Finger-shaped visual-tactile sensor

Abstract

The present invention belongs to the field of sensors, and relates to a finger-shaped visual-tactile sensor, which comprises: a housing; a transparent support, which is mounted on the housing, wherein a preset space is formed between the transparent support and the housing; a transparent elastic sensing unit, which is connected to an external transparent support curved surface of the transparent support, is used as a sensing portion of the finger-shaped visual-tactile sensor, and has elasticity and a deformation recovery capability; a light-emitting unit, which is mounted on the housing; and an imaging unit, which is mounted on the housing, wherein the collection field of view of the imaging unit faces the preset space formed between the transparent support and the housing. By using the above structure, the following beneficial effects are achieved: the internal design is simplified, the number of components is reduced, and the overall size is also effectively reduced, thereby providing process feasibility and reliability for the miniaturization of the sensor.

Description

A finger-shaped visual-tactile sensor Technical Field

[0001] This invention belongs to the field of sensor technology, specifically, it relates to a finger-shaped visual-tactile sensor. Background Technology

[0002] Precise tactile sensing capabilities provide accurate force feedback and contact information, enabling dexterous hands to manipulate and dynamically adjust minute objects in complex environments. Compared to traditional electromagnetic sensors, tactile sensors have a higher density of tactile information, allowing for more accurate characterization of an object's contact state, pose, and minute movements, thus enabling tactile-based fine manipulation.

[0003] Currently, there is a large body of research on fine manipulation based on visual-tactile sensors, such as shaft insertion, tool use, and maintaining the posture of unknown objects. These studies demonstrate that visual-tactile sensors have significant value in improving dexterity and manipulative abilities.

[0004] However, the size of visual-tactile sensors has become a key issue limiting their application in dexterous hands. Despite numerous attempts, such as the Gelslim 3.0, Gelsight Wedge, and Gelsight Fin Ray gripper sensors, which improve their maneuverability in confined spaces by reducing thickness, these sensors did not adequately consider length in their design, and their planar sensing interface still presents challenges in integrating with dexterous hands. Finger-oriented visual-tactile sensors, such as Gelsight Mini, Digit, and Minsight, are close to or larger than the human thumb, making dexterous hands too cumbersome and affecting their dexterity. Further miniaturization of sensors faces numerous technical challenges, such as limitations in camera field of view, focal length, and lighting design. The Digit Pinki sensor uses optical fiber for illumination and image capture, reducing the sensor size to less than 15mm, making the application of visual-tactile sensors in dexterous hands possible. However, optical fiber, as the signal transmission medium, may not be able to withstand the repeated bending movements required when integrated into a dexterous hand.

[0005] In terms of design, mainstream designs are divided into planar sensing surfaces (such as Gelsight Mini and Digit sensors) and cylindrical + spherical sensing surfaces (such as Minsight, Digit Pinki, and OmniTact sensors). Comparatively, cylindrical + spherical sensing surfaces have an advantage in size reduction due to their relatively simple camera field of view arrangement. Although the overall size of these sensors is close to that of a human finger, their shape still differs from the fingertip. When mimicking the fine manipulation of objects using the fingertip, these sensors typically rely on the cylindrical sidewalls for operation, which limits their operational flexibility to some extent. Planar or cylindrical / spherical visual-tactile sensors have strong geometric symmetry, allowing for symmetrical camera and optical design, resulting in simpler optical paths and relatively lower design difficulty. However, these structures differ significantly from the shape of dexterous fingertips, limiting their adaptability to dexterous hands.

[0006] In summary, although existing research recognizes the importance of miniaturization of visual-tactile sensors and has made some progress in this direction, there is still no miniaturized visual-tactile sensor that can fully meet the integration requirements of dexterous hands. Summary of the Invention

[0007] To address the aforementioned problems in the prior art, the present invention provides a finger-shaped visual-tactile sensor.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] This invention proposes a finger-shaped visual-tactile sensor, which includes:

[0010] case;

[0011] A transparent support body has an outer transparent support arc surface, and the transparent support body is installed on the shell; a predetermined space is formed between the transparent support body and the shell;

[0012] A transparent elastic sensing unit is disposed on the outer transparent support arc surface; the transparent elastic sensing unit serves as the sensing part of a finger-shaped visual-tactile sensor and is used to contact external objects; the transparent elastic sensing unit can undergo elastic deformation under the action of external force;

[0013] An imaging unit is mounted on the housing, with its acquisition angle facing the preset space. The imaging unit is used to acquire images of the transparent elastic sensing unit.

[0014] A light-emitting unit is mounted on the housing; the light-emitting unit is used to provide illumination for the imaging unit to acquire images from the transparent elastic sensing unit.

[0015] Optionally, the outer surface of the transparent elastic sensing unit away from the transparent support has an arc-shaped structure.

[0016] Optionally, the refractive index of the transparent support is greater than the refractive index of the medium in the preset space between the transparent support and the shell, and the refractive index of the transparent support is the same as or similar to the refractive index of the transparent elastic sensing unit.

[0017] Optionally, the imaging unit has a field of view of 60°-180°.

[0018] Optionally, the housing includes a first mounting portion, and a second mounting portion is provided on one side of the first mounting portion;

[0019] The transparent support body is provided with an inner transparent support arc surface, and the inner transparent support arc surface is located on one side of the preset space;

[0020] The transparent support also has a first support surface and a second support surface, wherein the first support surface is connected to the first mounting part, and the second support surface is connected to the second mounting part.

[0021] Optionally, the first mounting part and the second mounting part can be detachably connected.

[0022] Optionally, the first mounting part is provided with a first limiting boss, and the second mounting part is provided with a matching first limiting groove; or the first mounting part is provided with a first limiting groove, and the second mounting part is provided with a matching first limiting boss, wherein the first limiting boss can be inserted into the first limiting groove.

[0023] Optionally, it also includes a first fixing hole provided on the first mounting portion, and a second fixing hole provided on the second mounting portion, wherein the first fixing hole and the second fixing hole are positioned correspondingly; and

[0024] The first locking screw has one end that can pass through the second fixing hole and be fixed inside the first fixing hole.

[0025] Optionally, the minimum radius of curvature of the outer transparent support arc surface is ≥4mm, and / or the minimum radius of curvature of the inner transparent support arc surface is ≥4mm.

[0026] Optionally, the housing is provided with an imaging unit mounting portion, and the imaging unit is mounted on the imaging unit mounting portion.

[0027] Optionally, the transparent elastic sensing unit includes a transparent elastomer body connected to the outer transparent support arc surface of the transparent support, and the outer surface of the transparent elastomer body is connected to an optical reflective layer.

[0028] Optionally, the transparent elastomer body may have a high-contrast marker array embedded or sprayed with marker units.

[0029] Alternatively, the outer surface of the optical reflective layer may be covered with an outer surface layer.

[0030] Optionally, a mounting unit is also included, through which the light-emitting unit is mounted on the housing or transparent support.

[0031] Optionally, the mounting unit includes a light source mounting groove formed on the housing or the transparent support, and the light-emitting unit is disposed in the light source mounting groove.

[0032] Optionally, the light source mounting slot is provided with an encapsulation layer, and the light-emitting unit is fixed in the light source mounting slot through the encapsulation layer.

[0033] Optionally, the outer edge of the light source mounting slot is provided with a first clearance groove, and the transparent support covers the first clearance groove and the light source mounting slot; wherein

[0034] The first clearance groove has a first preset depth; the transparent support protrudes a first preset length relative to the transparent elastic sensing unit, the first preset depth matches the first preset length, and the transparent support is fixedly set relative to the first clearance groove.

[0035] Optionally, the transparent support body may abut against the inner wall of the first relief groove, and the light-emitting unit may abut against or have a preset gap with the transparent support body.

[0036] Optionally, the light source mounting slot includes a first mounting groove formed on a first mounting portion of the housing and a second mounting groove formed on a second mounting portion of the housing, wherein the first mounting groove and the second mounting groove are connected.

[0037] The light-emitting unit includes at least one light-emitting element group, which is located in the first mounting groove and / or the light-emitting element group is located in the second mounting groove, and the illumination light of the light-emitting element group is located between the inner transparent support arc surface and the outer transparent support arc surface.

[0038] Optionally, the light-emitting body assembly includes a first light-emitting body assembly, a second light-emitting body assembly, and a third light-emitting body assembly, wherein the first light-emitting body assembly is installed in a second mounting groove, and the second and third light-emitting body assemblies are located on opposite sides of the housing.

[0039] Optionally, the first mounting part has a first mounting surface, and the second mounting part has a second mounting surface, wherein the included angle between the first mounting surface and the second mounting surface is in the range of 60° to 120°.

[0040] Optionally, the angle between the center line of the imaging unit's field of view and the first mounting surface ranges from 0° to 90°.

[0041] Optionally, the first mounting part is provided with a first limiting structure, and the second mounting part is provided with a second limiting structure. The light-emitting unit is respectively mounted on the first mounting part and the second mounting part through the first limiting structure and the second limiting structure.

[0042] Optionally, the first limiting structure includes a first positioning boss disposed on the first mounting portion and a matching first positioning slot disposed on the light-emitting unit, wherein the first positioning boss may be located at the first positioning slot.

[0043] The second limiting structure includes a second positioning boss disposed on the second mounting part and a second positioning slot disposed on the light-emitting unit, wherein the second positioning boss may be located at the second positioning slot.

[0044] Optionally, the transparent support protrudes from the edge of the elastic transparent sensing unit, and when the transparent support abuts against the first positioning boss and the second positioning boss respectively, the elastic transparent cover unit abuts against the housing.

[0045] Optionally, the device may also include a third fixing hole disposed on the first mounting portion or the second mounting portion, a fourth fixing hole disposed on the transparent support body corresponding to the position of the third fixing hole, the fourth fixing hole being located at the front end or the base of the finger of the finger-shaped visual tactile sensor, and a second locking screw, one end of which can pass through the third fixing hole and be fixed in the fourth fixing hole.

[0046] Optionally, the front edge of the shell protrudes outward to a predetermined length to form a shaped nail cover, which is integrally formed with the shell.

[0047] The beneficial effects of the finger-shaped visual-tactile sensor of the present invention are specifically reflected in the following aspects:

[0048] 1. A finger-like structural design breaks through the limitations of traditional symmetrical structures in spherical or planar sensors, proposing a sensor structure that more closely resembles the shape of a real finger. A transparent support and a transparent elastic sensing unit are incorporated, featuring an arc-shaped structure with a cross-section exhibiting a gradual transition from a forward arc to a lateral arc to a dorsal arc. The fingertip side is rounded, the back is relatively flat, and the sides transition gently with arcs. Vertically, the arc at the fingertip gradually transitions to a thicker section in the middle, flattening at the tail end for fixation to the finger skeleton. This structure not only more closely resembles the shape of a real finger but is also more suitable for end-effector assembly in dexterous hands.

[0049] 2. Curvature radius optimization is introduced into the geometric design of the transparent support, with a minimum principal curvature radius ≥ 4mm. The uniform propagation of light within the transparent elastic sensing unit is achieved through a gradually transitioning curvature distribution. Compared with traditional planar or excessively small curvature radius designs, this scheme effectively avoids overexposure areas caused by local light concentration, improves illumination uniformity, and thus enhances the stability and decoding accuracy of the tactile image.

[0050] 3. A compact light source packaging structure is employed, pre-encapsulating the light-emitting unit with an encapsulation layer. This encapsulation not only provides physical protection for the light-emitting unit, preventing damage from external pressure or direct contact with the transparent support, but also forms a stable mounting base, allowing the transparent support to be placed directly above the light-emitting unit. This eliminates the need for additional independent protective or support structures, simplifying the internal design, reducing the number of components, and effectively miniaturizing the overall size, thus providing both technological feasibility and reliability for sensor miniaturization. Attached Figure Description

[0051] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0052] Figure 1 is a schematic diagram of the structure of the finger-shaped visual-tactile sensor of the present invention;

[0053] Figure 2 is an exploded view of the structure of the finger-shaped visual-tactile sensor of the present invention;

[0054] Figure 3 is a schematic diagram of the structure of the housing of the present invention;

[0055] Figure 4 is a schematic diagram of the imaging unit of the present invention mounted on the housing;

[0056] Figure 5 is a structural schematic diagram of the transparent elastic sensing unit and transparent support of the present invention;

[0057] Figure 6 is a schematic diagram of the transparent support structure of the present invention;

[0058] Figure 7 is a schematic diagram of the transparent elastic sensing unit of the present invention;

[0059] Figure 8 is an exploded view of the transparent elastic sensing unit of the present invention;

[0060] Figure 9 is a schematic diagram of the acquisition angle of the imaging unit of the present invention;

[0061] Figure 10 is a schematic diagram of the transparent elastic sensing unit and the light-emitting unit of the present invention;

[0062] Figure 11 is a schematic diagram of the light path of the light-emitting unit of the present invention;

[0063] Figure 12 is a schematic diagram of the light path of the light-emitting unit of the present invention.

[0064] Figure 13 is an exploded view of the detachable structure of the finger-shaped visual-tactile sensor of the present invention;

[0065] Figure 14 is a perspective view of the transparent elastic sensing unit of the present invention attached to a transparent support;

[0066] Figure 15 is a schematic diagram of the internal structure of the first mounting part of the detachable structure of the present invention.

[0067] Figure 16 is a schematic diagram of the internal structure of the second mounting part of the detachable structure of the present invention;

[0068] Figure 17 is a first cross-sectional view of the detachable structure of the finger-shaped visual-tactile sensor of the present invention;

[0069] Figure 18 is a second cross-sectional view of the detachable structure of the finger-shaped visual-tactile sensor of the present invention;

[0070] Figure 19 is a schematic diagram of the structure of the light-emitting unit mounted on the housing in a second modified embodiment of the finger-shaped visual-touch sensor of the present invention.

[0071] Figure 20 is a perspective view of the transparent elastic sensing unit of the second modified embodiment of the finger-shaped visual-touch sensor attached to a transparent support.

[0072] Figure 21 is an exploded view of Figure 19;

[0073] Figure 22 is a perspective view of a third embodiment of a finger-shaped visual-tactile sensor. Detailed Implementation

[0074] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0075] One embodiment of this application provides a finger-shaped visual-tactile sensor, as shown in Figures 1-10, which includes:

[0076] The housing 4 includes a first mounting part 41, and a second mounting part 42 is provided on one side of the first mounting part 41. The second mounting part 42 is integrally formed or welded to the first mounting part 41. The second mounting part 42 and the first mounting part 41 are inverted L-shaped. Preferably, the second mounting part 42 and the first mounting part 41 are at a right angle.

[0077] A transparent support 2 is mounted on the housing 4. The transparent support 2 is approximately shaped like a quarter ellipsoid or a quarter sphere. It can also be a free-form surface obtained by spline interpolation, an arc-shaped geometric shape obtained by cutting an ellipsoid or sphere, or a cube, cuboid, or a variation of a cube or cuboid. Taking a cuboid as an example, its variations can be based on a cuboid, by adjusting and optimizing its size proportions, edge contours, surface features, etc., to meet specific functional requirements or adapt to different application scenarios. For example, the length, width, and height ratio of the cuboid can be changed to make it more closely resemble the actual shape of a finger, but this application is not limited to this; a preset space is formed between the transparent support 2 and the shell 4; the outer support surface of the transparent support 2 is an outer transparent support arc surface 21, and the inner support surface of the transparent support 2 is an inner transparent support arc surface 22; the outer transparent support arc surface 21 and the inner transparent support arc surface 22 are connected by an intermediate transparent support 23; the minimum principal radius of curvature on the outer transparent support arc surface 21 is ≥4mm, and the transparent support 2 ensures optical clarity; the minimum principal radius of curvature on the inner transparent support arc surface 22 is ≥4mm, and the minimum principal radius of curvature on the intermediate transparent support 23 is ≥4mm, and the uniform propagation of light inside the elastic body is achieved through a gradually transitioning curvature distribution. In this embodiment, the transparent support 2 is an integral structure, such as made of transparent acrylic or transparent glass. Compared with traditional planar or excessively small radius of curvature designs, this scheme effectively avoids overexposed areas caused by local light concentration, improves illumination uniformity, and thus enhances the stability and decoding accuracy of tactile images. The intermediate transparent support 23 has a first support surface 24 and a second support surface 25. The first support surface 24 is connected to the first mounting part 41, and the second support surface 25 is connected to the second mounting part 42. The first support surface 24 and the second support surface 25 are inverted L-shaped, preferably, the first support surface 24 and the second support surface 25 are at right angles. Furthermore, the transparent elastomer 2 only undergoes slight deformation on the outer transparent support arc surface 21 under external force, preventing the transparent elastomer 2 from excessively deforming due to contact pressure.

[0078] It should be noted that the transparent support 2 can be made of a robust and highly transparent material, such as glass, PMMA (polymethyl methacrylate), PC (polycarbonate), PS (polystyrene), PET (polyethylene terephthalate), EVA (ethylene-vinyl acetate copolymer), PI (polyimide), PSU (polysulfone), transparent nylon, cyclic olefin copolymer (COC) / cyclic olefin polymer (COP), and other transparent materials. These materials can provide mechanical support and minimize light attenuation and distortion during optical transmission. It should be noted that the materials listed above for the transparent support 2 are merely examples of those used in this application and are not limited thereto.

[0079] A transparent elastic sensing unit 1 is disposed on the outer transparent support arc surface 21 of the transparent support body 2. The shape of the transparent elastic sensing unit 1 is adapted to the shape of the transparent support body 2. The end face of the transparent elastic sensing unit 1 is flush with the end face of the housing 4, so that the entire finger-shaped visual tactile sensor is relatively small in size.

[0080] The transparent elastic sensing unit 1, serving as the sensing element of a finger-shaped visual-tactile sensor, is used to interact with external objects. Under external force, the transparent elastic sensing unit 1 undergoes elastic deformation, the degree of which is proportional to the force applied, and it returns to its original state after the force is removed. The magnitude, depth, and range of the deformation of the transparent elastic sensing unit 1 directly reflect the force, location, and shape of the touch. Furthermore, the transparent elastic sensing unit 1 returns to its original shape after the external force is removed. This recovery capability allows the transparent elastic sensing unit 1 to maintain its sensitivity and accuracy during multiple touches.

[0081] Preferably, the material of the transparent elastic sensing unit 1 includes, but is not limited to, TPU (thermoplastic polyurethane), silicone, TPE (thermoplastic elastomer), polyurethane, polydimethylsiloxane (PDMS), thermoplastic polyolefin elastomer (TPO), polyurethane acrylate (PUA), fluororubber, polyether ester elastomer (TPEE), and styrene-based thermoplastic elastomer (S-TPE), etc., which can meet different flexibility and transparency requirements. It should be noted that the materials listed above for the transparent elastic sensing unit 1 are only some examples of those used in this application, and are not limited thereto.

[0082] Light-emitting unit 3, wherein the light-emitting unit 3 is mounted on housing 4;

[0083] Imaging unit 5 is mounted on housing 4 and is used to acquire images of transparent elastic sensing unit 1. The acquisition angle of imaging unit 5 is directed towards the preset space formed between transparent support 2 and housing 4. The acquisition angle of imaging unit 5 is 60°-180°. Light-emitting unit 3 is used to provide illumination for imaging unit 5 to acquire images of transparent elastic sensing unit 1. It should be noted that the working principle of imaging unit 5 is existing known technology and will not be described in detail here.

[0084] Furthermore, the imaging unit 5 is used to capture images of the transparent elastic sensing unit 1; specifically, when the transparent elastic sensing unit 1 deforms, the deformed area changes the reflection, scattering and refraction properties of light, forming unique optical features that can be captured by the imaging unit 5, thereby providing basic data for image processing.

[0085] The above design, in which the transparent elastic sensing unit 1, the transparent support 2, and the shell 4 are combined into an integral structure, breaks through the limitations of the symmetrical structure of traditional spherical or planar sensors and proposes a sensor structure that is closer to the shape of a real finger. The outer surface of the transparent elastic sensing unit 1 away from the transparent support 2 is an arc structure. Specifically, the back of the shell 4 is relatively flat, and the arc formed by the transparent elastic sensing unit 1 and the transparent support 2 has a gentle arc transition on both sides. In the longitudinal direction, the arc at the fingertip gradually transitions to the thick-walled section in the middle, and flattens out at the tail end to achieve fixation with the finger skeleton. This structure is not only closer to the shape of a real finger, but also more suitable for the end fitting of dexterous hands.

[0086] In one embodiment, as shown in Figures 3-4, an imaging unit mounting portion 411 is provided on the first mounting portion 41 of the housing 4. The imaging unit 5 is fixedly mounted on the imaging unit mounting portion 411. According to actual needs, the angle is pre-set before assembly to meet the shooting requirements of the imaging unit 5 at various angles. Specifically, a mounting platform or mounting bracket with a certain angle is provided inside the housing 4, and the imaging unit 5 is fixed by adhesive or screws.

[0087] Furthermore, a first mounting surface is provided on the first mounting part 41. The first mounting surface is a planar structure. In this embodiment, it is a plane perpendicular to the second mounting part 42, located on one side of the preset space. The angle between the center line of the acquisition view of the imaging unit 5 and the first mounting surface is 0°-90°, preferably between 35°-45°. This angle setting makes the center of the field of view of the imaging unit 5 aligned with the end of the transparent elastic sensing unit 1 away from the first mounting part 41, maximizing the observation and sensing area and avoiding the loss of field of view and sensing information due to some areas being out of the sensing range.

[0088] In one embodiment, the imaging unit 5 uses an RGB camera, an infrared camera, or an ultraviolet camera, selected according to the scene, to adapt to the perception of different wavelength light sources.

[0089] In one embodiment, the refractive index of the transparent support 2 is higher than the refractive index of the medium in the preset space between the transparent support 2 and the shell 4, and the medium in the preset space between the transparent support 2 and the shell 4 is air; the refractive index of the transparent support 2 is the same as or similar to the refractive index of the transparent elastic sensing unit 1.

[0090] When the light emitted by the light-emitting unit 3 enters the transparent support 2, because the refractive index of the transparent support 2 is higher than that of the air in the preset space between the transparent support 2 and the shell 4, some of the light undergoes total internal reflection between the transparent support 2 and the preset space and continues to propagate forward. Since the refractive index of the transparent support 2 is similar to or the same as that of the transparent elastic sensing unit 1, some of the light can pass through the transparent support 2 and the transparent elastic sensing unit 1, thereby uniformly illuminating the transparent elastic sensing unit 1. For light with an excessively large incident angle, total internal reflection will continue, further diffusing the light and making the illumination of the entire area more uniform. This method can effectively avoid the interference of overexposed areas on image acquisition and improve the performance of the sensor, as shown in Figure 11.

[0091] To further improve the uniformity of illumination, the light entry point of the transparent support 2 is frosted or coated with a layer of coating or film to scatter the light and reduce the difference in light intensity.

[0092] In one embodiment, the acquisition viewing angle of the imaging unit 5 is 60°-180°, which is the field of view. By setting the acquisition viewing angle, images of one side of the transparent support 2 can be acquired more effectively.

[0093] In one embodiment, as shown in FIG13, in order to facilitate assembly and reduce processing difficulty, the housing 4 is disassembled into a first mounting part 41 and a second mounting part 42 that can be detachably connected.

[0094] Specifically, as shown in Figures 15 and 16, a first limiting boss 412 is provided on the first mounting part 41, and a first limiting groove 435 is provided on the second mounting part 42. The positions of the first limiting boss 412 and the first limiting groove 435 correspond and are appropriately sized. The first limiting boss 412 can be inserted into the first limiting groove 435 for positioning before assembly and fixing, thereby facilitating the limiting and fixing of the first mounting part 41 and the second mounting part 42 to be assembled. In this embodiment, both the first limiting boss 415 and the first limiting groove 435 are rectangular structures, which can prevent the second mounting part 42 from rotating relative to the first mounting part 41 during assembly. The structure of the first limiting boss 412 and the first limiting groove 435 can also be a multiple hole-shaft structure for limiting. It is understood that the shape and number of the first limiting boss 412 and the first limiting groove 435 are not limited by the present invention.

[0095] Optionally, the first limiting groove and the first limiting boss can be interchanged in position, which can also achieve the above-mentioned positioning and limiting purposes.

[0096] Furthermore, a first fixing hole 413 is provided on the first mounting part 41, and a second fixing hole 434 is provided on the second mounting part 42. When the first limiting boss 412 is inserted into the first limiting groove 435, the first fixing hole 413 and the second fixing hole 434 are positioned correspondingly. By using a first locking screw 4341, one end of which passes through the second fixing hole 434 and connects to the first fixing hole 413, the second mounting part 42 is locked and fixed to the first mounting part 41, thereby realizing a detachable connection between the first mounting part 41 and the second mounting part 42. In this embodiment, the number of the first fixing hole 413 and the second fixing hole 434 is not limited by the present invention; in this embodiment, there are two.

[0097] Alternatively, the first mounting part and the second mounting part can be fixed together by means of adhesive or clips.

[0098] By adopting the aforementioned detachable connection structure, the shell 4 and the transparent support 2 can be assembled in stages, simplifying the assembly process of complex structures and improving production efficiency. Simultaneously, it facilitates later maintenance or component replacement without requiring overall disassembly, reducing operational difficulty and labor costs. The screw-fixed connection method balances structural stability and repeatable disassembly and assembly, making it suitable for production scenarios requiring flexible maintenance or customized assembly.

[0099] In one embodiment, as shown in Figures 7-8, the transparent elastic sensing unit 1 includes a transparent elastic body 11 connected to the outer transparent support arc surface 21 of the transparent support body 2. The thickness of the transparent elastic body 11 in the middle is greater than the thickness of the two sides of the transparent elastic body 11, that is, the thickness of the transparent elastic body 11 in the middle gradually decreases towards the sides. An optical reflection layer 12 adapted to the transparent elastic body 11 is connected to the outer surface of the transparent elastic body 11, and the outer surface of the optical reflection layer 12 is covered with an outer surface layer 13. A marker unit with a high-contrast marker array is embedded or sprayed in the transparent elastic body 11, which is used as an optical tracking feature during imaging. For example, the marker unit is a marker layer. The marker unit ensures that the displacement during the deformation process can be accurately captured by the imaging unit 5, thereby improving the accuracy and stability of decoding. The transparent elastic body 11 is made of a highly transparent, compressible, and elastically recoverable material such as silicone or polyurethane. It is formed by molding or injection molding to ensure uniformity and molding accuracy. As a load-bearing layer that is in direct contact with the outside world, it is responsible for generating visible deformation when subjected to force.

[0100] The optical reflective layer 12 is a high-reflectivity coating applied to the outer surface of the transparent elastomer body 11. This enhances the optical contrast of the deformation area, amplifying local unevenness and texture features, making minute contact changes easier to identify. The optical reflective layer 12 significantly improves the detectability of contact deformation by enhancing light reflection, resulting in clearer and more accurate acquisition of optical signals from the contact area by the finger-shaped visual-tactile sensor. The optical reflective layer 12 not only effectively amplifies unevenness and texture features during contact, significantly improving the resolution of minute deformations, but also enhances the finger-shaped visual-tactile sensor's perception of complex surface details, allowing for a more realistic reflection of surface microstructure, texture direction, and depth information. Furthermore, the optical reflective layer 12 improves the anti-interference capability of the finger-shaped visual-tactile sensor under low-light or complex lighting conditions, thereby optimizing the accuracy of 3D surface imaging and ensuring that the finger-shaped visual-tactile sensor can reliably acquire accurate tactile and visual data in various environments. Therefore, the presence of the optical reflective layer 12 enables the finger-shaped visual-tactile sensor to perform better in scenarios requiring high-precision surface detection and recognition, making it suitable for various high-precision applications such as precision mechanical assembly and grasping and manipulating small objects. In this embodiment, the optical reflective layer 12 includes, but is not limited to, reflective coatings, semi-transparent and semi-reflective coatings, fluorescent coatings, ultraviolet-excited coatings, thermochromic coatings, or mechanochromic coatings.

[0101] Furthermore, an outer surface layer 13 is applied to the outer surface of the optical reflective layer 12 to shield against external ambient light interference. This layer effectively improves the stability and anti-interference capability of image acquisition, ensuring reliable acquisition of tactile information even under complex lighting conditions. Simultaneously, the outer surface layer 13 also serves as a protective coating, providing overall protection for the elastic transparent sensing unit 1, preventing its surface from being easily worn and ensuring its service life. The material of this protective layer is silicone, a known material with high hardness and good wear resistance, which will not be elaborated upon further here.

[0102] Among them, the protective coating, for example, is a black protective coating, which can be used to effectively shield external light from interfering with internal imaging and prevent external ambient light sources such as sunlight and indoor lighting from interfering with the acquisition of optical signals by the sensor.

[0103] The reflective coating can be used to enhance the quality of tactile signals. In specific applications, the reflectivity and color of the coating can enable the imaging unit 5 to capture the deformation image of the transparent elastic sensing unit 1 more clearly, thereby improving the optical resolution and imaging quality of the sensor.

[0104] The semi-transparent and semi-reflective coating enables the sensor to have proximity sensing capabilities. Its semi-reflective nature allows the sensor to retain the ability to perceive the texture of the object it is touching, while its semi-transparency allows the sensor to have a certain degree of blurred perception of the environment outside the coating through the built-in imaging unit 5. Fluorescent coatings and / or ultraviolet-excited coatings can be used for special markings inside the sensor. It should be noted that the functional coatings listed above are only some feasible methods in this application, but are not limited thereto. Other functional coatings can be selected according to actual needs in specific applications.

[0105] In one embodiment, as shown in Figures 3-4, an installation unit is also included, through which the light-emitting unit 3 is installed on the housing 4. The installation unit includes a light source mounting groove 43 formed on the housing 4, and an encapsulation layer is filled in the light source mounting groove 43, for example, epoxy resin in this example. The light-emitting unit 3 is placed in the light source mounting groove 43 through the encapsulation layer. The encapsulation layer can also be made of materials such as silicone.

[0106] Furthermore, after encapsulation with epoxy resin, the surface of the epoxy resin can be flush with the surface of the housing 4, serving as a support base for the transparent support 2; the light-emitting unit 3 is located in the light source mounting groove 43 to limit the direction of light emission; the transparent support 2 can be placed directly on the light-emitting unit 3, thus eliminating the need for additional support structures for the transparent support 2, which helps to further reduce the overall size of the sensor.

[0107] In one embodiment, as shown in FIG15, in order to fix the light-emitting unit 3, a first clearance groove 4311 is provided on the outer edge of the light source mounting groove. When the transparent support 2 is installed on the housing 4, the side of the transparent support 2 can cover the first clearance groove 4311 and the light source mounting groove 431, so as to prevent the light from the light-emitting unit 3 from deviating and being emitted to the outside of the transparent support 2.

[0108] Specifically, the first clearance groove 4311 has a first preset depth, and the transparent support 2 protrudes by a first preset length relative to the edge of the transparent elastic sensing unit 1, forming a stepped structure, as shown in Figure 14. In a preferred embodiment, the first preset depth matches the first preset length, and the sidewall of the transparent support 2 abuts against the inner wall of the first clearance groove 4311, as shown in Figures 17 and 18. When the transparent support 2 is assembled onto the housing 4, that is, the transparent support 2 abuts against the inner wall of the first clearance groove 4311, and the light-emitting unit 3 abuts against or has a preset gap with the transparent support 2.

[0109] Alternatively, the transparent support can also be fixed relative to the first clearance groove 4311 by using other intermediate structural components or extension structures.

[0110] As another variation of the above embodiment, the light-emitting unit 3 can also be mounted on the transparent support 2 via a mounting unit. Specifically, a light source mounting groove 43 is provided on the transparent support 2, and the light-emitting unit 3 is disposed within the light source mounting groove 43. Further, a first clearance groove 4311 is provided at the edge of the light source mounting groove 43 of the transparent support 2, and a corresponding boss structure is provided on the housing 4. The boss structure can directly abut against the inner wall of the first clearance groove 4311 or abut against it through other structural components, so that the transparent support 2 and the housing 4 are relatively fixed, thereby fixing the light-emitting unit 3 located within the transparent support 2.

[0111] By adopting the above structure, the light-emitting unit is confined within the light source mounting slot 43 by means of the transparent support 2, thereby achieving the positioning and fixing of the light-emitting unit 3.

[0112] Furthermore, the transparent support 2 features a stepped design that protrudes from the transparent elastic sensing unit. This structure serves a dual function: firstly, the stepped design effectively fixes and limits the transparent support 2, ensuring assembly stability; secondly, it optimizes the interface between the transparent elastic sensing unit 1 and the transparent support 2, facilitating mass production overmolding processes and improving mold positioning accuracy and demolding efficiency. The stepped feature provides precise support and limitation for the mold, ensuring a stable and controllable overmolding process, thereby improving product consistency, simplifying the production process, reducing defect rates, and making it suitable for efficient automated production.

[0113] In one embodiment, as shown in Figures 3-4, the light source mounting slot 43 includes a first mounting groove 431 formed on the first mounting portion 41 and a second mounting groove 432 formed on the second mounting portion 42. The first mounting groove 431 is U-shaped and the second mounting groove 432 is arc-shaped. The first mounting groove 431 and the second mounting groove 432 are connected.

[0114] In one embodiment, as shown in FIG10, the light-emitting unit 3 includes at least one light-emitting body group. The at least one light-emitting body group is located in the first mounting groove 431 or in the second mounting groove 432, or simultaneously in the first mounting groove 431 and the second mounting groove 432. The illumination light of the light-emitting body group is located between the inner transparent support arc surface 22 and the outer transparent support arc surface 21, thereby avoiding the light from deviating from the outward projection and interfering with the imaging unit 5 when acquiring deformation images.

[0115] Furthermore, the light-emitting body group includes a first light-emitting body group 31, a second light-emitting body group 32, and a third light-emitting body group 33. The first light-emitting body group 31 is installed in the second mounting groove 432, and the second light-emitting body group 32 and the third light-emitting body group 33 are located on both sides of the first mounting groove 431. In this embodiment, the second light-emitting body group 32 and the third light-emitting body group 33 are symmetrically arranged to make the illumination more uniform. In this embodiment, the first light-emitting body group 31, the second light-emitting body group 32, and the third light-emitting body group 33 form a three-dimensional distributed lighting design. This design can not only further improve the uniformity of illumination, but also provide richer tactile perception signals by forming three-dimensional shadows, thus optimizing sensor performance.

[0116] Optionally, in this embodiment, only the first light-emitting body group 31 and the second light-emitting body group 32 are required, or the first light-emitting body group 31 and the third light-emitting body group 33 are required, or only the second light-emitting body group 32 and the third light-emitting body group 33 are required.

[0117] In one embodiment, the first light-emitting element group 31 has a first mounting surface on the first mounting portion 41, and the second light-emitting element group 32 has a second mounting surface on the second mounting portion 42. The included angle between the first mounting surface and the second mounting surface is 60° to 120°. In this embodiment, the included angle is 90°. Optionally, the included angle can also be 70°, 80°, 83°, or 92°, etc., as long as it is within this range.

[0118] In one embodiment, a first limiting structure is provided on the first mounting part 41, and a second limiting structure is provided on the second mounting part 42. The light-emitting unit 3 is positioned on the first mounting part 41 and the second mounting part 42 respectively by the first limiting structure and the second limiting structure.

[0119] Specifically, as shown in Figures 19 and 21, the first limiting structure includes a first positioning boss 412 disposed on the first mounting part 41 and a first positioning slot 34 disposed on the light-emitting unit. When the light-emitting unit 3 is assembled, the first positioning boss 412 can be located at the first positioning slot 34, and the first positioning slot 34 and the first positioning boss 412 are used for limiting.

[0120] The second limiting structure includes a second positioning boss 421 disposed on the second mounting part 42 and a second positioning slot 35 disposed on the light-emitting unit 3. The second positioning boss 421 may be located at the second positioning slot 35. In this embodiment, the second positioning slot 35 and the first positioning slot 34 have similar structures and are both disposed at the edge of the light-emitting unit 3.

[0121] In this embodiment, there are two first positioning protrusions 412 and two positioning protrusions 421. Optionally, there can be at least one first positioning protrusion 412 and one second positioning protrusion 421. An asymmetrical structure is adopted, so as to achieve the purpose of installing and positioning the light-emitting unit 3.

[0122] By adopting the above positioning method, as a preferred fixing method, in this embodiment, the back of the light-emitting unit 3 is fixed to the housing 4 with adhesive, as shown in Figure 19.

[0123] In this embodiment, the light-emitting unit 3 is bonded to the substrate using a double-sided adhesive process, while its outer side is limited by a substrate-shaped structure. This design frees up the inner space of the light-emitting unit 3, improving layout flexibility; at the same time, the molding process of the light-emitting unit 3 is not limited by the annular groove, allowing for diverse production processes. Additionally, a first positioning boss 412 and a second positioning boss 421 are provided to limit the transparent support 2. This improvement frees up the outer space of the light-emitting unit 3, reduces structural interference, and improves component layout flexibility; it also simplifies the substrate structure and reduces processing complexity.

[0124] Alternatively, the positions of the first positioning slot 34 and the first positioning boss 412 can be interchanged, and the positions of the second positioning slot 35 and the second positioning boss 421 can be interchanged to achieve the same positioning purpose.

[0125] Furthermore, the transparent support 2 protrudes from the edge of the elastic transparent sensing unit 1 to form a stepped structure. When the transparent support 2 abuts against the first positioning boss 412 and the second positioning boss 421 respectively, the elastic transparent sensing unit 2 abuts against the shell 4.

[0126] In one embodiment, to facilitate the fixing of the transparent support 2, a third fixing hole is provided in the first mounting part 41, or the third fixing hole is provided in the second mounting part 42, as shown in Figures 19 and 20. A fourth fixing hole 26 is provided at the corresponding position of the transparent support 2. The fourth fixing hole 26 is located at the front end or the base of the finger of the finger-shaped visual-tactile sensor. A second locking screw 261 is provided, one end of which passes through the third fixing hole and is detachably connected to the fourth fixing hole 26 to lock and fix the transparent support 2. In this embodiment, the fourth fixing hole can be a self-tapping hole or a threaded hole. Preferably, the fourth fixing hole can also be formed by injection molding a metal nut (such as copper, iron, or other materials) into the transparent support 2. This method can effectively increase the number of times it can be disassembled and ensure its service life.

[0127] The above method employs a modular, detachable structure. During assembly, there is no need to disassemble the shell 4. One (or multiple) copper nuts are integrated at the rear end of the transparent support 2 via injection molding or hot-melt process to form the fourth fixing hole 26. This feature is located in an area invisible to imaging, thus avoiding interference with the imaging area. This design achieves detachability through a single substrate, avoiding the process costs and assembly accuracy issues associated with separate processing of the shell 4, simplifying the production process, improving structural reliability and assembly efficiency, and simultaneously preventing interference with the imaging area.

[0128] In one embodiment, as shown in FIG22, the front edge portion of the housing 4 protrudes outward to a predetermined length from the outside of the main body of the housing 4 to form a shaped nail cover 413, which is integrally formed with the housing 4.

[0129] By adopting the above structure, on the one hand, its edge arc surface and local protrusions effectively enhance the gripping friction and wrapping of small objects (such as thin sheets, beads, etc.), and improve the gripping stability; on the other hand, the structure naturally extends to form a protective barrier, reducing the risk of external forces directly impacting the transparent elastic sensing unit 2, thereby protecting it from scratches and collision damage, taking into account both operational functions and component protection.

[0130] In one embodiment, the first light-emitting group 31, the second light-emitting group 32, and the third light-emitting group 33 are each composed of a flexible circuit board and a plurality of LED beads electrically connected to the flexible circuit board at intervals. A through hole is provided on the first mounting part 41 of the housing, and a ribbon cable or wire passes through the through hole to be electrically connected to the internal flexible circuit board. The ribbon cable or wire is connected to the light-emitting unit 3 and the imaging unit 5, respectively.

[0131] Furthermore, the light source colors of the first light-emitting body group 31, the second light-emitting body group 32, and the third light-emitting body group 33 are the same; the light source color of the first light-emitting body group 31 is white, red, blue, or green; in this embodiment, three colors, red, blue, and green, are used, and the specific installation positions of the three colors of light source are not limited.

[0132] Alternatively, the light source color of the second light source group 32 may be the same as that of the third light source group 33, while the light source color of the first light source group 31 may be different from that of the second light source group 32. For example, the light source color of the first light source group 31 may be red, while the light source color of the second light source group 32 may be blue or green.

[0133] Alternatively, the light source colors of the first light-emitting group 31, the second light-emitting group 32, and the third light-emitting group 33 may all be different. For example, in this embodiment, the light source color of the first light-emitting group 31 is red, the light source color of the second light-emitting group 32 is green, and the light source color of the third light-emitting group 33 is blue. This not only allows the light to be evenly distributed throughout the entire transparent support 2, but also significantly improves the performance of tactile features, while avoiding the problem of light concentration in a single area. In addition, this method can increase the angular difference of the three-color light, thereby providing richer color information.

[0134] The first mounting groove 431 and the second mounting groove 432 are respectively connected to the imaging unit mounting part 411, facilitating the passage of the light-emitting element's wires through the imaging unit mounting part 411. Before installation, the connection 433 between the first mounting groove 431 and the second mounting groove 432 and the imaging unit mounting part 411 is pre-sealed with silicone or other temporarily sealing material to prevent glue from flowing out during glue pouring into the light-emitting element, as shown in Figure 4. The light-emitting element is fixed to the mounting groove using epoxy resin glue, ensuring that the glue evenly covers the light-emitting element during this process. The transparent support 2 is then installed above the epoxy resin-protected light-emitting element. This method requires no additional volume and effectively protects the light-emitting element from damage.

[0135] As described above, by employing a size-appropriate light emitter and a reasonable spacing design in the embodiments of this application, the optical performance of the transparent support 2 can be effectively improved, while avoiding unnecessary light loss and reflection interference.

[0136] In one embodiment, the light-emitting unit 3 uses an infrared light source and / or an ultraviolet light source to meet the perception needs of a specific scenario.

[0137] In one embodiment, the size of the light-emitting body is preferably smaller than the thickness of the supporting surface corresponding to the transparent support 2, so as to ensure that most of the light emitted by the light-emitting body can penetrate into the interior of the transparent support 2, thereby achieving a uniform light guiding effect.

[0138] Furthermore, if the size of the light emitter is larger than the thickness of the support surface corresponding to the transparent support 2, some light may leak directly out of the transparent support 2, forming reflective spots on the surface. This not only affects the uniformity of illumination but may also interfere with the performance of the finger-shaped visual-tactile sensor. Setting the size of the light emitter to be smaller than the thickness of the support surface corresponding to the transparent support 2 can effectively solve the above problems, thereby improving the uniformity of illumination and the performance of the finger-shaped visual-tactile sensor.

[0139] To ensure effective light propagation within the transparent support 2, the minimum principal radius of curvature on the transparent support 2 must be ≥4mm, with the smallest radius of curvature in the top region of the transparent support 2 furthest from the shell 4. If the radius of curvature is too small, the normal direction of the transparent support 2 changes drastically, causing a significant variation in the incident angle of light within a small range. According to the principle of total internal reflection, light with too small an incident angle will exit the transparent support layer, thus forming a noticeable light band in this small area and affecting the uniformity of illumination.

[0140] To ensure the radius of curvature of the entire curved surface is large enough, and to reduce the excessive emission of light in local areas, thus avoiding the formation of light bands, the top area of ​​the transparent support, in particular, should be designed as flat as possible to stabilize the light propagation path.

[0141] Designing the top region of the transparent support 2, away from the housing 4, as a near-planar shape allows light to be concentrated and directed to a specific area, rather than being scattered in a localized region. For example, as shown in Figure 12, an extreme case is illustrated by a design where the curved side surface of the transparent support 2 transitions to a straight line with the top region. With this design, most light can still propagate within the transparent support 2, rather than being concentrated and forming a light band in a particular area. Furthermore, designing the straight transition as a gentle curve can also effectively optimize light distribution.

[0142] This application also proposes a dexterous hand, which includes the finger-shaped visual-tactile sensor described above.

[0143] This application also proposes a robot that includes the finger-shaped visual-tactile sensor described above.

[0144] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0145] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0146] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0147] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0148] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.

[0149] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0150] The above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be included in the scope of the present invention.

Claims

1. A finger-shaped visual-tactile sensor, characterized in that, It includes: case; A transparent support body having an outer transparent support arc surface, the transparent support body being mounted on the housing; A predetermined space is formed between the transparent support and the shell; A transparent elastic sensing unit is disposed on the outer transparent support arc surface; the transparent elastic sensing unit serves as the sensing part of a finger-shaped visual-tactile sensor and is used to contact external objects; the transparent elastic sensing unit can undergo elastic deformation under the action of external force; An imaging unit is mounted on the housing, with its acquisition angle facing the preset space. The imaging unit is used to acquire images of the transparent elastic sensing unit. A light-emitting unit is mounted on the housing; the light-emitting unit is used to provide illumination for the imaging unit to acquire images from the transparent elastic sensing unit.

2. The finger-shaped visual-tactile sensor as described in claim 1, characterized in that, The outer surface of the transparent elastic sensing unit away from the transparent support has an arc-shaped structure.

3. The finger-shaped visual-tactile sensor as described in claim 1, characterized in that, The refractive index of the transparent support is greater than the refractive index of the medium in the preset space between the transparent support and the shell, and the refractive index of the transparent support is the same as or similar to the refractive index of the transparent elastic sensing unit.

4. The finger-shaped visual-tactile sensor as described in claim 1, characterized in that, The imaging unit has a field of view of 60°-180°.

5. The finger-shaped visual-tactile sensor as described in claim 3, characterized in that, The housing includes a first mounting portion, and a second mounting portion is provided on one side of the first mounting portion; The transparent support body is provided with an inner transparent support arc surface, and the inner transparent support arc surface is located on one side of the preset space; The transparent support also has a first support surface and a second support surface, wherein the first support surface is connected to the first mounting part, and the second support surface is connected to the second mounting part.

6. The finger-shaped visual-tactile sensor according to claim 5, characterized in that, The first mounting part and the second mounting part are detachably connected.

7. The finger-shaped visual-tactile sensor according to claim 6, characterized in that, The first mounting part is provided with a first limiting boss, and the second mounting part is provided with a matching first limiting groove; or the first mounting part is provided with a first limiting groove, and the second mounting part is provided with a matching first limiting boss, wherein the first limiting boss can be inserted into the first limiting groove.

8. The finger-shaped visual-tactile sensor according to claim 6, characterized in that, It also includes a first fixing hole provided on the first mounting portion, and a second fixing hole provided on the second mounting portion, wherein the first fixing hole and the second fixing hole are positioned correspondingly; and The first locking screw has one end that can pass through the second fixing hole and be fixed inside the first fixing hole.

9. The finger-shaped visual-tactile sensor as described in claim 5, characterized in that, The minimum radius of curvature of the outer transparent support arc surface is ≥4mm, and / or the minimum radius of curvature of the inner transparent support arc surface is ≥4mm.

10. The finger-shaped visual-tactile sensor as described in claim 1, characterized in that, The housing has an imaging unit mounting portion, and the imaging unit is mounted on the imaging unit mounting portion.

11. The finger-shaped visual-tactile sensor as described in claim 1, characterized in that, The transparent elastic sensing unit includes a transparent elastomer body connected to the outer transparent support arc surface of the transparent support body, and an optical reflection layer is connected to the outer surface of the transparent elastomer body.

12. The finger-shaped visual-tactile sensor as described in claim 11, characterized in that, The transparent elastomer body is provided with marking point units.

13. The finger-shaped visual-tactile sensor as described in claim 11, characterized in that, The outer surface of the optical reflective layer is covered with an outer surface layer.

14. The finger-shaped visual-tactile sensor as described in claim 6, characterized in that, It also includes a mounting unit, through which the light-emitting unit is mounted on the housing or transparent support.

15. The finger-shaped visual-tactile sensor as described in claim 14, characterized in that, The mounting unit includes a light source mounting slot formed on the housing or the transparent support, and the light-emitting unit is disposed in the light source mounting slot.

16. The finger-shaped visual-tactile sensor as described in claim 15, characterized in that, The light source mounting slot is provided with an encapsulation layer, and the light-emitting unit is fixed in the light source mounting slot through the encapsulation layer.

17. The finger-shaped visual-tactile sensor as described in claim 15, characterized in that, The outer edge of the light source mounting slot is provided with a first clearance groove, and the transparent support covers the first clearance groove and the light source mounting slot; wherein The first clearance groove has a first preset depth; the transparent support protrudes a first preset length relative to the transparent elastic sensing unit, the first preset depth matches the first preset length, and the transparent support is fixedly set relative to the first clearance groove.

18. The finger-shaped visual-tactile sensor as described in claim 17, characterized in that, The transparent support can abut against the inner wall of the first relief groove, and the light-emitting unit abuts against the transparent support or is provided with a preset gap.

19. The finger-shaped visual-tactile sensor as described in claim 15, characterized in that, The light source mounting slot includes a first mounting groove formed on a first mounting portion of the housing and a second mounting groove formed on a second mounting portion of the housing, wherein the first mounting groove and the second mounting groove are connected. The light-emitting unit includes at least one light-emitting element group, which is located in the first mounting groove and / or the light-emitting element group is located in the second mounting groove, and the illumination light of the light-emitting element group is located between the inner transparent support arc surface and the outer transparent support arc surface.

20. The finger-shaped visual-tactile sensor as described in claim 19, characterized in that, The light-emitting body assembly includes a first light-emitting body assembly, a second light-emitting body assembly, and a third light-emitting body assembly. The first light-emitting body assembly is installed in a second mounting groove, and the second and third light-emitting body assemblies are located on opposite sides of the housing.

21. The finger-shaped visual-tactile sensor as described in claim 5, characterized in that, The first mounting part has a first mounting surface, and the second mounting part has a second mounting surface. The included angle between the first mounting surface and the second mounting surface is between 60° and 120°.

22. The finger-shaped visual-tactile sensor as described in claim 21, characterized in that, The angle between the center line of the acquisition view of the imaging unit and the first mounting surface ranges from 0° to 90°.

23. The finger-shaped visual-tactile sensor as described in claim 14, characterized in that, The first mounting part is provided with a first limiting structure, and the second mounting part is provided with a second limiting structure. The light-emitting unit is respectively mounted on the first mounting part and the second mounting part through the first limiting structure and the second limiting structure.

24. The finger-shaped visual-tactile sensor as described in claim 23, characterized in that, The first limiting structure includes a first positioning boss disposed on the first mounting part and a matching first positioning slot disposed on the light-emitting unit. The first positioning boss may be located at the first positioning slot. The second limiting structure includes a second positioning boss disposed on the second mounting part and a second positioning slot disposed on the light-emitting unit, wherein the second positioning boss may be located at the second positioning slot.

25. The finger-shaped visual-tactile sensor as described in claim 24, characterized in that, The transparent support protrudes from the edge of the elastic transparent sensing unit. When the transparent support abuts against the first positioning boss and the second positioning boss respectively, the elastic transparent cover unit abuts against the shell.

26. The finger-shaped visual-tactile sensor as described in claim 25, characterized in that, It also includes a third fixing hole provided on the first mounting part or the second mounting part, a fourth fixing hole provided on the transparent support body corresponding to the position of the third fixing hole, the fourth fixing hole being located at the front end or the base of the finger-shaped visual tactile sensor, and a second locking screw, one end of the second locking screw being able to pass through the third fixing hole and be fixed in the fourth fixing hole.

27. The finger-shaped visual-tactile sensor as described in any one of claims 1-26, characterized in that, The front edge of the shell protrudes outward to a predetermined length to form a shaped nail cover, which is integrally formed with the shell.

Images