30 with different resolutions can be divided into a first sensor 31 and a second sensor 32. The tactile sensor 30 that acquires tactile information using the principle of visual tactile sensing is used as the first sensor 31, and its corresponding resolution is generally higher. On the other hand, the tactile sensor 30 that acquires tactile information using resistance sensing and the tactile sensor that acquires tactile information using inductive sensing are used as the second sensor 32, and their corresponding resolutions are generally lower.

[0031] It should be noted that different resolution tactile sensors 30 can also be distinguished in other ways, which are not specifically limited here.

[0032] In the embodiments of this application, there are at least two types of tactile sensors 30 with different resolutions, and the tactile sensors 30 on at least two fingers 20 have different resolutions.

[0033] In some optional embodiments, the dexterous hand 100 may include a first sensor 31 and a second sensor 32 with different resolutions, and one finger 20 is configured as the first sensor 31, while the remaining fingers 20 are configured as the second sensor 32; in other optional embodiments, the dexterous hand 100 may also include a first sensor 31, a second sensor 32, and a third sensor with different resolutions, and one finger 20 is configured as the first sensor 31, another finger 20 is configured as the second sensor 32, and the remaining fingers 20 are configured as the third sensor.

[0034] Understandably, assuming all fingers 20 are configured with high-resolution tactile sensors 30, since not every finger 20 undertakes fine sensing tasks during grasping operations—for example, the thumb and index finger are generally more effective at collecting tactile information, while the ring and little fingers are less effective—setting all fingers 20 with high-resolution tactile sensors 30 would create performance redundancy, leading to higher manufacturing costs for the dexterous hand 100. Conversely, configuring all fingers 20 with low-resolution tactile sensors 30 would result in the dexterous hand 100 failing to accurately collect tactile information in complex operating scenarios, leading to poor tactile perception performance and failing to meet user needs.

[0035] Therefore, since the tactile information collected by the higher resolution tactile sensor 30 is more accurate but more expensive, in this embodiment of the application, by setting the resolution of the tactile sensors 30 on at least two finger parts 20 to be different, that is, by differentiating the configuration of the tactile sensors 30 on different finger parts 20, the tactile sensors 30 on some finger parts 20 can have higher resolution and the tactile sensors 30 on some finger parts 20 have lower resolution. For example, according to actual needs, a higher resolution tactile sensor can be set on the finger parts that require higher resolution, and a lower resolution tactile sensor can be set on the remaining finger parts. This allows the dexterous hand 100 to accurately collect tactile information in complex operation scenarios to improve tactile perception performance, while also avoiding performance redundancy, effectively reducing the manufacturing cost of the dexterous hand 100, ensuring the reliability of tactile information acquisition, and achieving a fine balance between the tactile perception performance and manufacturing cost of the dexterous hand 100 while meeting user needs.

[0036] like Figure 2 As shown, in some embodiments, the plurality of finger portions 20 include a thumb portion, an index finger portion and the remaining fingers portions, and the tactile sensor 30 includes a first sensor 31 and a second sensor 32, wherein the resolution of the first sensor 31 is greater than the resolution of the second sensor 32; wherein the thumb portion and the index finger portion are provided with the first sensor 31, and the remaining fingers portion are provided with the second sensor 32.

[0037] The plurality of fingers 20 include a thumb, an index finger, and the remaining fingers, which may include at least one of the middle finger, the ring finger, and the little finger.

[0038] Specifically, the resolution of the first sensor 31 is greater than that of the second sensor 32. By setting the first sensor 31 on the thumb and index finger and the second sensor 32 on the other fingers, different resolution tactile sensors 30 can be configured for different fingers 20 according to their working needs. This allows the dexterous hand 100 to accurately collect tactile information in complex operating scenarios, thereby improving tactile perception performance while avoiding performance redundancy and effectively reducing the manufacturing cost of the dexterous hand 100.

[0039] Since the thumb and index finger perform the most delicate sensory tasks (such as judging object texture, identifying object material, and sensing slippage trends) in the grasping operation of the dexterous hand 100, they need to be equipped with high-resolution tactile sensing capabilities. The middle, ring, and little fingers, however, have relatively lower resolution requirements but generally require pressure distribution sensing. Therefore, this embodiment of the application equips the thumb and index finger with a first sensor 31, enabling them to have high-resolution tactile sensing capabilities and thus allowing the dexterous hand 100 to accurately collect tactile information. Simultaneously, a second sensor 32 is provided for the remaining fingers, enabling them to have pressure distribution sensing capabilities without high-resolution tactile sensing capabilities. This avoids performance redundancy, effectively reduces the manufacturing cost of the dexterous hand 100, and achieves a refined balance between the tactile sensing performance and manufacturing cost of the dexterous hand 100 while meeting user needs.

[0040] It should be noted that since the first sensor 31 has a high resolution, high-resolution sensors are often accompanied by severe heat generation. Therefore, a heat dissipation module is required to cool the finger 20 on which the first sensor 31 is located. However, in this embodiment, only the thumb and index finger require heat dissipation, so heat dissipation modules can be provided on the thumb and index finger, further reducing the manufacturing cost of the dexterous hand 100.

[0041] In some embodiments, the first sensor 31 includes a visual tactile sensor 30; and / or, the second sensor 32 includes a resistive tactile sensor 30 or a capacitive tactile sensor 30.

[0042] In this embodiment, visual-tactile sensors 30 can be provided on the thumb and index finger. The visual-tactile sensor 30 is a sensor that captures the deformation of an elastic contact surface through optical imaging, achieving high-resolution, multi-dimensional tactile perception. Specifically, the visual-tactile sensor 30 embeds a miniature camera and an illumination module (such as LEDs or fluorescent markers) on the elastic contact surface (such as an elastic material like gel) to capture the microscopic deformation generated when an object comes into contact in real time. This deformation information is then converted into high-resolution visual signals for processing, thereby mapping the image into tactile information such as normal force, shear force, object pose, texture, and hardness / softness. Compared to traditional resistive or capacitive tactile sensors 30, the visual-tactile sensor 30 can simultaneously acquire multi-dimensional tactile information, approaching the dimensions of human hand tactile perception, with a resolution reaching the micrometer level.

[0043] In this embodiment, resistive or capacitive tactile sensors 30 can be provided on the remaining fingertips. The resistive tactile sensor 30 senses pressure, deformation, and contact position by measuring changes in resistance, achieving a skin-like tactile function. Specifically, the resistive tactile sensor 30 senses tactile information through changes in resistance caused by pressure or deformation. The capacitive tactile sensor 30 senses pressure or touch by detecting changes in capacitance, achieving highly sensitive tactile information acquisition. Specifically, when an external force is applied to the surface of the capacitive tactile sensor 30, a slight change occurs in the distance or contact area between the plates, resulting in a change in capacitance. The capacitive tactile sensor 30 monitors these changes in real time and converts them into electrical signals, thereby generating tactile information such as touch position, touch force, and touch duration.

[0044] like Figure 3 As shown, in some embodiments, the finger portion 20 includes multiple phalanges, one of which is rotatably connected to the palm portion 10, and two adjacent phalanges are rotatably connected; the multiple phalanges include at least the distal phalange 23; wherein, the first sensor 31 is disposed in the fingertip area and / or fingertip area of ​​the distal phalange 23; and the second sensor 32 is disposed in the fingertip area of ​​the distal phalange 23.

[0045] For example, the finger portion 20 may include two or more phalanges. In order to meet the bionic requirements of the dexterous hand 100, the number of phalanges of the finger portion 20 may be the same as the number of phalanges of the human finger. That is, the thumb portion may include two phalanges, while the index finger portion, middle finger portion, ring finger portion and little finger portion may each include three phalanges.

[0046] For example, taking the thumb as an example, the thumb includes a proximal phalanx 21 and a distal phalanx 23. The proximal phalanx 21 is rotatably connected to the palm part 10, and the proximal phalanx 21 and the distal phalanx 23 are rotatably connected. Taking the index finger, middle finger, ring finger, and little finger as examples, the above-mentioned fingers include a proximal phalanx 21, a middle phalanx 22, and a distal phalanx 23. The proximal phalanx 21 is rotatably connected to the palm part 10, and the proximal phalanx 21 is rotatably connected to the middle phalanx 22, and the middle phalanx 22 is rotatably connected to the distal phalanx 23.

[0047] For example, since the first sensor 31 is mainly used to collect tactile information such as object texture, object material, and sliding trend, the fingertip or fingertip area of ​​the end phalanx 23 of the first sensor 31 can accurately collect the above tactile information; while the second sensor 32 is mainly used to collect tactile information such as pressure distribution, so the fingertip area of ​​the end phalanx 23 of the second sensor 32 is needed to accurately collect tactile information such as pressure distribution.

[0048] like Figure 3As shown, for example, the first sensor 31 can be disposed on the fingertip area of ​​the distal phalanx 23 of the thumb, the first sensor 31 can also be disposed on the fingertip area of ​​the distal phalanx 23 of the index finger, and the second sensor 32 can be disposed on the fingertip area of ​​the distal phalanx 23 of the middle finger.

[0049] It should be noted that the first sensor 31 can be set in the fingertip area of ​​the distal phalanx 23, or in the fingertip area of ​​the distal phalanx 23. In order to further improve the tactile perception ability of the finger 20, the first sensor 31 can be set in both the fingertip area and the fingertip area of ​​the distal phalanx 23.

[0050] like Figure 4 As shown, in some embodiments, the finger portion 20 includes multiple phalanges, one of which is rotatably connected to the palm portion 10, and adjacent phalanges are rotatably connected; the dexterous hand 100 also includes an angle detection unit 40, which is disposed at the rotatable connection between two adjacent phalanges and / or at the rotatable connection between the phalange and the palm portion 10, for detecting the rotation angle of the phalanges. The drive mechanism is configured to drive the phalanges to rotate according to the rotation angle detected by the angle detection unit 40.

[0051] For example, the angle detection unit 40 can be a device such as a magnetic encoder that can acquire the rotation angle of the knuckle.

[0052] For example, the dexterous hand 100 may include one or more angle detection units 40. An angle detection unit 40 may be provided at the rotational connection between two adjacent phalanges, at the rotational connection between the phalanges and the palm 10, or at both the rotational connection between two adjacent phalanges and the rotational connection between the phalanges and the palm 10.

[0053] For example, taking the thumb as an example, the thumb includes a proximal phalanx 21 and a distal phalanx 23. The angle detection unit 40 can be disposed at the rotatable connection between the proximal phalanx 21 and the palm part 10, and the angle detection unit 40 can also be disposed at the rotatable connection between the proximal phalanx 21 and the distal phalanx 23. Taking the index finger, middle finger, ring finger, and little finger as examples, the above-mentioned fingers include a proximal phalanx 21, a middle phalanx 22, and a distal phalanx 23. The angle detection unit 40 can be disposed at the rotatable connection between the proximal phalanx 21 and the palm part 10, and the angle detection unit 40 can also be disposed at the rotatable connection between the proximal phalanx 21 and the middle phalanx 22, and at the rotatable connection between the middle phalanx 22 and the distal phalanx 23.

[0054] Specifically, the drive mechanism is electrically connected to the angle detection unit 40, and the drive mechanism is configured to drive the knuckle to rotate according to the rotation angle detected by the angle detection unit 40.

[0055] For example, when the angle detection unit 40 is located at the rotational connection between two adjacent phalanges, the angle detection unit 40 is configured to detect the rotation angle of one phalange relative to the other adjacent phalange. If the angle detection unit 40 detects that the rotation angle of one phalange relative to the other adjacent phalange is different from a preset rotation angle, the drive mechanism will drive the phalange to rotate until the phalange rotates to the preset rotation angle relative to the other adjacent phalange.

[0056] For example, when the angle detection unit 40 is located at the rotatable connection between the knuckle and the palm 10, the angle detection unit 40 is configured to detect the rotation angle of the finger 20 relative to the palm 10. If the angle detection unit 40 detects that the rotation angle of the finger 20 relative to the palm 10 is different from a preset rotation angle or the difference between the two is greater than a preset angle threshold, the drive mechanism will drive the knuckle to rotate until the finger 20 rotates relative to the palm 10 to the preset rotation angle or until the difference between the two is less than or equal to the preset angle threshold.

[0057] The preset rotation angle can be the desired angle for the finger 20 to rotate relative to the palm 10 when the dexterous hand 100 is working, or the desired angle for the rotation of one phalanx relative to an adjacent phalanx. In other words, it corresponds to the rotation angle of the drive command sent by the controller to the drive mechanism. It should be noted that the preset rotation angle can be determined based on the grasping task corresponding to the dexterous hand 100. For example, if the rotation angle corresponding to the grasping task is 10°, then the preset rotation angle is 10°. It should also be noted that the preset rotation angle can be issued by a host computer or a remote operating device.

[0058] In this embodiment, by setting an angle detection unit 40 at the rotational connection between two adjacent knuckles and / or at the rotational connection between the knuckle and the palm 10, the deviation between the actual rotation angle and the desired rotation angle of the knuckle can be effectively avoided due to transmission errors caused by the transmission between the drive mechanism and the finger 20. This achieves full closed-loop precise control of the rotation angle of the knuckle, enabling the dexterous hand 100 to complete tasks requiring fine grasping, effectively improving the grasping accuracy and reliability of the dexterous hand 100, and thus improving the robot's fine operation capabilities.

[0059] In some embodiments, the drive mechanism is configured to drive the knuckle to rotate until the difference between the rotation angle detected by the angle detection unit 40 and the preset rotation angle is greater than the preset angle threshold.

[0060] For example, when the rotation angle detected by the angle detection unit 40 is different from the preset rotation angle, the drive mechanism will drive the knuckle to rotate the target angle until the rotation angle detected by the angle detection unit 40 is the same as the preset rotation angle.

[0061] For example, after the angle detection unit 40 detects the rotation angle, it sends it to the controller of the dexterous hand 100. The controller calculates the angle difference between the rotation angle detected by the angle detection unit 40 and the preset rotation angle to determine the target angle and sends it to the drive mechanism. After receiving the target angle, the drive mechanism drives the knuckle to continue rotating the target angle.

[0062] For example, when the difference between the rotation angle detected by the angle detection unit 40 and the preset rotation angle is greater than the preset angle threshold, the knuckle is driven to rotate until the difference between the rotation angle re-detected by the angle detection unit 40 and the preset rotation angle is less than or equal to the preset angle threshold, at which point the driving of the knuckle to rotate stops. The preset angle threshold can be 1°, 5°, etc., and can be set according to the actual allowable error threshold, without being specifically limited here.

[0063] In some embodiments, the finger portion 20 is rotatably connected to the palm portion 10 via a first rotating mechanism. The first rotating mechanism is configured to enable the finger portion 20 to rotate relative to the palm portion 10 along a first direction and a second direction, wherein the first direction and the second direction are different. The driving mechanism is configured to drive the finger portion 20 to rotate relative to the palm portion 10 along the first direction and the second direction, and the angle detection unit 40 is configured to detect the rotation angle in the first direction and the rotation angle in the second direction, wherein the first direction and the second direction are different.

[0064] The first rotating mechanism can be a metacarpal rotating mechanism (similar to a metacarpal joint) to achieve a rotational connection between the finger portion 20 and the palm portion 10. Generally, the first direction can be the flexion and extension direction of the finger portion 20, so as to... Figure 1 Taking the posture of the finger portion 20 as an example, the finger portion 20 can swing up and down relative to the palm portion 10; the second direction can be the extension and retraction direction of the finger portion 20, so as to... Figure 1 Taking the position of the finger part 20 as an example, the finger part 20 can swing left and right relative to the palm part 10.

[0065] For example, the finger portion 20 includes multiple phalanges, including a proximal phalanx 21. The finger portion 20 is rotatably connected to the proximal phalanx 21 via a first rotating mechanism. The driving mechanism is configured to drive the proximal phalanx 21 to rotate relative to the palm portion 10 along a first direction and a second direction. Since the other phalanges are directly or indirectly connected to the proximal phalanx 21, when the proximal phalanx 21 rotates relative to the palm portion 10 along the first direction and the second direction, the other phalanges will also rotate relative to the palm portion 10 along the first direction and the second direction under the action of the proximal phalanx 21.

[0066] In some alternative embodiments, the drive mechanism is configured to drive the finger portion 20 to rotate relative to the palm portion 10 along a first direction, while the angle detection unit 40 is configured to detect the rotation angle of the finger portion 20 relative to the palm portion 10 along the first direction.

[0067] In some alternative embodiments, the drive mechanism is configured to drive the finger portion 20 to rotate relative to the palm portion 10 in a second direction, while the angle detection unit 40 is configured to detect the rotation angle of the finger portion 20 relative to the palm portion 10 in the second direction.

[0068] In some alternative embodiments, the drive mechanism is configured to drive the finger portion 20 to rotate relative to the palm portion 10 along a first direction and a second direction, while the angle detection unit 40 is configured to detect the rotation angle of the finger portion 20 relative to the palm portion 10 along the first direction and the second direction. It should be noted that the angle detection unit 40 may include an angle detection unit for measuring the rotation angle in the first direction and an angle detection unit for measuring the rotation angle in the second direction, or it may be a single angle detection unit capable of measuring both the rotation angle in the first direction and the rotation angle in the second direction.

[0069] In some embodiments, two adjacent knuckles are rotatably connected by a second rotating mechanism, which is configured to allow one knuckle to rotate relative to the adjacent knuckle. A driving mechanism is configured to drive one knuckle to rotate relative to the adjacent knuckle, and an angle detection unit 40 is configured to detect the rotation angle of one knuckle relative to the adjacent knuckle.

[0070] The second rotating mechanism can be an interphalangeal rotating mechanism (similar to an interphalangeal joint) used to achieve a rotating connection between two adjacent phalanges.

[0071] For example, taking the thumb as an example, the thumb includes a proximal phalanx 21 and a distal phalanx 23. The drive mechanism is configured to drive the distal phalanx 23 to rotate relative to the proximal phalanx 21, while the angle detection unit 40 is configured to detect the rotation angle of the distal phalanx 23 relative to the proximal phalanx 21.

[0072] For example, taking the index finger, middle finger, ring finger, and little finger as examples, the aforementioned finger segments include a proximal phalanx 21, a middle phalanx 22, and a distal phalanx 23. For instance, the drive mechanism can be configured to drive the middle phalanx 22 to rotate relative to the proximal phalanx 21, while the angle detection unit 40 is configured to detect the rotation angle of the middle phalanx 22 relative to the proximal phalanx 21; or, for another example, the drive mechanism can be configured to drive the distal phalanx 23 to rotate relative to the middle phalanx 22, while the angle detection unit 40 is configured to detect the rotation angle of the distal phalanx 23 relative to the middle phalanx 22.

[0073] In some embodiments, the dexterous hand 100 further includes a transmission mechanism, a drive mechanism disposed on the palm portion 10, and the drive mechanism is connected to the finger portion 20 through the transmission mechanism. The transmission mechanism is used to drive the knuckles to rotate under the action of the drive mechanism.

[0074] The transmission mechanism can be a device for connecting the output shaft of the drive mechanism to the finger part 20.

[0075] For example, when the finger portion 20 is driven to rotate relative to the palm portion 10, the drive mechanism is connected to the proximal phalanx 21 in the finger portion 20 through the transmission mechanism. When the drive mechanism drives the corresponding transmission mechanism to move, the movement of the transmission mechanism will cause the finger portion 20 to rotate relative to the palm portion 10.

[0076] For example, when the end phalanx 23 rotates relative to the middle phalanx 22, the drive mechanism is connected to the end phalanx 23 in the finger portion 20 through the transmission mechanism. When the drive mechanism drives the corresponding transmission mechanism to move, the movement of the transmission mechanism will cause the end phalanx 23 to rotate relative to the middle phalanx 22.

[0077] In some embodiments, the transmission mechanism includes a tendon cable transmission mechanism, a linkage transmission mechanism, or a gear transmission mechanism.

[0078] Specifically, the tendon chord drive mechanism mainly uses flexible ropes (such as steel wires or synthetic fibers) to transmit power, thereby driving the knuckles to rotate under the action of the drive mechanism.

[0079] Specifically, the linkage transmission mechanism is mainly composed of several rigid rods connected by hinges. Power transmission is achieved through the linkage, thereby driving the knuckles to rotate under the action of the drive mechanism.

[0080] Specifically, gear transmission mechanisms mainly utilize the meshing of gear teeth to transmit motion and power, thereby driving the knuckles to rotate under the action of the drive mechanism.

[0081] It should be noted that tendon cable transmission mechanism, linkage transmission mechanism, gear transmission mechanism or other transmission mechanism that can be applied to this application can all be used as the transmission mechanism in the embodiments of this application, and no specific limitation is made here.

[0082] This application also provides a robot, which may include the dexterous hand 100 described in any of the above embodiments. The robot can be of different types and can be used in industrial, commercial, or household fields to perform different operations. This application does not specifically limit the specific type of robot.

[0083] For example, the robot provided in this application embodiment can be a body-worn robot. Depending on the walking method, the robot provided in this application embodiment can be a wheeled robot, a tracked robot, or a legged robot.

[0084] It is understood that robots may also include other components, which can be designed according to the type of robot and actual needs, and this application does not make any further limitations in this regard.

[0085] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A dexterous hand, characterized in that, The dexterous hand includes: Palm area; Multiple finger portions, wherein the finger portions are rotatably connected to the palm portion; A drive mechanism, connected to the finger portion, is used to drive the finger portion to rotate; A tactile sensor is disposed on the finger and is used to collect tactile information perceived by the finger. Among them, the tactile sensors on at least two of the fingers have different resolutions.

2. The dexterous hand according to claim 1, characterized in that, The plurality of fingers includes the thumb, index finger and the remaining fingers, and the tactile sensor includes a first sensor and a second sensor, wherein the resolution of the first sensor is greater than the resolution of the second sensor; The thumb and index finger are equipped with the first sensor, and the remaining fingers are equipped with the second sensor.

3. The dexterous hand according to claim 2, characterized in that, The first sensor includes a visual tactile sensor; and / or, the second sensor includes a resistive tactile sensor or a capacitive tactile sensor.

4. The dexterous hand according to claim 2, characterized in that, The finger portion includes multiple phalanges, one of which is rotatably connected to the palm portion, and two adjacent phalanges are rotatably connected; The plurality of phalanges includes at least the distal phalanges; Wherein, the first sensor is disposed in the fingertip and / or fingertip region of the distal phalanx; the second sensor is disposed in the fingertip region of the distal phalanx.

5. The dexterous hand according to claim 1, characterized in that, The finger portion includes multiple phalanges, one of which is rotatably connected to the palm portion, and two adjacent phalanges are rotatably connected; The dexterous hand also includes an angle detection unit, which is disposed at the rotational connection between two adjacent phalanges and / or at the rotational connection between the phalanges and the palm, for detecting the rotation angle of the phalanges; The drive mechanism is configured to drive the knuckle to rotate according to the rotation angle detected by the angle detection unit.

6. The dexterous hand according to claim 5, characterized in that, The finger portion is rotatably connected to the palm portion via a first rotating mechanism. The first rotating mechanism is configured to enable the finger portion to rotate relative to the palm portion along a first direction and a second direction, wherein the first direction and the second direction are different. The driving mechanism is configured to drive the finger portion to rotate relative to the palm portion along the first direction and the second direction, and the angle detection unit is configured to detect the rotation angle in the first direction and the rotation angle in the second direction.

7. The dexterous hand according to claim 5, characterized in that, Two adjacent knuckles are rotatably connected by a second rotating mechanism, which is configured to allow one knuckle to rotate relative to the other adjacent knuckle. The driving mechanism is configured to drive one of the phalanges to rotate relative to another adjacent phalange, and the angle detection unit is configured to detect the rotation angle of one of the phalanges relative to another adjacent phalange.

8. The dexterous hand according to claim 5, characterized in that, The drive mechanism is located on the palm part, and the dexterous hand also includes a transmission mechanism. The drive mechanism is connected to the finger part through the transmission mechanism, and the transmission mechanism is used to drive the knuckles to rotate under the action of the drive mechanism.

9. The dexterous hand according to claim 8, characterized in that, The transmission mechanism includes a tendon cable transmission mechanism, a linkage transmission mechanism, or a gear transmission mechanism.

10. A robot, characterized in that, Including a dexterous hand as described in any one of claims 1-9.

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