A dexterous hand and robot

Abstract

This application discloses a dexterous hand and a robot. The dexterous hand includes: a main body comprising a palm and several fingers; a joint drive module disposed at each joint of the fingers; a flexible circuit board for the finger joints, which is attached to the periphery of the joint drive module and electrically connected to it. The flexible circuit board transmits received finger movement data to a dexterous hand control module. The dexterous hand control module is disposed in the palm and electrically connected to the flexible circuit board. The control module receives adjustment commands generated from grasping data sent by the robot, causing the joint drive module to perform corresponding operations based on the adjustment commands. The grasping data includes finger movement data. This solution improves the space utilization of the fingers in the dexterous hand.

Description

Technical Field

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

[0002] In existing technologies, the space in the finger area of ​​a dexterous hand is limited, but additional installation space still needs to be set for the circuit board, resulting in low space utilization of the fingers, affecting the flexibility and accuracy of operation, and also hindering heat dissipation. Utility Model Content

[0003] This application provides at least one dexterous hand and robot that can improve the space utilization of the finger parts of the dexterous hand.

[0004] The first aspect of this application provides a dexterous hand, comprising: a dexterous hand body including a palm portion and several finger portions; a joint drive module disposed at each joint position of the finger portions, the joint drive module being used to drive the bending or straightening of the finger portions; a finger joint flexible circuit board disposed on the outer periphery of the joint drive module, the finger joint flexible circuit board being electrically connected to the joint drive module, the finger joint flexible circuit board being used to send received finger movement data during finger movement to a dexterous hand master controller module and to send received adjustment commands to the joint drive module; a dexterous hand master controller module disposed in the palm portion and electrically connected to the finger joint flexible circuit board, the dexterous hand master controller module being used to receive adjustment commands generated based on grasping data sent by the robot and to send the adjustment commands to the finger joint flexible circuit board, causing the joint drive module to perform corresponding operations based on the adjustment commands, wherein the grasping data includes finger movement data.

[0005] The flexible circuit board for knuckles includes: a first flexible base plate; a conductive layer disposed on the first flexible base plate for transmitting electrical signals; and a first cover layer disposed on the conductive layer for preventing oxidation of the conductive layer.

[0006] The thickness of the flexible circuit board for the knuckles is 0.1 mm.

[0007] The dexterous hand also includes a pressure sensor and a bending sensor. The finger movement data includes pressure data collected by the pressure sensor and bending angle data collected by the bending sensor. The bending sensor is located at the knuckle of the finger, and the pressure sensor is located at the fingertip. The pressure sensor is connected to the flexible circuit board of the knuckle through a connector, and the bending sensor is connected to the flexible circuit board of the knuckle through a connector. The pressure sensor is used to send the pressure data collected by the dexterous hand when grasping an object to the flexible circuit board of the knuckle, and the bending sensor is used to send the bending angle data collected by the knuckle to the flexible circuit board of the knuckle.

[0008] The dexterous hand also includes a flexible circuit board in the palm, which is set along the inner wall of the palm. The flexible circuit board in the palm is connected to the dexterous hand main controller module through a connector. The flexible circuit board in the palm is electrically connected to the flexible circuit board in the finger joints. The flexible circuit board in the palm is used to receive electrical signals sent by the flexible circuit board in the finger joints and to send electrical signals to the dexterous hand main controller module.

[0009] The dexterous hand also includes a power management module and a tactile array sensor. The power management module and the tactile array sensor are located in the palm area. The grasping data includes the first tactile data collected by the tactile array sensor. The power management module is electrically connected to the flexible circuit board of the palm and is used to manage the power supply to each finger area. The tactile array sensor is electrically connected to the flexible circuit board of the palm and is used to convert the first tactile data received by the palm area into electrical signals.

[0010] The flexible palm circuit board includes: a second flexible base plate; a first signal layer disposed on the second flexible base plate and connected to the tactile array sensor; a power layer disposed on the first signal layer and electrically connected to the power management module, the power layer being used to supply power to each finger; a ground plane layer disposed on the power plane layer and used to provide a stable reference potential; a second signal layer disposed on the ground plane layer and electrically connected to the joint flexible circuit board and the dexterous hand master controller module, the second signal layer being used to receive and forward electrical signals; and a second cover layer disposed on the second signal layer and used to prevent oxidation of the second signal layer.

[0011] The first signal layer is connected to the power layer, the power layer to the ground plane layer, and the ground plane layer to the second signal layer through vias; and / or, a reinforcing plate is disposed on the second cover layer to increase the strength of the flexible palm circuit board.

[0012] The dexterous hand also includes a fingertip sensor and a fingertip flexible circuit board. The finger movement data includes second tactile data collected by the fingertip sensor. The fingertip sensor and the fingertip flexible circuit board are set at the fingertip position. The fingertip flexible circuit board is connected to the fingertip sensor through wires. The fingertip sensor is used to send the collected second tactile data to the fingertip flexible circuit board. The fingertip flexible circuit board is electrically connected to the dexterous hand's main controller module.

[0013] The dexterous hand also includes a flexible circuit board for the wrist joint, which is located at the wrist joint of the dexterous hand. The flexible circuit board is spiral-shaped and electrically connected to the dexterous hand's main controller module.

[0014] The second aspect of this application provides a robot that includes the dexterous hand described in the first aspect above.

[0015] The above-described solution significantly improves the utilization of internal space in the dexterous hand by attaching the flexible circuit board to the outer periphery of the joint drive module and directly connecting it to the module. Because the flexible circuit board fits snugly against the joint drive module, no additional space is needed to install traditional rigid circuit boards, resulting in a more compact finger area. Furthermore, since the flexible circuit board is in direct contact with the joint drive module, heat can be quickly dissipated through thermal conduction, avoiding the heat dissipation problems caused by space constraints in traditional circuit boards. Simultaneously, the dexterous hand's central controller module is centrally located in the palm area and controls each finger via the flexible circuit board. This distributed control method simplifies the overall structure, reduces the complexity of signal transmission paths, and improves system reliability and response speed.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the technical solutions of this application.

[0018] Figure 1 This is a schematic diagram of the structure of an embodiment of the dexterous hand of this application;

[0019] Figure 2 This is a schematic diagram of the structure of an embodiment of the joint driving module and the flexible circuit board of the finger joint in this application;

[0020] Figure 3 This is a schematic diagram of the structure of an embodiment of the flexible circuit board for finger joints in this application;

[0021] Figure 4 This is a schematic diagram of the structure of an embodiment of the flexible palm circuit board of this application. Detailed Implementation

[0022] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0023] In the following description, specific details such as particular system architectures, interfaces, and technologies are presented for illustrative purposes rather than for limiting purposes, in order to provide a thorough understanding of this application.

[0024] In this document, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " generally indicates that the preceding and following related objects have an "or" relationship. Furthermore, "many" in this document means two or more. Moreover, the term "at least one" in this document means any combination of at least two of any one or more of a plurality of objects. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0025] Please refer to the following: Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the structure of one embodiment of the dexterous hand 100 of this application. Figure 2 This is a schematic diagram of an embodiment of the joint driving module and the flexible circuit board of the finger joints of this application. The dexterous hand 100 includes a dexterous hand body 110, a joint driving module 120, a flexible circuit board of the finger joints 130, and a dexterous hand master controller module 140. The dexterous hand body 110 includes a palm portion 111 and a plurality of finger portions 112, wherein each finger portion 112 has multiple joint positions. The joint driving module 120 is disposed at each joint position of the finger portions 112, and the joint driving module 120 is used to drive the bending or straightening of the finger portions 112, wherein the joint driving module 120 can drive the bending or straightening of the finger portions 112 through electrical energy or magnetic energy. The flexible circuit board 130 of the finger joints is attached to the outer periphery of the joint drive module 120 and is electrically connected to the joint drive module 120. The flexible circuit board 130 is used to send the finger movement data received from the finger part 112 during operation to the dexterous hand master controller module 140 and to send the received adjustment commands to the joint drive module 120. The flexible circuit board 130 of the finger joints can be attached to the outer periphery of the joint drive module 120 by means of high-temperature resistant adhesive, mechanical slots, or film wrapping. The dexterous hand master controller module 140 is located in the palm part 111 and is electrically connected to the flexible circuit board 130 of the finger joints. The dexterous hand master controller module 140 serves as the control center of the entire dexterous hand 100. It is used to receive the adjustment commands generated by the robot based on the grasping data and to send the adjustment commands to each flexible circuit board 130 of the finger joints, so that the joint drive module 120 can perform corresponding operations based on the adjustment commands. The grasping data includes finger movement data.

[0026] In addition, the flexible circuit board 130 of the finger joint can also be glued or embedded along the curved portion of the joint of the finger part 112.

[0027] The dexterous hand master controller module 140 is electrically connected to the flexible circuit boards 130 of each finger joint, forming a distributed control system. This design allows adjustment commands from each finger part 112 to be directly transmitted to its corresponding joint drive module 120, achieving precise motion control.

[0028] In this application, the dexterous hand 100 is a high-precision mechanical device for robotic manipulation and grasping, featuring a multi-joint, multi-finger structure and typically equipped with sensors and control modules. This design enables the dexterous hand 100 to mimic the movements and functions of the human hand, thereby achieving precise manipulation and grasping of objects.

[0029] In this embodiment, the dexterous hand 100 may include, but is not limited to, features such as: multi-joint drive mechanism, high-precision sensor, and modular design. For details, please refer to the following documentation. Figure 1 The dexterous hand 100 is designed to mimic a human hand, comprising a palm portion 111 and five finger portions 112. Each finger portion 112 includes three finger joints, and each finger joint has at least one joint drive module 120. Two joint drive modules 120 are located at the metacarpophalangeal joint connecting the finger portion 112 and the palm portion 111. One joint drive module 120 controls the flexion and extension of the finger joint closest to the palm portion 111, and the other joint drive module 120 controls the lateral movement of that finger joint. The two joint drive modules 120 at the metacarpophalangeal joint can be positioned vertically or horizontally, and can operate independently without interference. The configuration of the two joint drive modules 120 is flexible and not specifically limited here.

[0030] In some implementations, the joint drive module 120 may use a drive device such as a miniature servo motor or a servo motor. The dexterous hand master controller module 140 may be connected to the flexible circuit boards 130 of each finger joint via wired or wireless means. For example, in one specific embodiment, a central processing unit may be provided in the palm portion 111, and the processor may be connected to the flexible circuit boards of each finger portion 112 via wires.

[0031] In some embodiments, the knuckle flexible circuit board 130 is made of a flexible material, which can closely fit the outer periphery of the joint drive module 120 and has high flexibility and durability. To ensure that the knuckle flexible circuit board 130 does not affect the operation of the finger part 112, a redundancy can be provided in the knuckle flexible circuit board 130; that is, a portion of the knuckle flexible circuit board 130 extends from the outer periphery of the joint drive module 120, and another portion extends towards the back of the finger part 112. This design, together with the rigid circuit board mounted on the base of the dexterous hand 100, forms a rigid-flexible design to achieve a rigid-flexible transition of the circuit board, wherein the rigid circuit board is fixed using screws.

[0032] Please see Figure 3 , Figure 3 This is a schematic diagram of an embodiment of the flexible knuckle circuit board 130 of this application. The flexible knuckle circuit board 130 includes: a first flexible base plate 131, a conductive layer 132, and a first cover layer 133. The first flexible base plate 131 allows the finger portion 112 to perform complex bending and movement without damaging the internal circuitry. The conductive layer 132 is disposed on the first flexible base plate 131 and is used to transmit electrical signals. The first cover layer 133 is disposed on the conductive layer 132 and is used to prevent oxidation of the conductive layer. A zero-potential reference is provided for all circuit modules to ensure consistent signal levels. Copper can be continuously laid over a large area on the first flexible base plate 131 as a grounding layer, while also reducing loop interference.

[0033] The first flexible base plate 131 refers to the basic support part in the structure of the joint flexible circuit board 130. It is usually made of a highly elastic material to adapt to the bending and movement of the finger part 112. For example, it can be made of polyimide, which has high bending resistance and good insulation properties, reducing failures caused by mechanical fatigue. The conductive layer 132 is located on the first flexible base plate 131 and is responsible for transmitting control signals to achieve precise control of each joint of the dexterous hand 100. The conductive layer 132 can be made of various materials, such as silver paste or copper foil, to ensure good conductivity. The first cover layer 133 (such as polyimide film + adhesive) is disposed on the conductive layer 132 and is mainly used to protect the conductive layer from oxidation and physical damage. The first cover layer 133 can be made of oxidation-resistant materials, such as epoxy resin coating or polyimide film. Through this structural design, the joint flexible circuit board can achieve highly reliable and long-life electrical signal transmission.

[0034] Due to the characteristics of the knuckle flexible circuit board 130, the knuckle flexible circuit board 130 can absorb vibration and avoid solder joint cracking when the dexterous hand 100 moves at high speed (compared to rigid PCB (Printed Circuit Board)), making it suitable for high dynamic scenarios (such as industrial grasping and surgical robots).

[0035] In some embodiments, the thickness of the knuckle flexible circuit board 130 is 0.1 mm. By setting the thickness of the knuckle flexible circuit board 130 to 0.1 mm, the overall weight of the dexterous hand 100 is significantly reduced, thereby improving the ease and precision of operation. At the same time, the thin design allows the circuit board to adapt more flexibly to various finger movements, improving the reliability and durability of the system. This optimization not only enhances the user experience but also extends the product's lifespan. Furthermore, the ultra-thin nature of the knuckle flexible circuit board 130 (thickness <0.1 mm) reduces the load on the joint drive module 120 while saving internal space, facilitating the integration of more sensors or actuators.

[0036] In some embodiments, the dexterous hand 100 also includes a pressure sensor (not shown) and a bending sensor (not shown). Finger movement data includes pressure data collected by the pressure sensor and bending angle data collected by the bending sensor. The bending sensor is located at the knuckle of the finger portion 112, and the pressure sensor is located at the fingertip of the finger portion 112. The pressure sensor is connected to the flexible circuit board 130 of the knuckle via a connector, and the bending sensor is connected to the flexible circuit board 130 of the knuckle via a connector. The pressure sensor transmits the pressure data collected when the dexterous hand 100 grasps an object to the flexible circuit board 130 of the knuckle, and the bending sensor transmits the bending angle data collected at the knuckle to the flexible circuit board 130 of the knuckle. The connection between the sensor and the flexible circuit board via the connector and connector ensures the stability and reliability of signal transmission. This design effectively avoids signal loss or distortion caused by poor contact.

[0037] Specifically, the pressure sensor can be made using existing force-sensitive elements or pressure-sensitive materials, such as metal foil pressure sensors or semiconductor strain gauges. Its installation location is in the fingertip area, accurately reflecting the magnitude and distribution of pressure experienced by the dexterous hand during grasping. The bending sensor can be of the type flexible potentiometer or photoelectric angle sensor, installed at the finger joint to accurately capture changes in the finger's bending angle. A reliable connection between the sensor and the flexible circuit board is achieved through connectors and plugs. This design has the following advantages: First, connectors and plugs provide a stable electrical connection; second, this connection method facilitates sensor replacement and maintenance; for example, when a sensor fails, it can be quickly disassembled and replaced with a new one without affecting the function of other parts; finally, due to the modular design, different types of sensors can be flexibly configured. Specifically, different types of sensors (such as different pressure sensors or bending sensors) can be selected according to actual needs, thus meeting the requirements of various application scenarios. In practice, the pressure sensor and bending sensor can be installed on the finger using adhesive, mechanical fixation, or other methods. To improve the reliability of signal transmission, conductive adhesive can be applied between the sensor and the flexible circuit board 130 of the knuckle, or elastic connectors can be used to ensure good electrical contact and mechanical stability.

[0038] In practical use, pressure and bending sensors monitor the force and movement of the finger part 112 in real time. This allows the dexterous hand 100 to more intelligently adjust its grip strength and range of motion, thus preventing damage to objects or misoperation due to excessive force. Because it can accurately sense and control the finger's operational state, this design helps reduce wear on mechanical parts, thereby extending the overall lifespan of the dexterous hand.

[0039] Furthermore, the knuckle flexible circuit board 130 can use the knuckle as a carrier for pressure and bending sensors. Specifically, it can be installed and fixed by means of laser cutting to match the shape and then hot-pressing or by encapsulation and protection with a flexible cover layer (such as polydimethylsiloxane PDMS).

[0040] In some embodiments, the dexterous hand 100 further includes a flexible palm circuit board 150, which is disposed along the inner wall of the palm portion 111. The flexible palm circuit board 150 is connected to the dexterous hand master controller module 140 via a connector. The flexible palm circuit board 150 is electrically connected to the knuckle flexible circuit board 130. The flexible palm circuit board 150 is used to receive electrical signals sent by the knuckle flexible circuit board 130 and to send electrical signals to the dexterous hand master controller module. The flexible palm circuit board 150 can be fixed using methods such as connecting the board-end gold fingers to a socket or magnetic assisted positioning.

[0041] The flexible palm circuit board 150 is an electronic component integrated within the dexterous hand 100, designed to transmit signals for finger movement and control systems. This circuit board is positioned along the inner wall of the palm portion 111, meaning it lies on the inner surface of the palm structure to facilitate connection and communication with other components, such as the knuckle flexible circuit board 130. The flexible palm circuit board 150 is connected to the dexterous hand master controller module 140 via a connector. A connector is a device for electrical connection that ensures efficient signal transmission. This connection method provides a reliable data exchange channel and offers high durability.

[0042] Furthermore, the flexible palm circuit board 150 is electrically connected to the flexible knuckle circuit board 130. This means that there is a direct electrical connection between the two, enabling real-time transmission of data and control signals. In this way, the palm portion 111 of the dexterous hand 100 can work in conjunction with the finger portions 112, ensuring the continuity and precision of the overall operation. In specific implementations, the flexible palm circuit board 150 can be made of soft and durable materials, such as polyimide or fluoropolymers. These materials not only have good bending properties but can also withstand certain temperatures and mechanical stresses. At the same time, the connector design also needs to consider the working environment of the dexterous hand, selecting a type suitable for high-frequency operation and complex motion conditions; for example, a ZIF (Zero Insertion Force) connector can be used. The layout of the internal space of the palm portion 111 can adopt a modular design to ensure that the connection path between the flexible palm circuit board 150 and the dexterous hand master controller module 140 is the shortest and does not interfere with other components.

[0043] In some embodiments, the dexterous hand 100 also includes a power management module (not shown) and a tactile array sensor (not shown), both disposed within the palm portion 111. The grasping data includes first tactile data collected by the tactile array sensor. The power management module is electrically connected to a flexible palm circuit board 150 and manages the power supply to each finger portion 112. The tactile array sensor is also electrically connected to the flexible palm circuit board 150 and converts the first tactile data received by the palm portion 111 into electrical signals. Alternatively, the power management module and the tactile array sensor can also be integrated onto the flexible palm circuit board 150.

[0044] By integrating a power management module within the palm portion 111, intelligent management of power delivery to each finger is achieved, thereby improving the dexterous hand's power efficiency and endurance while ensuring coordinated operation between the fingers. The application of a haptic array sensor gives the dexterous hand 100 highly sensitive tactile feedback capabilities, enabling it to more accurately perceive the state and characteristics of objects when interacting with the external environment, significantly improving the accuracy and naturalness of operations. These improvements comprehensively enhance the dexterous hand 100's adaptability to complex tasks and the human-computer interaction experience, laying the foundation for achieving higher levels of intelligent operation.

[0045] Furthermore, the power management module is connected to the power systems of each finger 112 via the flexible palm circuit board 150, and is responsible for coordinating and controlling the power distribution and energy management of the entire dexterous hand 100. The tactile array sensor is also connected to the dexterous hand master controller module 140 via the flexible palm circuit board 150, and can convert the initial tactile data such as pressure and temperature sensed by the palm area into electrical signals that can be processed by a computer. The power management module can be composed of existing microelectronic components, and its main functions include battery charging and discharging management, current distribution, and power consumption detection. The tactile array sensor can be a high-sensitivity sensor array based on piezoelectric materials or resistive touch technology, distributed in key areas of the palm 111, such as the palm center, to accurately capture initial tactile data of different directions and intensities.

[0046] Please see Figure 4 , Figure 4This is a schematic diagram of the structure of an embodiment of the flexible palm circuit board 150 of this application. The flexible palm circuit board 150 includes: a second flexible base plate 151, a first signal layer 152, a power layer 153, a ground plane layer 154, a second signal layer 155, and a second cover layer 156. The first signal layer 152 is disposed on the second flexible base plate 151 and is connected to a tactile array sensor. The power layer 153 is disposed on the first signal layer 152 and is electrically connected to a power management module. The power layer 153 is used to supply power to each finger. The ground plane layer 154 is disposed on the power layer 153 and is used to provide a stable reference potential. The second signal layer 155 is disposed on the ground plane layer 154 and is electrically connected to the knuckle flexible circuit board 130 and the dexterous hand master controller module 140. The second signal layer 155 is used to receive and forward electrical signals. The second cover layer 156 (such as a polyimide film + adhesive) is disposed on the second signal layer 155 and is used to prevent the second signal layer 155 from oxidizing. The first signal layer 152 is used to lay out low- and medium-speed signals and non-critical analog signals. It can also accommodate surface-mount resistors, capacitors, and low-density devices, relieving the wiring pressure on the second signal layer 155. The second signal layer 155 mainly houses the core IC (Integrated Circuit), sensor interfaces, and high-frequency devices (such as clock sources and high-speed data lines).

[0047] Furthermore, to increase the strength of the flexible palm circuit board 150, a reinforcing plate 157 can be provided on the second cover layer 156 to increase the strength of the flexible palm circuit board 150, thereby improving its durability and bending resistance in actual use. The reinforcing plate 157 can be made of materials such as FR4 (Flame Retardant 4, epoxy resin glass cloth copper-clad laminate) or stainless steel, and is attached to a specific area of ​​the flexible palm circuit board 150 by adhesive bonding, without being conductive to the circuit.

[0048] This structural design makes the palm part of the dexterous hand more flexible and reliable, and able to adapt to a variety of complex operating environments.

[0049] The second flexible base plate 151 serves as the basic structure of the flexible palm circuit board 150, supporting and fixing other components. The second flexible base plate 151 can be made of a flexible substrate such as polyimide. The power layer 153, connected to the power management module, provides power to the entire dexterous hand and distributes power to each finger to ensure normal operation. The first signal layer 152 receives signals from the tactile array sensor and transmits them to the dexterous hand master controller module 140. Simultaneously, the second signal layer 155 receives signals from the knuckle flexible circuit board 130 and the dexterous hand master controller module 140 and sends them to the master controller module 140, thereby achieving precise control of the dexterous hand.

[0050] In some embodiments, to achieve electrical connections between different layers in the flexible palm circuit board 150, vias can be used to connect the first signal layer 152 and the power layer 153, the power layer 153 and the ground plane layer 154, and the ground plane layer 154 and the second signal layer 155.

[0051] To prevent unintended current flow between layers, an insulating layer (not shown) can be placed between the layers (between the first signal layer 152 and the power layer 153, between the power layer 153 and the ground plane layer 154, and between the ground plane layer 154 and the second signal layer 155). This effectively prevents electric field interference and avoids short circuits, thereby improving system safety and performance. The insulating layer can be made of materials such as polyimide or epoxy resin. In this case, vias pass through the insulating layer; for example, vias connect the first signal layer 152 and the power layer 153. This design not only improves the working efficiency of the dexterous hand 100 but also extends its service life. The edges of the flexible palm circuit board 150 can be reinforced using laser welding.

[0052] In this technical solution, an electrical connection is established between the two layers through vias, thereby enabling the transmission of current and signals. The insulating layer is used to isolate the electric field between the power layer 153 and the signal layer, preventing short circuits or signal interference. This design can be implemented in various ways: for example, vias can be drilled and filled with a conductive material (such as copper) to ensure good conductivity.

[0053] In some embodiments, the dexterous hand 100 also includes a fingertip sensor (not shown) and a fingertip flexible circuit board 160. The finger movement data includes second tactile data collected by the fingertip sensor. The fingertip sensor and the fingertip flexible circuit board 160 are disposed at the fingertip position of the finger part 112. The fingertip flexible circuit board 160 is connected to the fingertip sensor via a wire. The fingertip sensor is used to send the collected second tactile data to the fingertip flexible circuit board 160. The fingertip flexible circuit board 160 is electrically connected to the dexterous hand master controller module 140. The fingertip flexible circuit board 160 can be installed by embedding it into the fingertip shell. The fingertip sensor is connected to the fingertip flexible circuit board 160 via a miniature coaxial cable or an embedded pad.

[0054] By introducing fingertip sensors and a flexible fingertip circuit board 160, the operational precision and perception capabilities of the dexterous hand 100 are significantly improved. Firstly, pressure information helps the dexterous hand 100 better adjust its grip, preventing damage to objects due to excessive force or ineffective grasping due to insufficient force. Secondly, the acquisition of image information enhances the dexterous hand 100's ability to recognize object shapes and surface features, thereby increasing the success rate of grasping. Furthermore, this design enhances the dexterous hand 100's ability to adapt to different grasping tasks. This is particularly important for industrial applications requiring high-precision operation or complex medical service scenarios. Overall, this technological improvement significantly enhances the intelligence and practicality of the dexterous hand 100.

[0055] The fingertip flexible circuit board 160 is made of a thin and flexible material, and its wiring is specially designed to accommodate various finger movements. In practice, highly elastic materials such as polyimide can be used to fabricate the flexible circuit board, while stretchable conductive wires are used as connecting leads.

[0056] In addition, the dexterous hand 100 also includes LED (Light-emitting Diode) feedback lights. These LED feedback lights transmit real-time operating status information of the dexterous hand 100 through different light states (such as constant light, flashing, pulse, etc.), helping users or maintenance personnel quickly understand the operating status of the dexterous hand 100. The LED feedback lights can be directly soldered to the fingertip flexible circuit board 160.

[0057] In some embodiments, the dexterous hand 100 also includes a flexible wrist joint circuit board (not shown), which is disposed at the wrist joint of the dexterous hand 100. The flexible wrist joint circuit board is spiral-shaped and electrically connected to the dexterous hand master controller module 140. Alternatively, the flexible wrist joint circuit board may also employ a foldable design.

[0058] This design significantly enhances the range of motion and operational precision of the Dexterous Hand 100. The spiral flexible circuit board adapts to various wrist movements, avoiding mechanical damage and signal interruptions caused by rigid circuit boards. Simultaneously, its lightweight nature reduces overall weight, improving user comfort and efficiency. Furthermore, this structure extends the Dexterous Hand's lifespan and provides a solid foundation for future intelligent upgrades.

[0059] The wrist joint flexible circuit board is an electronic component specifically designed for the dexterous wrist joint. Made of flexible materials, it adapts to the complex movements and bending requirements of the wrist joint. Its spiral design allows the circuit board to provide necessary flexibility while effectively reducing size and weight, ensuring stable and reliable signal transmission. By integrating it with the dexterous hand master controller module 140, effective control and data transmission of various parts of the dexterous hand 100 are achieved.

[0060] In this application, the aforementioned flexible circuit board 130 for finger joints, flexible circuit board 150 for palm, and flexible circuit board for wrist joints can all adopt a pluggable structure.

[0061] Furthermore, the circuit board in this application can provide feedback on network connection status (connection success / failure status, IP address, subnet mask, gateway address, signal strength, current Wi-Fi frequency band and channel number), data transmission feedback (data packet sending / receiving success or failure, transmission rate, packet loss rate and latency), module self-status feedback (operating temperature, power supply voltage, firmware version, Wi-Fi protocol version, encryption method and current operating mode), error and exception feedback (authentication failure (incorrect password, MAC address filtering), IP conflict, hardware failure (such as damaged RF chip, disconnected antenna), protocol incompatibility), user-defined data (temperature and humidity, light intensity, device adjustment commands), and security and permission feedback (unauthorized access attempts, data encryption status, user access permission verification results).

[0062] This application provides a robot including the dexterous hand 100 described above, enabling the robot to achieve more precise operation and grasping capabilities.

[0063] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to, and for the sake of brevity, they will not be repeated here.

Claims

1. A dexterous hand applied to a robot, characterized by, include: The main body of the dexterous hand includes the palm and several fingers; A joint drive module is disposed at each joint position of the finger part, and the joint drive module is used to drive the bending or straightening of the finger part; A flexible circuit board for finger joints is attached to the outer periphery of the joint drive module and is electrically connected to the joint drive module. The flexible circuit board for finger joints is used to send the received finger movement data during the operation of the finger part to the dexterous hand master controller module and to send the received adjustment instructions to the joint drive module. A dexterous hand master controller module is disposed in the palm part and electrically connected to the finger joint flexible circuit board. The dexterous hand master controller module is used to receive the adjustment command generated based on the grasping data sent by the robot and send the adjustment command to the finger joint flexible circuit board, so that the joint drive module performs the corresponding operation based on the adjustment command. The grasping data includes the finger movement data.

2. The dexterous hand of claim 1, wherein, The flexible circuit board for the finger joint includes: First flexible base plate; A conductive layer is disposed on the first flexible substrate for transmitting electrical signals; A first cover layer is disposed on the conductive layer to prevent oxidation of the conductive layer.

3. The dexterous hand according to claim 2, characterized in that, The thickness of the flexible circuit board for the knuckle is 0.1 mm.

4. The dexterous hand of claim 1, wherein, The dexterous hand also includes a pressure sensor and a bending sensor. The finger movement data includes pressure data collected by the pressure sensor and bending angle data collected by the bending sensor. The bending sensor is located at the knuckle of the finger, and the pressure sensor is located at the fingertip. The pressure sensor is connected to the flexible circuit board of the knuckle via a connector, and the bending sensor is connected to the flexible circuit board of the knuckle via a connector. The pressure sensor is used to send the pressure data collected by the dexterous hand when grasping an object to the flexible circuit board of the knuckle, and the bending sensor is used to send the bending angle data collected at the knuckle to the flexible circuit board of the knuckle.

5. The dexterous hand of claim 1, wherein, The dexterous hand also includes a flexible palm circuit board, which is disposed along the inner wall of the palm portion. The flexible palm circuit board is connected to the dexterous hand master controller module via a connector. The flexible palm circuit board is electrically connected to the flexible knuckle circuit board. The flexible palm circuit board is used to receive electrical signals sent by the flexible knuckle circuit board and to send electrical signals to the dexterous hand master controller module.

6. The dexterous hand of claim 5, wherein, The dexterous hand also includes a power management module and a tactile array sensor, which are disposed within the palm portion. The grasping data includes first tactile data collected by the tactile array sensor. The power management module is electrically connected to the flexible circuit board of the palm and is used to manage the power supply to each of the finger portions. The tactile array sensor is electrically connected to the flexible circuit board of the palm and is used to convert the first tactile data received by the palm portion into electrical signals.

7. The dexterous hand of claim 6, wherein, The flexible circuit board of the palm includes: Second flexible base plate; A first signal layer is disposed on the second flexible substrate and connected to the tactile array sensor; A power layer is disposed on the first signal layer and electrically connected to the power management module. The power layer is used to supply power to each of the finger parts. A ground plane layer, disposed on the power plane, is used to provide a stable reference potential; The second signal layer is disposed on the ground plane layer and is electrically connected to the flexible circuit board of the finger joint and the dexterous hand main controller module. The second signal layer is used to receive and forward electrical signals. A second cover layer is disposed on the second signal layer to prevent oxidation of the second signal layer.

8. The dexterous hand of claim 7, wherein, The first signal layer is connected to the power layer, the power layer is connected to the ground plane layer, and the ground plane layer is connected to the second signal layer via vias; And / or, a reinforcing plate, disposed on the second cover layer, for increasing the strength of the flexible palm circuit board.

9. The dexterous hand of claim 1, wherein, The dexterous hand also includes a fingertip sensor and a fingertip flexible circuit board. The finger movement data includes second tactile data collected by the fingertip sensor. The fingertip sensor and the fingertip flexible circuit board are disposed at the fingertip position of the finger. The fingertip flexible circuit board is connected to the fingertip sensor through a wire. The fingertip sensor is used to send the collected second tactile data to the fingertip flexible circuit board. The fingertip flexible circuit board is electrically connected to the dexterous hand master controller module.

10. The dexterous hand of claim 1, wherein, The dexterous hand also includes a flexible circuit board for the wrist joint, which is disposed at the wrist joint position of the dexterous hand. The flexible circuit board for the wrist joint is spiral-shaped and is electrically connected to the dexterous hand's main controller module.

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

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