Tactile sensor and bionic manipulator provided with same

Abstract

Provided are a tactile sensor and a bionic manipulator provided with same. The tactile sensor comprises: a housing (1), an image capturing assembly (2), a lighting assembly (3), a transparent part (4), and a touch layer (5). The housing (1) is provided with an opening (141) corresponding to the transparent part (4), and the transparent part (4) is provided on the housing (1) by means of the opening (141). The image capturing assembly (2) is arranged in the housing (1). A lighting space is formed in the housing (1), the lighting assembly (3) is arranged in the housing (1), and the lighting assembly (3) is used for lighting the lighting space and the touch layer (5). The touch layer (5) comprises an elastic transparent layer (51), a pattern layer (52), a background layer (53), and a wear-resistant layer (54), which are connected in sequence. The elastic transparent layer (51) is connected to the transparent part (4). The pattern layer (52) comprises one or more specific patterns. The background layer (53) is used for shielding light. The touch layer (5) deforms the one or more specific patterns on the pattern layer (52) when the wear-resistant layer (54) contacts an object, so that the image capturing assembly (2) captures changes in the specific patterns on the pattern layer (52) and obtains touch information on the basis of the changes.

Description

A tactile sensor and a bionic robotic hand having the same.

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese Patent Application No. 2024114373307, filed on October 15, 2024, entitled “A tactile sensor and a bionic mechanical finger having the same”; Chinese Patent Application No. 2025205969227, filed on March 31, 2025, entitled “A visual-tactile sensor”; and Chinese Patent Application No. 2024117632680, filed on December 3, 2024, entitled “A tactile sensor and a device having the same”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of robotics, and in particular to a tactile sensor, a tactile sensor and a bionic robotic hand having the same. Background Technology

[0004] In recent years, robotics technology has seen rapid development in both industrial and civilian applications. The robotic arm is the final actuator in a robot's work, and its performance directly determines the robot's capabilities. Similar to humans, the development of highly versatile and dexterous robotic arms is essential. For the gripping operating system of a robotic arm, tactile sensors are necessary components to generate effective feedback to maintain a stable grip during movement.

[0005] Existing tactile sensors have complex structures and are relatively large in size. Summary of the Invention

[0006] In view of this, this application proposes a tactile sensor, a tactile sensor, and a bionic robotic hand having the same, the specific solution of which is as follows:

[0007] In its first part, this application discloses a tactile sensor, comprising: a housing, an imaging component, an illumination component, a transparent portion, and a touch layer; the housing has an opening corresponding to the transparent portion, which is disposed on the housing through the opening; the imaging component is disposed within the housing; an illumination space is formed within the housing, and the illumination component is disposed within the housing to illuminate the illumination space and the touch layer; the touch layer comprises an elastic transparent layer, a pattern layer, a background layer, and a wear-resistant layer connected in sequence; the elastic transparent layer is connected to the transparent portion; the pattern layer includes one or more specific patterns, and the background layer is used to block light; the touch layer is used to deform one or more specific patterns on the pattern layer when the wear-resistant layer contacts an object, thereby enabling the imaging component to capture the changes in the specific patterns on the pattern layer and obtain touch information based on the changes.

[0008] In its second part, this application proposes a tactile sensor, comprising: a housing, an imaging component, an illumination component, a transparent portion, a touch layer, and a reflector. The housing has an opening corresponding to the transparent portion, which is disposed on the housing through the opening. The imaging component and the reflector are disposed within the housing; the imaging component is horizontally disposed on one side of the transparent portion, and the reflector is obliquely disposed on the side of the transparent portion away from the touch layer. An illumination space is formed within the housing, and the illumination component is disposed within the housing to illuminate the illumination space, the reflector, and the touch layer. The touch layer comprises an elastic transparent layer, a pattern layer, a background layer, and a wear-resistant layer connected sequentially. The elastic transparent layer is connected to the transparent portion. The pattern layer includes one or more specific patterns, and the background layer is used for light blocking. When the wear-resistant layer contacts an object, the touch layer causes one or more specific patterns on the pattern layer to deform. The imaging component faces the reflector and captures the changes in the specific patterns on the pattern layer through the reflector, obtaining touch information based on the changes.

[0009] In one specific embodiment, the specific pattern includes one or more of dot matrix patterns, color block patterns, and thermal patterns.

[0010] In one specific embodiment, a particular pattern has an array of tiles, each tile having a different color from its neighboring tiles.

[0011] In one specific embodiment, the projection of the transparent portion onto the touch layer is greater than or equal to the area of ​​the specific pattern formed on the pattern layer.

[0012] In one specific embodiment, the length of the touch layer ranges from 25mm to 40mm; the width of the touch layer ranges from 10mm to 30mm.

[0013] In one specific embodiment, the elastic transparent layer includes a silicone layer, the thickness of which ranges from 2mm to 6mm; the thickness of the background layer ranges from 0.1mm to 1.5mm; and the thickness of the wear-resistant layer ranges from 0.1mm to 1.5mm.

[0014] In one specific embodiment, the housing includes an upper cover, a main body, and a lower cover. One side of the main body is connected to the upper cover, and the other side of the main body is connected to the lower cover. An imaging component and an illumination component are disposed on the main body. An opening is provided on the lower cover, and a transparent part is disposed on the lower cover through the opening. The imaging end of the imaging component captures changes in a specific pattern on the pattern layer through the transparent part.

[0015] In one specific embodiment, the main body is provided with a first groove that matches the shooting component, and the shooting component is connected to the main body through the first groove.

[0016] In one specific embodiment, the camera component is positioned at the center point of the side where the main body connects to the top cover.

[0017] In one specific embodiment, the lighting assembly includes one or more lighting lamps, all of which are disposed on the side of the body.

[0018] In one specific embodiment, the shooting end of the shooting component is positioned facing the transparent part, and the swing angle range of the shooting component includes 50°-150° with the line connecting the center of the housing to the center of the transparent part as the axis.

[0019] In one specific embodiment, the shooting end of the shooting component is positioned facing the transparent portion, and the distance between the shooting end of the shooting component and the touch layer ranges from 5mm to 30mm.

[0020] In one specific embodiment, the housing includes an outer shell, a support base, and a base. The support base is connected to the outer shell, and the end of the base away from the support base is connected to the end of the outer shell away from the support base. The outer shell, the support base, and the base form an illumination space, and the outer shell is detachably covered on the base. The imaging component is disposed on the support base. The reflector is disposed on the outer shell. An opening is provided on the base, and a transparent portion is connected to the base through the opening so that the changing pattern on the touch layer can pass through the transparent portion and be reflected to the imaging component by the reflector.

[0021] In one specific embodiment, the housing and the base are detachably connected by fasteners and / or bayonet mounts.

[0022] In one specific embodiment, the housing includes a top plate, the top plate includes a flat portion and an inclined portion inclined to one side of the flat portion; the inner side of the inclined portion is provided with an inlay groove, and the reflector is inlaid in the inlay groove.

[0023] In one specific embodiment, the reflector is secured in the mounting groove by fasteners and / or clips and / or adhesive.

[0024] In one specific embodiment, an illumination component is disposed on the housing and / or the base, and the illumination component is used to illuminate the patterned layer.

[0025] In one specific embodiment, the lighting assembly includes one or more lighting lamps, all of which are disposed on the side of the housing along the direction from the support to the reflector, and the one or more lighting lamps form an inclined angle with the transparent portion.

[0026] In one specific embodiment, the support base is provided with a mounting platform, the mounting platform is provided with a second groove, and the imaging component includes a separate circuit board and a camera. The circuit board is disposed on the support base and is electrically connected to the camera; the camera is connected to the support base through the second groove.

[0027] In one specific embodiment, the camera is positioned at the center point of the side where the support and the base connect.

[0028] In one specific embodiment, the housing includes a first receiving cavity for accommodating a reflector and a second receiving cavity for accommodating a shooting assembly, and the first receiving cavity is connected to the second receiving cavity; the direction from the transparent portion to the touch layer is the thickness direction of the first receiving cavity, and the thickness of the first receiving cavity gradually increases along the direction from the first receiving cavity to the second receiving cavity.

[0029] In one specific embodiment, the plane where the reflector is located forms an angle with the plane where the touch layer is located, and the angle ranges from 15° to 65°.

[0030] In one specific embodiment, the plane where the imaging component is located forms an angle with the plane where the touch layer is located, and the angle ranges from 30° to 80°; the distance between the imaging end of the imaging component and the virtual image formed by the touch layer after reflection by the reflector ranges from 15mm to 65mm.

[0031] Thirdly, this application provides a bionic robotic hand, including the tactile sensor mentioned in the above technical solution. Attached Figure Description

[0032] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 is an exploded view of a tactile sensor according to an embodiment of this application;

[0034] Figure 2 is a schematic diagram of the structure of the tactile sensor according to an embodiment of this application;

[0035] Figure 3 is a schematic diagram of the pattern layer structure of the tactile sensor according to an embodiment of this application;

[0036] Figure 4 is an exploded view of a tactile sensor according to an embodiment of this application;

[0037] Figure 5 is a cross-sectional view of a tactile sensor according to an embodiment of this application;

[0038] Figure 6 is a schematic diagram of the main body of the tactile sensor according to an embodiment of this application;

[0039] Figure 7 is a schematic diagram of the structure of a tactile sensor according to another embodiment of this application;

[0040] Figure 8 is an exploded view of a tactile sensor according to another embodiment of this application;

[0041] Figure 9 is an exploded view of a tactile sensor according to another embodiment of this application;

[0042] Figure 10 is a schematic diagram of the structure of a tactile sensor according to another embodiment of this application;

[0043] Figure 11 is a partial exploded view of the structure of a tactile sensor according to another embodiment of this application;

[0044] Figure 12 is an exploded view of a tactile sensor according to another embodiment of this application;

[0045] Figure 13 is an exploded view of a tactile sensor according to another embodiment of this application;

[0046] Figure 14 is a cross-sectional view of a tactile sensor according to another embodiment of this application;

[0047] Figure 15 is a schematic diagram of the distance between the imaging component and the virtual image of a tactile sensor according to another embodiment of this application.

[0048] Reference numerals: 1. Housing; 12. Top cover; 13. Main body; 14. Bottom cover; 141. Opening; 131. First groove; 15. Outer shell; 16. Base; 17. Support; 151. Top plate; 1511. Flat part; 1512. Inclined part; 1513. Inlay groove; 171. Mounting platform; 1711. Second groove; 2. Imaging assembly; 21. Circuit board; 22. Camera; 3. Illumination assembly; 31. Illumination lamp; 4. Transparent part; 41. Protrusion; 5. Touch layer; 51. Elastic transparent layer; 52. Pattern layer; 53. Background layer; 54. Wear-resistant layer; 521. Block; 6. Reflector; a. First receiving cavity; b. Second receiving cavity; A. Virtual image. Detailed Implementation

[0049] The various embodiments disclosed herein will be described more fully below. This application may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments disclosed herein to the specific embodiments disclosed herein, but rather this application should be understood to cover all adjustments, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments disclosed herein.

[0050] The terminology used in the various embodiments disclosed in this application is for the purpose of describing particular embodiments only and is not intended to limit the various embodiments disclosed in this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments disclosed in this application pertain. Terms (such as those defined in a generally used dictionary) are to be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and are not to be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments disclosed in this application.

[0051] Example 1

[0052] This embodiment provides a tactile sensor, as shown in Figures 1 and 2. The imaging component 2 captures the deformation of a specific pattern on the touch layer 5 when it comes into contact with an object. Advanced image processing algorithms analyze these changes to generate detailed touch information, providing interactive feedback to the user. This ensures high sensitivity and accuracy in touch detection, and the sensor features a simple structure, reducing manufacturing difficulty and installation complexity. The specific solution is as follows:

[0053] A tactile sensor includes a housing 1, an imaging component 2, an illumination component 3, a transparent portion 4, and a touch layer 5. The housing 1 has an opening 141 corresponding to the transparent portion 4, through which the transparent portion 4 is disposed on the housing 1. The imaging component 2 is disposed within the housing 1. An illumination space is formed within the housing 1, and the illumination component 3 is disposed within the housing 1 to illuminate the illumination space and the touch layer 5. The touch layer 5 includes an elastic transparent layer 51, a pattern layer 52, a background layer 53, and a wear-resistant layer 54 connected sequentially. The elastic transparent layer 51 is connected to the transparent portion 4. The pattern layer 52 includes one or more specific patterns. The background layer 53 is used for light blocking. When the wear-resistant layer 54 contacts an object, the touch layer 5 causes one or more specific patterns on the pattern layer 52 to deform, thereby allowing the imaging component 2 to capture the changes in the specific patterns on the pattern layer 52 and obtain touch information based on these changes.

[0054] This embodiment provides a highly integrated tactile sensor designed to capture and analyze touch information through visual recognition technology, thereby providing interactive feedback to users and ensuring highly sensitive and accurate touch detection capabilities.

[0055] The housing 1 serves as the external frame of the entire sensor, protecting the internal components from external interference and damage. The transparent portion 4 is made of a highly transparent material, allowing the imaging component 2 to capture image changes on the touch layer 5 without obstruction. The imaging component 2 is located inside the housing 1, with its imaging end precisely aligned with the transparent portion 4. The imaging component 2 can capture image information transmitted from the touch layer 5 in real time through the transparent portion 4, enabling it to clearly identify subtle changes on the touch layer 5. In practical applications, the imaging component 2 may include a camera or an image sensor.

[0056] Furthermore, an illumination component 3 is installed inside the housing 1, creating a uniform illumination space within the housing 1. The illumination component 3 provides ample light for the imaging component 2, ensuring the clarity and contrast of the captured image. In practical applications, a specific lighting layout can also enhance the visibility of patterns on the touch layer 5.

[0057] Touch layer 5 is the core functional layer of the tactile sensor, integrating multiple functional layers to achieve tactile sensing. Abrasion-resistant layer 54 is used for direct contact with objects, effectively resisting wear and scratches from daily use and protecting the inner structure. The inner layer of abrasion-resistant layer 54 is background layer 53, which uses an efficient light-shielding design to reduce interference from ambient light on image capture and improve detection accuracy. The inner layer of background layer 53 is pattern layer 52, a crucial information carrier with fine, specific patterns designed to produce recognizable deformations in response to touch, which are then captured and analyzed by the imaging component 2. The inner layer of pattern layer 52 is elastic transparent layer 51, which absorbs and disperses pressure generated during touch, protecting the underlying pattern layer 52. Elastic transparent layer 51 is a transparent material used for buffering and conduction, ensuring that changes on pattern layer 52 are clearly transmitted to the imaging component 2. It should be understood that in the above description, "inner layer" refers to a functional layer further away from the object's contact surface.

[0058] In practical applications, when the wear-resistant layer 54 comes into contact with an object, it causes a specific pattern on the pattern layer 52 to deform. This allows the imaging component 2 to capture the changes in the specific pattern on the pattern layer 52 through the elastic transparent layer 51, and analyze these changes using advanced image processing algorithms to generate detailed touch information. It should be understood that the aforementioned image processing algorithm can be any existing algorithm selected based on the actual touch information requirements. For example, a neural network algorithm can be chosen to establish a mapping relationship between optical and mechanical information, thereby obtaining the magnitude of the actual touch force.

[0059] In one specific embodiment, the specific pattern includes one or more of dot matrix patterns, color block patterns, and thermal patterns. Dot matrix patterns, composed of densely or sparsely arranged dots, can be used for functional applications such as QR codes, data encoding, or anti-counterfeiting marks. Color block patterns, composed of combinations of blocks of different colors, shapes, and sizes, can produce a strong visual impact and rich sense of layering, conveying specific information. Thermal patterns are a visual representation of heat distribution or energy flow, typically using color gradients (such as from cool to warm tones) to show the density, intensity, or trend of data.

[0060] It should be noted that the above pattern structure is merely an example proposed in this embodiment. Those skilled in the art can use other forms of patterns, which will not exceed the protection scope of this application.

[0061] In one specific embodiment, as shown in FIG3, the specific pattern has an array of pattern blocks 521, each pattern block 521 having a different color from its adjacent pattern blocks 521. By setting different colors between adjacent pattern blocks 521, each pattern block 521 can be better identified and distinguished, thereby better capturing the deformation of the pattern block 521 and more accurately determining the deformation of the pattern layer 52.

[0062] In one specific embodiment, as shown in Figures 1 and 2, the projection of the transparent portion 4 onto the touch layer 5 is greater than or equal to the area of ​​the specific pattern formed on the pattern layer 52, ensuring that the imaging component 2 can completely capture the image on the touch layer 5 through the transparent portion 4, and that the illumination component 3 can completely illuminate the touch layer 5 through the transparent portion 4.

[0063] In one specific embodiment, as shown in Figures 1 and 2, the length of the touch layer 5 ranges from 25mm to 40mm, and the width of the touch layer 5 ranges from 10mm to 30mm. Setting the length of the touch layer 5 to between 25mm and 40mm, and the width to between 10mm and 30mm, ensures that the touch layer 5 is neither too long and narrow, causing inconvenience, nor too wide, affecting the overall layout or portability of the device, thus improving the user experience.

[0064] In one specific embodiment, as shown in Figures 1 and 2, the elastic transparent layer 51 includes a silicone layer, and the thickness of the elastic transparent layer 51 ranges from 2mm to 6mm. Silicone, with its excellent elasticity, weather resistance, and biocompatibility, is ideally suited for applications requiring frequent touching and pressing. The thickness range of the elastic transparent layer 51 is precisely controlled between 2mm and 6mm, ensuring sufficient elasticity to provide tactile feedback while avoiding excessive thickness that could lead to dull tactile feedback or an overly large device.

[0065] The thickness of the background layer 53 ranges from 0.1mm to 1.5mm, and the thickness of the abrasion-resistant layer 54 also ranges from 0.1mm to 1.5mm. A thinner background layer 53 helps reduce the weight of the device, while an appropriate thickness ensures structural stability and durability. The main function of the abrasion-resistant layer 54 is to protect the touch layer 5 from wear, scratches, and contamination, thereby extending the device's lifespan. This thickness range ensures effective abrasion resistance while avoiding excessive thickness that could weaken the tactile feel or increase costs.

[0066] In one specific embodiment, as shown in Figures 2, 4, and 5, the housing 1 includes an upper cover 12, a main body 13, and a lower cover 14. One side of the main body 13 is connected to the upper cover 12, and the other side of the main body 13 is connected to the lower cover 14. An imaging component 2 and an illumination component 3 are disposed on the main body 13. An opening 141 is provided on the lower cover 14, and a transparent portion 4 is disposed on the lower cover 14 through the opening 141. The imaging end of the imaging component 2 captures changes in a specific pattern on the pattern layer 52 through the transparent portion 4.

[0067] The main body 13, as the core structure of the shell 1, balances stability and optimized layout of internal components. In practical applications, one side of the main body 13 is connected to the upper cover 12 by screws, clips, or other fastening methods, ensuring the sealing of the upper part and the stability of the overall structure, while the other side of the main body 13 is connected to the lower cover 14, providing solid support for the internal components.

[0068] To enable both shooting and illumination functions, an opening 141 is provided on the lower cover 14, through which the transparent portion 4 is disposed. The opening 141 ensures that the shooting end of the shooting component 2 can capture the image on the touch layer 5 through the transparent portion 4. At the same time, the light from the illumination component 3 can also pass through the opening 141 and the transparent portion 4, providing uniform and sufficient illumination to the touch layer 5, thereby improving the clarity and accuracy of image capture.

[0069] In practical applications, the transparent part 4 is made of a highly transparent and scratch-resistant material, ensuring the clarity of image transmission and the durability of the sensor. The imaging component 2 and the illumination component 3 are arranged on the main body 13, optimizing the internal structure of the tactile sensor and improving the collaborative efficiency between the components.

[0070] Optionally, the touch layer 5 can be adhered to the side wall of the opening 141 of the base 16; or the touch layer 5 can be fixed to the side wall of the opening 141 of the base 16 by fasteners and / or clips.

[0071] In one specific embodiment, as shown in Figures 4 and 5, the main body 13 is provided with a first groove 131 that matches the shooting component 2, and the shooting component 2 is connected to the main body 13 through the first groove 131.

[0072] In this embodiment, a first groove 131 matching the shooting component 2 is provided on the main body 13, ensuring stability and accuracy during the connection process. The shooting component 2 is connected to the main body 13 through the first groove 131, which not only simplifies the installation steps but also improves the compactness and aesthetics of the overall structure.

[0073] In one specific embodiment, as shown in Figures 4 and 5, the camera component 2 is disposed at the center point of the side where the main body 13 is connected to the upper cover 12.

[0074] In this embodiment, the shooting component 2 is positioned at the center point of the side where the main body 13 connects to the upper cover 12, aiming to achieve optimal shooting angle and stability. Positioning the shooting component 2 at the center point of the side of the main body 13 not only ensures visual balance but also minimizes shooting errors caused by positional offset, ensuring clear and stable images regardless of the shooting direction.

[0075] In one specific embodiment, as shown in Figures 1 and 6, the lighting component 3 includes one or more lighting lamps 31, all of which are disposed on the side of the main body 13.

[0076] In this embodiment, the lighting assembly 3 includes a plurality of high-efficiency lighting lamps 31. These lighting lamps 31 are disposed on the sides of the main body 13, which not only ensures the reasonable distribution of lighting light, but also optimizes the overall appearance and functionality of the device.

[0077] Furthermore, multiple lighting lamps 31 are placed in a portion of the main body 13 near the lower cover 14, designed to provide a wider and more uniform lighting coverage from a lower position.

[0078] Furthermore, along the direction from the upper cover 12 to the lower cover 14, the ratio of the length of the area where the lighting lamp 31 is located to the overall length of the main body 13 is less than or equal to one-third, ensuring that the lighting component 3 does not occupy too much space in the main body 13, can effectively perform its lighting function, and can also reduce the power consumption of the lighting component 3.

[0079] In one specific embodiment, as shown in Figures 1 and 6, the shooting end of the shooting component 2 is positioned facing the transparent part 4, and the swing angle range of the shooting component 2 includes 50°-150° with the line connecting the center of the housing 1 to the center of the transparent part 4 as the axis.

[0080] In this embodiment, the straight line connecting the center point of the housing 1 to the center point of the transparent part 4 is used as the rotation axis. The imaging component 2 is designed to swing around this axis, and its swing angle is precisely controlled between 50° and 150°, ensuring that the imaging component 2 can flexibly capture images from different angles.

[0081] In one specific embodiment, as shown in Figures 1, 2 and 6, the shooting end of the shooting component 2 is disposed facing the transparent portion 4, and the distance between the shooting end of the shooting component 2 and the touch layer 5 ranges from 5mm to 30mm.

[0082] In this embodiment, considering the shooting quality, ease of operation, and compactness of the overall device structure, the vertical distance between the shooting end of the shooting component 2 and the surface of the touch layer 5 is between 5mm and 30mm.

[0083] Example 2

[0084] This embodiment provides a tactile sensor, as shown in Figures 7, 8, and 9. A reflector 6 reflects the deformation of a specific pattern on the touch layer 5 when it touches an object, which is then transmitted to the imaging component 2. The imaging component 2 uses advanced image processing algorithms to analyze the changing pattern and generate detailed touch information, providing interactive feedback to the user. This ensures high sensitivity and accuracy in touch detection, and features a simple structure, reducing manufacturing difficulty and installation complexity. The specific solution is as follows:

[0085] A tactile sensor includes: a housing 1, an imaging component 2, an illumination component 3, a transparent portion 4, a touch layer 5, and a reflector 6. The housing 1 has an opening 141 corresponding to the transparent portion 4, and the transparent portion 4 is disposed on the housing 1 through the opening 141. The imaging component 2 and the reflector 6 are disposed within the housing 1. The imaging component 2 is horizontally disposed on one side of the transparent portion 4, and the reflector 6 is obliquely disposed on the side of the transparent portion 4 away from the touch layer 5. An illumination space is formed within the housing 1, and the illumination component 3 is disposed within the housing 1 to illuminate the illumination space, the reflector 6, and the touch layer 5. The touch layer 5 includes an elastic transparent layer 51, a pattern layer 52, a background layer 53, and a wear-resistant layer 54 connected sequentially. The elastic transparent layer 51 is connected to the transparent portion 4. The pattern layer 52 includes one or more specific patterns, and the background layer 53 is used for light blocking. The touch layer 5 is used to deform one or more specific patterns on the pattern layer 52 when the wear-resistant layer 54 comes into contact with an object. The imaging component 2 faces the reflector 6 and captures the changes in the specific patterns on the pattern layer 52 through the reflector 6, and obtains touch information based on the changes.

[0086] In this embodiment, the tactile sensor includes a housing 1, an imaging component 2, an illumination component 3, a transparent portion 4, a touch layer 5, and a reflector 6. The transparent portion 4 is disposed on the housing 1 through an opening 141. The imaging component 2 is horizontally disposed on one side of the transparent portion 4, and the reflector 6 is obliquely disposed on the side of the transparent portion 4 away from the touch layer 5. The imaging component 2 faces the reflector 6 and captures changes in a specific pattern on the pattern layer 52 through the reflector 6, obtaining touch information based on the changes. This tactile sensor changes the layout between the transparent portion 4 and the imaging component 2 through the reflector 6, allowing the imaging component 2 to be horizontally disposed on one side of the transparent portion 4, greatly reducing the size of the tactile sensor along the height direction and reducing the volume of the tactile sensor.

[0087] This solution involves tilting the reflector 6 to the side of the transparent portion 4 away from the touch layer 5 and horizontally positioning the imaging component 2 on one side of the transparent portion 4. Utilizing the light reflection characteristics of the reflector 6, the imaging component 2 can acquire a complete deformation image of the pattern layer 52 without directly facing the transparent portion 4. This design converts the vertical imaging path into a horizontal or tilted light path, effectively reducing the sensor's height dimension and significantly shrinking the overall size. Consequently, the sensor is easier to integrate into applications with strict space constraints, such as robot end effectors and wearable devices. Simultaneously, the horizontal layout simplifies the internal wiring and packaging complexity of the sensor, facilitating mass production and subsequent maintenance, further promoting the practical application of the technology.

[0088] Furthermore, in practical applications, a lens is chosen as the reflector 6. As an optical element, a lens possesses excellent reflection and focusing performance, and its cost and manufacturing difficulty are relatively low. In the tactile sensor used in this embodiment, the lens can accurately reflect light, ensuring that pattern changes on the touch layer 5 are clearly projected onto the imaging component 2. The high-precision reflection of the lens helps the imaging component 2 capture more subtle pattern changes, thereby improving the accuracy and sensitivity of the tactile sensor. The lens also has a certain focusing effect, enabling it to focus light on a specific area, helping the imaging component 2 to capture pattern changes more clearly and reducing the impact of external interference and noise on touch information.

[0089] In practical applications, to ensure the performance requirements of the tactile sensor are met, careful attention must be paid to the selection of lens materials and curvature. The choice of lens material is crucial to its optical performance and durability. Common lens materials include glass and plastic. The curvature of the lens affects its reflection and focusing effects. Depending on the specific needs of the tactile sensor, lenses with different curvatures can be selected to achieve optimal reflection and focusing effects. Furthermore, to enhance the optical performance and durability of the lens, a coating can be applied to its surface. For example, an anti-reflective coating can reduce light reflection and scattering, improving the capture effect of the imaging component 2. An anti-scratch coating can protect the lens from scratches and abrasions.

[0090] In practical applications, various types of mirrors, such as plane mirrors, reflecting prisms, curved reflecting mirrors, and beam splitters, can be selected according to actual needs.

[0091] The specific structure of the transparent part 4 and the touch layer 5 in this embodiment can be referred to the description in Embodiment 1.

[0092] In practical applications, when the wear-resistant material 4 is touched or pressed, it compresses the pattern layer 52, causing the pattern to deform. These changes then pass through the elastic transparent layer 51 and the transparent portion 4, are reflected by the reflector 6, and are finally captured and recorded by the imaging component 2. By analyzing the captured pattern changes, the sensor can accurately identify the touch information. It should be understood that the above image processing algorithm can be selected from any existing algorithm according to the actual touch information requirements. For example, a neural network algorithm can be selected to establish a mapping relationship between optical information and mechanical information, thereby obtaining the magnitude of the actual touch force.

[0093] In this embodiment, the specific pattern includes one or more of dot matrix patterns, color block patterns, and thermal patterns. Dot matrix patterns, composed of densely or sparsely arranged dots, can be used for functional applications such as QR codes, data encoding, or anti-counterfeiting marks. Color block patterns, composed of combinations of blocks of different colors, shapes, and sizes, can produce a strong visual impact and rich sense of layering, conveying specific information. Thermal patterns are a visual representation of heat distribution or energy flow, typically using color gradients (such as from cool to warm tones) to show the density, intensity, or trend of data.

[0094] In one specific embodiment, as shown in FIG3, the specific pattern has an array of pattern blocks 521, each pattern block 521 having a different color from its adjacent pattern blocks 521. By setting different colors between adjacent pattern blocks 521, each pattern block 521 can be better identified and distinguished, thereby better capturing the deformation of the pattern block 521 and more accurately determining the deformation of the pattern layer 52.

[0095] In one specific embodiment, the projection of the transparent portion 4 onto the touch layer 5 is greater than or equal to the area of ​​the specific pattern formed on the pattern layer 52, ensuring that the image on the touch layer 5 can be completely transmitted through the transparent portion 4, and that the lighting component 3 can completely illuminate the touch layer 5 through the transparent portion 4.

[0096] In one specific embodiment, as shown in Figures 8 and 9, the housing 1 includes an outer shell 15, a support base 17, and a base 16. The support base 17 is connected to the outer shell 15, and one end of the base 16 away from the support base 17 is connected to one end of the outer shell 15 away from the support base 17. The outer shell 15, the support base 17, and the base 16 form an illumination space, and the outer shell 15 is detachably covered on the base 16. The imaging component 2 is disposed on the support base 17. The reflector 6 is disposed on the outer shell 15. An opening 141 is provided on the base 16, and the transparent part 4 is connected to the base 16 through the opening 141 so that the changing pattern on the touch layer 5 can pass through the transparent part 4 and be reflected to the imaging component 2 by the reflector 6.

[0097] In this embodiment, the housing 1 consists of three parts: an outer shell 15, a support base 17, and a base 16, which together form an illumination space, providing a working environment for the various components inside the sensor. The imaging component 2 is mounted on the support base 17, and the reflector 6 is mounted on the outer shell 15, resulting in a reasonable layout and compact structure.

[0098] An opening 141 matching the transparent part 4 is provided on the base 16, which ensures that the transparent part 4 can be securely connected to the base 16, and also allows the changing pattern on the touch layer 5 to pass through the transparent part 4 and be reflected to the shooting component 2 by the reflector 6.

[0099] The lighting component 3 can also provide bright and uniform illumination to the touch layer 5 through the opening 141 and the transparent part 4, ensuring that the shooting component 2 can capture high-quality image information.

[0100] Optionally, as shown in Figure 8, the support 17 and the base 16 can be an integral structure to enhance the structural strength of the housing 1.

[0101] Optionally, the housing 15 and the base 16 can be detachably connected by fasteners and / or clips.

[0102] In one specific embodiment, as shown in Figures 8 to 11, the outer casing 15 includes a top plate 151, which includes a straight portion 1511 and an inclined portion 1512 inclined to one side of the straight portion 1511. An inlay groove 1513 is provided on the inner side of the inclined portion 1512, and the reflector 6 is embedded in the inlay groove 1513.

[0103] Specifically, the straight portion 1511 is parallel or substantially parallel to the base 16. The inclined portion 1512 is provided on one side of the straight portion 1511. The straight portion 1511 and the inclined portion 1512 can be integrally formed.

[0104] The inclined portion 1512 has an inlay groove 1513 on its inner side, and the reflector 6 is embedded in the inlay groove 1513. The reflector 6 is fixed in the inlay groove 1513 by fasteners and / or clips and / or adhesives. For example, in this embodiment, the reflector 6 is bonded in the inlay groove 1513.

[0105] In one specific embodiment, as shown in FIG11, the reflector 6 is fixed in the mounting groove 1513 by fasteners and / or clips and / or adhesive to enhance the stability of the reflector 6.

[0106] In one specific embodiment, as shown in Figures 9, 12 and 13, the lighting component 3 is disposed on the base 16, or the lighting component is disposed on the housing 15, or it may be partially disposed on the base 16 and partially disposed on the housing 15 as required. The lighting component 3 is used to illuminate the pattern layer 52.

[0107] In this embodiment, the lighting component 3 can be used to illuminate the pattern layer 52 to ensure that the imaging component 2 can capture high-quality images.

[0108] In practical applications, the visibility of the pattern on the pattern layer 52 can also be enhanced by using specific lighting layouts.

[0109] An illumination space is formed inside the housing 1, and the illumination component 3 is used to illuminate the illumination space, the reflector 6 and the touch layer 5.

[0110] Specifically, the lighting component 3 includes a lamp panel with a lighting lamp 31, which is used to illuminate the top surface of the touch layer 5.

[0111] Specifically, there can be two illumination lamps 31, located on opposite sides of the touch layer 5. Of course, the number of illumination lamps 31 is not limited to two; other numbers are also possible, and the lamp panel can be arranged in other ways. The lamp panel enables uniform illumination of the top surface of the transparent portion 4, avoiding shadows and thus improving detection accuracy.

[0112] The lighting lamp 31 can specifically be an LED lamp bead.

[0113] In one specific embodiment, as shown in Figures 12 and 13, the lighting assembly 3 includes one or more lighting lamps 31, all of which are disposed on the side of the housing 15 along the direction from the support 17 to the reflector 6, and the one or more lighting lamps 31 form an inclined angle with the transparent portion 4.

[0114] In this embodiment, the lighting assembly 3 consists of one or more lighting lamps 31, which are evenly distributed on the side of the housing 15 along the direction from the support 17 to the reflector 6. To further optimize the lighting effect, one or more lighting lamps 31 are tilted at an angle to the transparent portion 4, so that the light emitted by the lighting lamps 31 can be refracted and focused by the transparent portion 4, and more evenly illuminate the touch layer 5, thereby improving the lighting quality and the clarity of image capture.

[0115] As exemplarily shown in FIG12, the transparent portion 4 includes a protrusion 41. It should be understood that the protrusion 41 is the main body of the entire transparent portion 4, and this structure facilitates the installation of the transparent portion 4. The protrusion 41 forms an inclined angle with the illumination lamp 31, so that the light emitted by the illumination lamp 31 can be refracted and focused by the protrusion 41, and illuminate the touch layer 5 more evenly.

[0116] In one specific embodiment, as shown in Figures 9, 12 and 13, the support base 17 is provided with a mounting platform 171, the mounting platform 171 is provided with a second groove 1711, the shooting component 2 includes a circuit board 21 and a camera 22 that are separately arranged, the circuit board 21 is disposed on the support base 17, and the circuit board 21 is electrically connected to the camera 22; the camera 22 is connected to the support base 17 through the second groove 1711.

[0117] In this embodiment, the mounting platform 171 of the support base 17 is provided with a second groove 1711 that matches the camera 22, providing a stable mounting position for the camera 22, so that the camera 22 can capture target images more accurately.

[0118] Furthermore, by setting a second groove 1711 on the mounting platform 171 and determining the tilt angle of the second groove 1711 based on requirements, the tilt angle of the imaging component 2 can be fixed, thereby enabling the imaging component 2 to accurately face the reflector 6 and clearly capture the image of the pattern layer 52.

[0119] The imaging assembly 2 mainly consists of two separate parts: a circuit board 21 and a camera 22. The circuit board 21 and the camera 22 are positioned independently, allowing for easy adjustment of their positions and angles, thus minimizing the overall height of the sensor. The circuit board 21, as the core control unit of the imaging assembly 2, is securely mounted on the support base 17 and electrically connected to the camera 22, ensuring the accuracy and stability of data transmission.

[0120] In one specific embodiment, as shown in Figures 9, 12 and 13, the camera 22 is positioned at the center point of the side where the support 17 connects to the base 16.

[0121] In this embodiment, the camera 22 is positioned at the center point of the side where the support 17 connects to the base 16, ensuring that the camera 22 can capture more comprehensive and clearer image information, providing a more reliable and efficient shooting experience.

[0122] In one specific embodiment, as shown in FIG14, the housing 1 includes a first receiving cavity a for accommodating the reflector 6 and a second receiving cavity b for accommodating the imaging assembly 2, and the first receiving cavity a communicates with the second receiving cavity b. The direction from the transparent portion 4 to the touch layer 5 is set as the thickness direction of the first receiving cavity a, and the thickness of the first receiving cavity a gradually increases along the direction from the first receiving cavity a to the second receiving cavity b.

[0123] In this embodiment, the housing 1 is designed with a wedge shape, which enables it to grasp objects and identify information in a narrower space. This effectively reduces the overall thickness and size of the tactile sensor while ensuring its function, making it more widely applicable.

[0124] In one specific embodiment, as shown in Figures 12, 14 and 15, the plane where the reflector 6 is located forms an inclined angle with the plane where the touch layer 5 is located, and the inclined angle ranges from 15° to 65°.

[0125] In this embodiment, in practical applications, the plane of the reflector 6 forms an angle of inclination between 15° and 65° with the plane of the touch layer 5. This effectively reduces the overall thickness of the touch sensor (i.e., the thickness of the touch sensor from the touch layer 5 to the transparent part 6) while ensuring the function of the touch sensor, thus reducing the overall size and making it easier to use. If the angle of inclination of the reflector 6 is less than 15°, although the thickness of the sensor can be reduced, the angle of inclination of the reflector 6 is too small, resulting in an incident angle (the light path formed by the light emitted from the touch layer 5 and reflected on the reflector 6, and the light entering the reflector 6) and a reflection angle (the light formed by the light from the reflector 6 to the imaging component 2) that are too small. This leads to an excessively small distance between the imaging component 2 and the touch layer 5, which is difficult to achieve in actual installation and may result in poor reflection effect, affecting the imaging effect. If the tilt angle of the reflector 6 is greater than 65°, although a good reflection effect can be ensured, the excessive tilt angle of the reflector 6 will result in an excessively large incident angle and reflection angle, leading to an excessively large relative height between the imaging component 2 and the touch layer 5. This will increase the overall thickness of the sensor, which is not conducive to practical applications. Therefore, an angle range of 15°-65° ensures a good reflection effect while controlling the overall thickness and volume of the sensor, making it convenient to use.

[0126] In one specific embodiment, as shown in Figures 12, 14, and 15, the plane containing the imaging component 2 forms an angle with the plane containing the touch layer 5, the angle ranging from 30° to 80°. The distance between the imaging end of the imaging component 2 and the virtual image A formed by the touch layer 5 after reflection by the reflector 6 ranges from 15mm to 65mm.

[0127] In this embodiment, the mounting plane of the imaging component 2 and the plane of the touch layer 5 form an angle between 30° and 80°, which is intended to achieve clear imaging in cooperation with the reflector 6. This effectively reduces the overall thickness of the touch sensor and shrinks its overall size while ensuring the function of the touch sensor, thus making it more widely applicable.

[0128] Furthermore, as shown in Figure 15, considering the shooting quality, ease of operation, and compactness of the overall structure of the device, the touch layer 5 forms a virtual image A after being reflected by the reflector 6. The distance between the virtual image A and the shooting end of the shooting component 2 is h, and the range of h includes 15mm-65mm.

[0129] Example 3

[0130] This embodiment provides a bionic robotic hand, including the tactile sensors mentioned in Embodiment 1 and / or Embodiment 2. In practical applications, bionic robotic hands include, but are not limited to, grippers, five-fingered dexterous hands, etc. The tactile sensors can be disposed between the fingers or as bionic skin on the surface of the bionic robotic hand.

[0131] This application provides a tactile sensor and a bionic robotic hand having the same. The sensor captures the deformation of a specific pattern on an object when the touch layer comes into contact with it using an imaging component. It then analyzes these changes using an advanced image processing algorithm to generate detailed touch information, thereby providing interactive feedback to the user. This ensures high sensitivity and accuracy in touch detection, and the sensor has a simple structure, reducing manufacturing difficulty and installation complexity.

[0132] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing this application. Those skilled in the art will also understand that the modules in the apparatus of the embodiment can be distributed within the apparatus of the embodiment as described, or can be modified to be located in one or more apparatuses different from this embodiment.

Claims

1. A tactile sensor comprising: Housing, camera assembly, lighting assembly, transparent portion, and touch layer; The housing has an opening corresponding to the transparent portion, and the transparent portion is disposed on the housing through the opening; The camera assembly is disposed within the housing; an illumination space is formed within the housing, and the illumination assembly is disposed within the housing to illuminate the illumination space and the touch layer; The touch layer includes an elastic transparent layer, a pattern layer, a background layer, and a wear-resistant layer connected in sequence; the elastic transparent layer is connected to the transparent portion; the pattern layer includes one or more specific patterns, and the background layer is used to block light; the touch layer is used to deform one or more of the specific patterns on the pattern layer when the wear-resistant layer comes into contact with an object, thereby enabling the imaging component to capture the changes in the specific patterns on the pattern layer and obtain touch information based on the changes.

2. A tactile sensor comprising: The device comprises a housing, a camera assembly, an illumination assembly, a transparent portion, a touch layer, and a reflector. The housing has an opening corresponding to the transparent portion, which is disposed on the housing through the opening. The camera assembly and the reflector are disposed inside the housing. The camera assembly is horizontally disposed on one side of the transparent portion, and the reflector is obliquely disposed on the side of the transparent portion away from the touch layer. An illumination space is formed within the housing, and an illumination component is disposed within the housing. The illumination component is used to illuminate the illumination space, the reflector, and the touch layer. The touch layer includes an elastic transparent layer, a pattern layer, a background layer, and a wear-resistant layer connected in sequence; the elastic transparent layer is connected to the transparent portion; the pattern layer includes one or more specific patterns, and the background layer is used to block light; the touch layer is used to deform one or more of the specific patterns on the pattern layer when the wear-resistant layer comes into contact with an object, the imaging component faces the reflector, and captures the changes in the specific patterns on the pattern layer through the reflector, and obtains touch information based on the changes.

3. The tactile sensor according to claim 1 or 2, wherein The specific pattern includes one or more of the following: dot matrix pattern, color block pattern, and thermal pattern.

4. The tactile sensor according to claim 1 or 2, wherein The specific pattern has an array of tiles, each tile having a different color from its adjacent tiles.

5. The tactile sensor according to claim 1 or 2, wherein The projection of the transparent portion onto the touch layer is greater than or equal to the area of ​​the specific pattern formed on the pattern layer.

6. The tactile sensor according to claim 1 or 2, wherein The elastic transparent layer includes a silicone layer, and the thickness of the elastic transparent layer ranges from 2mm to 6mm. The thickness of the background layer ranges from 0.1mm to 1.5mm, and the thickness of the wear-resistant layer ranges from 0.1mm to 1.5mm.

7. The tactile sensor of claim 1, wherein, The length of the touch layer ranges from 25mm to 40mm; the width of the touch layer ranges from 10mm to 30mm.

8. The tactile sensor of claim 1, wherein, The housing includes an upper cover, a main body, and a lower cover. One side of the main body is connected to the upper cover, and the other side of the main body is connected to the lower cover. The imaging component and the lighting component are disposed on the main body. The lower cover has an opening, and the transparent part is disposed on the lower cover through the opening. The imaging end of the imaging component captures changes in a specific pattern on the pattern layer through the transparent part.

9. The tactile sensor of claim 8, wherein, The main body is provided with a first groove that matches the shooting component, and the shooting component is connected to the main body through the first groove.

10. The tactile sensor of claim 8, wherein, The camera assembly is positioned at the center point of the side where the main body connects to the top cover.

11. The tactile sensor of claim 8, wherein, The lighting assembly includes one or more lighting lamps, all of which are disposed on the side of the main body.

12. The tactile sensor of claim 1, wherein, The shooting end of the shooting component is positioned facing the transparent part, and the swing angle range of the shooting component is 50°-150° with the line connecting the center of the housing to the center of the transparent part as the axis.

13. The tactile sensor of claim 1, wherein, The shooting end of the shooting component is positioned facing the transparent portion, and the distance between the shooting end of the shooting component and the touch layer ranges from 5mm to 30mm.

14. The tactile sensor of claim 2, wherein, The housing includes an outer shell, a support base, and a base. The support base is connected to the outer shell, and one end of the base away from the support base is connected to one end of the outer shell away from the support base. The outer shell, the support base, and the base form the lighting space, and the outer shell is detachably fitted onto the base. The shooting component is disposed on the support base; the reflector is disposed on the housing; the base has the opening, and the transparent part is connected to the base through the opening, so that the changing pattern on the touch layer can pass through the transparent part and be reflected to the shooting component by the reflector.

15. The tactile sensor of claim 14, wherein, The outer casing and the base are detachably connected by fasteners and / or bayonet joints.

16. The tactile sensor of claim 14, wherein, The outer casing includes a top plate, which includes a flat portion and an inclined portion that is inclined to one side of the flat portion; the inner side of the inclined portion is provided with an inlay groove, and the reflector is embedded in the inlay groove.

17. The tactile sensor of claim 16, wherein, The reflector is secured within the inlay groove by fasteners and / or clips and / or adhesive.

18. The tactile sensor of claim 14, wherein, The lighting component is disposed on the housing and / or the base, and the lighting component is used to illuminate the pattern layer.

19. The tactile sensor of claim 14, wherein, The lighting assembly includes one or more lighting lamps, all of which are disposed on the side of the housing along the direction from the support to the reflector, and the one or more lighting lamps form an inclined angle with the transparent portion.

20. The tactile sensor of claim 14, wherein, The support base is provided with a mounting platform, and the mounting platform is provided with a second groove. The shooting component includes a circuit board and a camera that are separately arranged. The circuit board is disposed on the support base and is electrically connected to the camera. The camera is connected to the support base through the second groove.

21. The tactile sensor of claim 20, wherein, The camera is positioned at the center point of the side where the support base connects to the base.

22. The tactile sensor of claim 2, wherein, The housing includes a first receiving cavity for accommodating the reflector and a second receiving cavity for accommodating the imaging assembly, wherein the first receiving cavity communicates with the second receiving cavity; The direction from the transparent portion to the touch layer is set as the thickness direction of the first receiving cavity, and the thickness of the first receiving cavity gradually increases along the direction from the first receiving cavity to the second receiving cavity.

23. The tactile sensor of claim 2, wherein, The plane containing the reflector forms an angle with the plane containing the touch layer, and the angle ranges from 15° to 65°.

24. The tactile sensor of claim 2, wherein, The plane where the shooting component is located forms an angle with the plane where the touch layer is located, and the angle ranges from 30° to 80°. The distance between the shooting end of the shooting component and the virtual image formed by the reflection of the touch layer by the reflector ranges from 15mm to 65mm.

25. A bionic robotic hand, comprising the tactile sensor as described in any one of claims 1-24.

Images