129 results about "Haptic sensing" patented technology

The embodiment of the invention provides a touch sensing system and method, electronic equipment, a storage medium and a program product. The touch sensing system comprises a contact assembly, a projection assembly, a collection assembly and a processing assembly, and is configured to be capable of being in contact with an external object and generating deformation; the projection assembly is configured to project an active light field with a time modulation characteristic to a first surface of the contact assembly, the active light field is projected on the first surface to form a plurality of pattern areas, the light intensity of adjacent pattern areas changes based on different time sequence codes, and the first surface is opposite to a second surface, making contact with an external object, of the contact assembly; the acquisition assembly comprises a plurality of acquisition units arranged in an array, and is configured to acquire a plurality of pattern areas and output a time stamp acquisition data sequence.

The invention relates to the technical field of tactile interaction, in particular to a virtual material interaction system with tactile feedback, which comprises a contact state sensing module, a potential gradient calculation module, a friction dynamic regulation and control module, a tactile feedback generation module and an interaction state monitoring module. According to the invention, dynamic mapping of contact pressure, sliding speed and node potential is realized through multi-source signal fusion, so that touch perception keeps continuous response in time sequence, potential difference calculation forms an electric field regulation basis for microscopic change of a material, and space-level adjustment of a surface friction coefficient is realized through charge redistribution and polarization direction switching. The tactile feedback changes adaptively according to material features, the friction spectrum is recombined into a multi-frequency-domain tactile signal after Fourier decomposition, texture, hardness and damping features of different materials are presented in a layered mode, the tactile feedback has more dynamic details and direction consistency, the sense of reality and the tactile recognition degree of virtual materials are improved, and the sense of reality and the sense of touch recognition degree of the virtual materials are improved. And stable and natural interaction touch in the virtual environment is ensured.

This invention provides an adaptive control method and system for continuum robots based on global tactile perception, relating to the field of continuum robots. By using a conformally attached flexible array pressure sensor, it directly measures the contact force across the entire robot body, overcoming the perception blind zone problem of existing end-effector force sensors. It also avoids the high cost and increased stiffness issues of fiber optic grating solutions, achieving low-cost, highly flexible global force perception. The heterogeneous modulus structure design effectively solves the problem of measurement inaccuracies by flexible sensors under large deformation environments. The adaptive admittance control strategy enables the robot to dynamically adjust its compliance characteristics based on real-time tactile information, significantly improving operational safety in sensitive environments (such as surgery). The sensor scheme and control framework have good universality and can be applied to continuum robot platforms with different structures.

Embodiments of the present disclosure provide a tactile perception system and method, an electronic device, a storage medium, and a program product. The tactile perception system comprises a contact component, a projection component, a collection component, and a processing component, which are configured to be capable of contacting an external object and producing deformation; the projection component is configured to project an active light field with time modulation characteristics to a first surface of the contact component, the active light field forms a plurality of pattern regions on the first surface, the light intensity of adjacent pattern regions varies based on different time sequence encoding, and the first surface faces away from a second surface of the contact component which contacts the external object; the collection component comprises a plurality of collection units arranged in an array, and is configured to collect the plurality of pattern regions and output a time-labeled collection data sequence.

The application discloses a kind of haptic temperature synergic sensor comprising flexible substrate material and preparation method thereof.Sensor includes flexible substrate, arrayed haptic sensing unit and multilayer heterostructure temperature-sensitive layer, multilayer heterostructure temperature-sensitive layer is alternately stacked by pressure-sensitive material layer, thermosensitive material layer and conductive material layer and so on Heterogeneous materials can realize the synergic perception of temperature and pressure.By reasonably designing the material properties and interface structure of each layer, the response performance of the sensor to multiple physical quantities is improved.

The invention belongs to the technical field of seeding robots, and particularly relates to a visual multi-perception active control obstacle-avoiding seeding robot and a working method thereof.In the seeding process, a walking mechanism drives a bearing plate to move forwards, seeding furrows are formed through a furrowing mechanism, film mulching is conducted through an unwinding mechanism, and a mulching film is tightly attached to the ground through a film pressing mechanism; the mulching film is covered with soil through the soil covering mechanism, so that the mulching film is fixed, and sowing is conducted through the hole sowing mechanism; in the process, the visual recognition mechanism conducts image collection and target recognition on the front field environment and transmits information to the control mechanism, the touch sensing mechanism detects close-range obstacle information in real time and feeds back the close-range obstacle information to the control mechanism, and when a ridge or an obstacle is recognized, the control mechanism adjusts the height of the bearing plate through the lifting rod to achieve obstacle avoidance. Damage of ditching cutters and the like or damage of ridge structures is prevented, and operation safety and automation level in complex field environments with obstacles such as stones such as orchards and gobi are improved.

The display device provided by the present disclosure adopts a first isolation structure to isolate the touch module and the module frame, so that a certain distance is maintained between the touch module and the module frame, and a second isolation structure is adopted to isolate the display module and the touch module, and a certain distance is maintained between the display module and the touch module, so that high-frequency noise and heat generated by friction between the touch module and the display module and the module frame are avoided, and the user experience is affected. Moreover, the first isolation structure and the second isolation structure do not completely fix the touch module, so that the vibration of the touch module during the operation of the tactile sensor is not greatly inhibited, that is, the intensity of the tactile perception can be effectively ensured without reducing the vibration amplitude of the touch module.

The invention relates to the technical field of robot grabbing and sensing, in particular to a dexterous hand / clamping jaw integrated module and a method for grabbing an object through the dexterous hand / clamping jaw integrated module. An existing robot dexterous hand / clamping jaw depends on external vision and touch perception, a system is complex, a view blind area exists, adaptability is poor, and cost is high. The integrated module is arranged at the fingertip of the dexterous hand or the claw tip of the clamping claw and comprises an elastic body, a cover plate and a module base which are sequentially attached to one another from front to back, the elastic body is provided with a through hole, a forward depth camera module is arranged on the front face of the module base, and the elastic body is provided with a through hole. A window hole matched with the depth camera module is formed in the cover plate, when an object is grabbed, the front face, back to the cover plate, of the elastic body makes contact with the object, and the forward depth camera module forwards obtains image and depth information through the window hole and the through hole. The integrated module simultaneously has visual positioning and force perception, does not need to depend on an external sensor, and is simplified in system, good in visual field and low in cost.

This invention discloses a visual-tactile fusion multimodal tactile sensor and a three-dimensional pressure field reconstruction method, relating to the technical field of tactile perception. The sensor includes a visual acquisition unit, a tactile acquisition unit, a gel component, a data processing unit, and a display and interaction unit, achieving dual-modal collaborative perception. The three-dimensional pressure field reconstruction method sequentially executes steps such as force system initialization, synchronous acquisition, image preprocessing, pressure calibration calculation, cross-modal registration, dynamic Gaussian convolution fusion, 2D-to-3D mapping, point cloud and mesh reconstruction, real-time display and interaction, data recording, and reset maintenance. It utilizes dynamic Gaussian convolution kernels to simulate pressure diffusion and generates a three-dimensional pressure field model based on the Open3D library. This invention reduces the cost of the gel component, and the reconstruction delay of the three-dimensional pressure field does not exceed 8 milliseconds, making it suitable for fields such as robot operation, intelligent prosthetics, and human-computer interaction.

The invention discloses a self-driven bionic vision-touch fusion sensor array and a preparation method thereof, and relates to the technical field of bionic intelligent perception, and the sensor array comprises a flexible substrate and at least one sensing unit. The flexible substrate comprises a first flexible substrate and a second flexible substrate which are oppositely arranged in a spaced mode through an elastic medium. The sensing unit is integrated with a photoelectric synapse transistor and a friction nano generator; the photoelectric synapse transistor comprises a photosensitive semiconductor layer, a source electrode, a drain electrode and a gate dielectric layer covering the photosensitive semiconductor layer, the source electrode and the drain electrode; a friction layer of the friction nanometer generator is arranged on the second flexible substrate and is opposite to the gate dielectric layer. And the gate dielectric layer is also used as a charge storage layer of the friction nano generator. Self-driven tactile perception is achieved through contact-separation of the friction layer and the gate dielectric layer, visual perception is achieved through light response of the photosensitive semiconductor, and synaptic signals with enhanced fusion are generated through the synergistic effect of the two kinds of stimulation on a single interface.

This invention provides a tactile sensing system, method, computer device, and medium for object materials, belonging to the field of object sensing. It includes a sensing layer, an excitation layer, and a measurement layer stacked sequentially from the outside in, and a data processing module electrically connected to each of the sensing, excitation, and measurement layers. In the sensing layer, a temperature sensor acquires the temperature drop upon contact with the object; a strain sensor acquires the strain change when the object is pressed; a heating source in the excitation layer continuously heats the sensing layer; a pressure sensor in the measurement layer acquires the pressure change during the pressing of the object by the sensing layer; the data processing module acquires the temperature drop, strain change, and pressure change; and determines the thermal conductivity, hardness, and plasticity of the object to be tested, thereby determining the tactile sensing result of the object. This system ensures spatial consistency and signal synchronization of multimodal sensing, enabling more accurate judgment of object properties and improving the real-time performance of material recognition.

The present application relates to a kind of event-driven haptic perception method and system based on pulse graph neural network, belong to haptic perception and robot control technical field.The method includes the following steps: S1, extracting main features from the data collected from event-driven haptic sensor;S2, the main features extracted in haptic sensor data are encoded;S3, further learn feature embedding using pulse neural network;S4, the features after coding are processed by graph neural network;S5, the class or state of target object is identified using voting mechanism.The scheme can automatically construct the atlas based on the spatial structure of haptic sensing unit through graph neural network, and efficiently extract local and global features;Event-driven data is processed using pulse neural network, which significantly reduces energy consumption and improves computing efficiency;It has strong generalization ability and can adapt to different haptic sensor configurations and application scenarios, and performs excellently when processing real-time haptic perception tasks.

This invention provides a method for fabricating a tactile sensing unit capable of independently adjusting sensitivity and linear range, belonging to the fields of flexible wearables, tactile sensing, and human-computer interaction. The method includes the following steps: S1, determining the structure of the tactile sensing unit; S2, establishing a correlation model between the structural parameters of the bi-phase constrained elastomer and the range and sensitivity of the sensing unit; S3, based on the target linear range and target sensitivity, obtaining the structural parameters of the high-stiffness outer ring and the negative Poisson's ratio inner ring through the correlation model; S4, fabricating the bi-phase constrained elastomer according to the structural parameters of the high-stiffness outer ring and the negative Poisson's ratio inner ring, and assembling and packaging it. This invention achieves synergistic optimization of wide linear range and high sensitivity through the bi-phase constrained elastomer structure, and supports reverse design with calculable parameters, manufacturable structure, and integrable functions based on target performance indicators.

This invention discloses a biomimetic tactile-pain-sensitive dual-modal flexible pressure sensor and its fabrication method. The sensor comprises an upper electrode, a tactile-pain-sensitive piezoelectric sensing component, and a lower electrode. The electrode employs an elastic substrate layer / modified functional layer / conductive network. The tactile-pain-sensitive piezoelectric sensing component comprises a magnesium-doped zinc oxide nanomaterial composite layer designed based on a concentration gradient and an elastic polymer composite layer, as well as a common ground electrode. The tactile sensing layer achieves high sensitivity by blending high-concentration Mg-ZnO nanorod filler with PDMS; the pain sensing layer uses low-concentration Mg-ZnO nanorod filler, resulting in lower sensitivity. Independent signal pathways are formed through the common ground electrode, enabling dual-modal sensing of tactile perception and pain alarm. The sensor fabricated in this invention possesses advantages such as high sensitivity, wide detection range, and strong resistance to signal crosstalk, and can be applied to biomimetic sensing fields such as intelligent robots and wearable devices.

The invention discloses a dexterous hand force tactile sensor structure, which belongs to the technical field of tactile perception of robot dexterous hands, and comprises a first force arm, a second force arm, a contact slide rail and a fiber grating sensor, distances between hinge points of the first force arm and the second force arm and same-direction ends of the first force arm and the second force arm are equal; one side of the first force arm and one side of the second force arm are slidably connected with the contact sliding rail and correspondingly connected with the two ends of the elastic element. The fiber grating sensor is connected with the other sides of the first force arm and the second force arm; according to the invention, the fiber grating is used as a core sensitive element, and the two ends of the fiber grating sensor are synchronously triggered by matching the two force arms which are arranged in a crossed manner with the contact slide rail, so that the problems of large size, poor durability, easy interference, poor precision and the like of a traditional electrical sensor in dexterous hand application are solved.

This application relates to a robot and a robot control method, belonging to the field of robot technology. The robot includes a vision sensor configured to acquire ground images of the ground in front of the robot's direction of movement; a tactile sensing device configured to acquire ground perception information of the ground in front; and at least one controller communicatively connected to the vision sensor and the tactile sensing device, configured to: acquire the ground images and ground perception information; perform obstacle recognition on the ground images to obtain target obstacle information on the ground in front; and determine target terrain change information on the ground in front based on the ground perception information; generate target movement commands for the robot based on the target obstacle information and the target terrain change information; and control the robot's movement based on the target movement commands. By employing the above technical solution, the recognition rate of obstacles causing minor changes in ground height can be improved, ensuring the normal operation of the robot.

The embodiment of the invention provides a touch sensing and feedback system and method.The touch sensing system comprises a touch sensing unit and a touch sensing calculation module, the touch sensing unit is electrically connected with the touch sensing calculation module and comprises the touch sensing unit, and the touch sensing unit comprises a first electrode array and a second electrode array; due to the fact that the first electrode array and the second electrode array are mainly made of the electrode arrays, and the electrode arrays have certain coverage areas, when the touch sensing units need to be laid in a large area, the implementation cost is low.

The utility model discloses a multi-mode tactile sensor and a dexterous hand, the multi-mode tactile sensor comprises a shear force sensor, a pressure sensor and a temperature sensor, and the shear force sensor, the pressure sensor and the temperature sensor are regularly integrated on a first flexible substrate and a second flexible substrate. The first flexible substrate and the second flexible substrate are vertically bonded and integrated together to form the tactile perception sensor. According to the multi-mode tactile sensor, the shear force sensor, the pressure sensor and the temperature sensor are integrated together, so that the multi-mode tactile sensor has three detection functions of shear force, pressure and temperature, can detect various signals at the same time, and is good in reliability. The device is integrally integrated on two flexible polyimide circuit boards, can be fixed on a flexible curved surface, and detects an irregular contact surface.

The application discloses a kind of tactile perception system and its use method, tactile perception system includes: information acquisition module, analysis module and output module.The use method of tactile perception system includes: obtaining information for analysis;According to the information obtained, analysis is carried out, and the information that needs to be output to user is obtained;The information that needs to be output to user is converted into tactile perception signal, and the tactile perception signal is expressed information by contacting the position of user body, and at least one of contact type, shape, contact area, action, temperature and pressure;Output tactile perception signal.Through the tactile perception system and its use method of the application, people can better utilize tactile to perceive external information, enhance the effect of perception, and can help blind, deaf-mute or help normal people in the environment that is not conducive to vision and hearing to improve the efficiency of walking, searching, using computer and intelligent device / intelligent system etc..

The stereognosis sensor system (100) includes a triboelectric proprioception sensor (102), a triboelectric tactile sensor (104), and a processor (106) having an artificial neural network. The stereognosis sensor system (100) may combine proprioception and touch sense with the textile-integrated triboelectric sensory units. The triboelectric tactile sensor (104) may include a plurality of triboelectric tactile sensors, such as one for each fingertip of a user's hand. The triboelectric tactile sensor(s) (104) and the triboelectric proprioception sensor (102) may be coupled with a textile glove that may be worn by a user. The triboelectric proprioception sensor (102) may capture tendon motion for global shape recognition, and the triboelectric tactile sensor(s) (104) may perceive the surface material information of objects. The artificial neural network may process and learn the stereognosis information encoded in the sensor data received from the triboelectric proprioception sensor (102) and the triboelectric tactile sensor(s) (104) for recognizing versatile objects.

The application discloses a paper folding structure inductive self-decoupling micro six-dimensional force sensor, and belongs to the technical field of force sensors. The paper folding structure inductive self-decoupling micro six-dimensional force sensor comprises a base, a folded flexible circuit board, a metal shell, a communication cable, a coil inductance measurement circuit and an elastomer. The folded flexible circuit board comprises a coil array and an inductance measurement circuit. The coil array is folded on the upper surface and four side surfaces of the base. The inductance measurement circuit is folded on the bottom of the base and leads out the communication cable. The metal shell is arranged above the base and surrounds the surfaces of the folded flexible circuit board except the bottom surface. The elastomer is arranged between the metal shell and the base. The elastomer converts the six-dimensional force borne by the metal shell into six-dimensional displacement. The sensor is sensitive to the normal displacement and insensitive to the tangential displacement and rotation by utilizing the eddy current effect, and realizes the self-decoupling measurement of the six-dimensional displacement of the metal shell by combining the three-dimensional coil layout, so that the self-decoupling six-dimensional force measurement is realized. The sensor can be integrated into a dexterous finger tip to provide endogenous tactile perception.

A flexible wrapped tactile sensing device is provided, including a semiconductor wafer, a tactile sensing structure, and a flexible wrapping structure; the tactile sensing structure includes a force transmission structure and a tactile sensing micro-nano structure array, the tactile sensing micro-nano structure array includes a plurality of tactile sensing micro-nano structures; a top metal layer of the semiconductor wafer forms a plurality of metal regions, a plurality of first metal regions of the plurality of metal regions serve as an electrode array, the electrode array includes a plurality of electrodes; each electrode of the plurality of electrodes corresponds to one of the plurality of tactile sensing micro-nano structures; the flexible wrapping structure covers the tactile sensing device; the flexible wrapping structure has a contour, the contour causes the tactile sensing device to have a shape of a bionic body or a part of a bionic body; the plurality of electrodes and the tactile sensing structure form a plurality of first capacitances.

The application discloses a flexible three-dimensional force capacitance sensor for a humanoid robot force feedback scene, and mainly relates to a haptic sensing technology, and aims to solve the problems of low sensitivity and nonlinear output of a haptic sensor. The sensor comprises an elastic body convex point contactor on a top layer, an air cavity layer and an elastic body layer on a middle layer, a printed circuit board and a unit capacitor on a bottom layer. Through electrode layout and multi-layer elastic body design, the detection and decoupling of normal force and shear force are realized. The sensor is manufactured by using 3D printing manufacturing technology and rapid prototyping technology, has high sensitivity, low hysteresis and good repeatability, and can be applied to a robot force feedback scene.

The invention belongs to the technical field of medical robots, and particularly relates to a rollable coating type multi-point force sensing film, an execution arm and a force sensing method. The piezoelectric film comprises a lower high-elasticity base film, a distributed heterogeneous lower electrode layer, a PVDF piezoelectric film, a distributed heterogeneous upper electrode layer and a lower high-elasticity base film which are sequentially laminated from bottom to top, the PVDF piezoelectric film comprises a dense sensing section located at the far end, a uniform distribution section located in the middle and a sparse sensing section located at the near end. When in use, the coiled coated multi-point force sensing film is coiled by taking the length direction of the film as a coiling shaft. The flexible film integrated with the distributed PVDF piezoelectric unit is directly used as electronic skin to cover the side wall of the catheter, so that the space sensing efficiency is remarkably improved, and the optimal balance between the sensing precision and the sensing range is realized under the condition that the number of the sensing units is limited; therefore, the flexible operation execution arm has gradient tactile perception capability similar to biological nerves.

This application discloses a safety testing method for dexterous hand tactile sensors based on electromagnetic cross-field injection, relating to the field of robot tactile perception safety technology. The method includes: full-band radiation sweep detection of the dexterous hand tactile sensor; mapping the interference response data of each detected physical sensor node to a 3D digital twin model to construct a 3D spatial heatmap of electromagnetic susceptibility; combining a driving signal with directional radiation injection of multi-channel radiation coupling interference signals to generate false reporting data; constructing heterogeneous samples; using a graph neural network to extract and encode features from the heterogeneous samples, converting them into token sequences; introducing a physical thought chain mechanism, using the token sequences to train a large language model, and determining the trained large language model; inputting the real-time acquired tactile data stream from the dexterous hand tactile sensor into the physical perception tactile large model for safety testing. This application can accurately identify false touch signals.

This invention belongs to the field of medical robot technology, specifically relating to a rollable, wrap-around multi-point force sensing film, an actuator arm, and a force sensing method. The invention comprises, from bottom to top, a lower highly elastic base membrane, a distributed heterogeneous lower electrode layer, a PVDF piezoelectric film, a distributed heterogeneous upper electrode layer, and the lower highly elastic base membrane, stacked sequentially. The PVDF piezoelectric film includes a dense sensing segment at the distal end, a uniformly distributed segment in the middle, and a sparse sensing segment at the proximal end. In use, it is rolled up along its length as a rolling axis to form a rollable, wrap-around multi-point force sensing film. This invention, by directly using a flexible film integrating distributed PVDF piezoelectric units as electronic skin to wrap the sidewall of a catheter, not only significantly improves spatial sensing efficiency but also achieves an optimal balance between sensing accuracy and sensing range with a limited number of sensing units, enabling the flexible surgical actuator arm to possess gradient tactile sensing capabilities similar to biological nerves.

The utility model relates to the field of sensor positioning, especially modular visual tactile sensor positioning device, including drive piece, still including sensor casing, the output end fixed mounting of drive piece has the connecting frame, the upper end fixed mounting of connecting frame has array positioning board, the upper end of array positioning board is equipped with module mounting groove, the inside of module mounting groove is equipped with the slot, the lower extreme of array positioning board is located the side fixed mounting of slot has connecting plate no.

The invention belongs to the technical field of foot-type robot sensing, and discloses a foot-type robot terrain recognition method based on three-dimensional force sensing, which comprises the following steps: S1, acquiring a three-dimensional force signal of interaction between a robot foot and a contact ground through a force sensing module integrated at a foot end of a foot-type robot; s2, filtering preprocessing is carried out on the force signals collected in the step S1, time-frequency domain features of the signals are extracted, and weight coefficients are distributed to all extracted feature components; s3, based on the signal features processed in the step S2, performing terrain recognition by using a pre-trained classification algorithm, and outputting a recognition result; according to the method, the terrain can be stably recognized in a non-illumination environment by obtaining the three-dimensional contact force between the robot and the ground based on tactile perception, the perception bottleneck of a visual system in a weak light or extreme environment is broken through, and meanwhile foot type robot terrain recognition equipment is provided.

The application discloses a kind of robot tactile perception and force error compensation systems for circuit breaker operation and maintenance, it is related to power equipment operation and maintenance automation technical field, including tactile perception module, using piezoresistive effect flexible sensor array, support 16-way data synchronous acquisition;Force error compensation module, integrated impedance control algorithm and multi-source error compensation model;System control module, using industrial grade embedded controller, support CAN bus and Ethernet communication;Environment adaptation module, deployment temperature and humidity and vibration sensor, dynamic adjustment parameter;Execution drive module, contain servo driver and adaptive clamping mechanism;Data storage and analysis module, using edge-cloud architecture;Safety protection module, with over force protection and insulation monitoring function.The application improves tactile perception precision and force error compensation effect, enhances complex environment adaptation capability;Through self-calibration and data optimization, keep long-term stable operation, adapt to different specifications circuit breaker operation and maintenance demand.

The invention provides a wide-range pressure sensing method and system applied to body intelligence, the method is applied to the wide-range pressure sensing system, the system comprises a touch sensing system and an external data processing device, and the touch sensing system comprises a miniature pyramid pressure sensing array and a flexible pressure sensing substrate; the method comprises the steps that under the condition that a pressure value is within a first pressure range, a first pressure signal is sensed through a micro pyramid pressure sensing array; under the condition that the pressure value is within a second pressure range, a second pressure signal is sensed through the flexible pressure sensing substrate, and the modulus of the material corresponding to the second pressure range is larger than that of the material corresponding to the first pressure range; and outputting a visual pressure value of the to-be-detected part corresponding to the first pressure signal through an external data processing device, or outputting a visual pressure value of the to-be-detected part corresponding to the second pressure signal. The problems that an intelligent robot is small in touch sensing range and low in sensitivity are fundamentally solved.