170 results about "Tactile perception" patented technology

According to the BIM-based construction process monitoring and early warning system provided by the invention, the data acquisition dimension and precision are remarkably improved through multi-source sensing fusion of millimeter-wave radar, multispectral imaging and voiceprint recognition; feature vector voxel units carrying material characteristics and process constraints are adopted, so that risk early warning has space-time relevance and process interpretability; through a composite risk calculation model containing environmental interference correction and time-varying gradient, the problem that a traditional threshold value method is poor in adaptability to complex working conditions is solved; the holographic early warning mechanism realizes upgrading from sound-light alarm to touch sense-three-dimensional projection cooperative interaction; the double-circulation self-optimization system not only guarantees real-time control, but also realizes block chain evidence storage of empirical data, and finally forms a construction monitoring closed-loop system with space-time perception, intelligent decision, accurate early warning and sustainable evolution capabilities.

The invention discloses a mechanical arm autonomous grabbing system and method based on visual guidance and visual touch fusion. The mechanical arm autonomous grabbing system at least comprises a visual semantic guidance and grabbing pose generation module, a smooth grabbing control module based on visual touch fusion and a dynamic planning module based on model prediction path integration. The visual module efficiently generates a six-degree-of-freedom grabbing pose from the point cloud data by using a deep learning network; the smooth grabbing control module monitors object slippage in real time and adaptively adjusts clamping force by fusing visual and tactile information, and stable grabbing of fragile or slippery objects is achieved. And the dynamic planning module adopts a model prediction path integral algorithm MPPI to realize collision-free path planning of the mechanical arm in a complex dynamic environment. The problems that an existing mechanical arm is insufficient in sensing capacity, poor in grabbing robustness and low in path planning efficiency in an unstructured scene are solved, and the autonomous operation capacity and safety of the mechanical arm in the scenes of accompanying, intelligent sorting and the like are remarkably improved.

The invention discloses a multi-mode perception collaboration and real-time synchronization system, which breaks through the limitation of vision / hearing in the prior art, covers vision, hearing, smell and movement, and realizes more accurate cooperation through a perception layer, a control layer and an execution layer. According to the invention, an immersive experience space full of shock and reality can be created, synchronous output of visual, auditory, tactile and olfactory signals is realized by means of high-precision equipment, and a series of cross-sensory signal superposition schemes are designed on the basis of response characteristics of human physiology and psychology to various sensory stimuli. Therefore, the overall perception of the experiencer to the space atmosphere is enhanced. Meanwhile, through weight distribution and conflict resolution, the system can flexibly adjust the sensing mode according to the environment and the user state. The multi-device cooperation error can be controlled at millisecond level and millimeter level, and the natural fusion of virtuality and reality is realized.

The invention provides an intelligent vision-guided mechanical arm precise grabbing system. The system comprises a bionic compound eye vision module for collecting multi-angle image information of a target object to generate a dynamic depth map, and a bionic touch sensing module for collecting touch information at the tail end of a mechanical arm to generate a pressure distribution heat map. And the dynamic self-optimization grabbing strategy module is used for generating a grabbing strategy by utilizing the two graphs. And the real-time trajectory planning and obstacle avoidance module optimizes a grabbing path according to the grabbing strategy, the environment obstacle information and the mechanical arm state data, and generates an optimal strategy. The robot can sense the movement of a target object and the change of environmental obstacles in real time, dynamically adjust the force and the posture in the grabbing process, and optimize the obstacle avoidance path in real time. Compared with the prior art, the system has the advantages that the aspects of dynamic obstacle avoidance, target object motion compensation, multi-modal information fusion robustness and the like are remarkably improved, the problem of insufficient adaptability in complex dynamic scenes in the prior art is solved, and high success rate and stability of a precise grabbing task under complex conditions are ensured.

The invention discloses a tactile finger, a mechanical palm and a robot, and the tactile finger comprises a knuckle base body which is provided with a mounting surface arranged in a curved surface manner; the touch sensing assembly comprises a plurality of electrode attaching units used for sensing the external contact state and collecting pressure data, the electrode attaching units are arranged on the mounting surface at intervals, and each electrode attaching unit comprises a plurality of electrode plates which are communicated with one another; the flexible coating part is used for coating the plurality of electrode pasting and coating units; according to the invention, the plurality of electrode pasting units which are arranged at intervals are arranged on the knuckle base body with the curved mounting surface, and the sensing area is integrally covered by the flexible covering piece, so that compact integration and effective protection of the tactile sensing assembly are realized, the distribution rationality and conduction continuity of the sensing function are ensured, and the sensing effect is improved. The flexibility and adaptability of the whole structure of the tactile finger are also improved, and the tactile finger has good installation adaptability and engineering implementability.

The invention discloses an aircraft skin assembly control method and system, and the method comprises the following steps: segmenting a skin and a frame from an image based on a skin surface image through employing a deep learning segmentation model; registering and splicing the images captured by different spectrum cameras to obtain a complete skin image; based on the complete skin image, using a region expansion method to identify and track a skin surface deformation region; preprocessing the original skin model through a finite element method to obtain a corresponding grid model; estimating stress distribution in the current assembly state based on the force haptic image and a stress transfer model; and based on the deformation area and the stress distribution, generating an assembly path and a pressure adjustment instruction by adopting a self-adaptive control strategy, and controlling the assembly process. Through fusion of a multispectral vision technology and a high-precision force tactile perception technology and combination of a deep learning algorithm and a nonlinear mechanical model, accurate identification of skin surface features and accurate positioning of a deformation area are realized, and the assembly control precision is improved.

The invention relates to the technical field of rehabilitation medical treatment, in particular to a hand rehabilitation training system based on virtual reality and gesture interaction, and the system comprises a gesture sensing module which collects a hand movement track, a muscle electric signal, grip pressure and a joint movement angle; the VR rehabilitation scene construction module constructs a rehabilitation training virtual scene, simulates a hand interaction behavior and a force feedback effect through an adaptive physical engine and a neural action mapping algorithm, and outputs simulation data; the intelligent evaluation center evaluates the action standard degree and the muscle activation efficiency based on an improved CNN-GRU model, identifies an action compensation mode and abnormal force generation, and outputs an evaluation report; the interactive training unit renders a motion state and a training process in real time, and generates personalized training guidance in combination with voice, visual and tactile prompts; and the personalized regulation and control unit predicts a rehabilitation trend and a stage target through a reinforcement learning algorithm, and dynamically adjusts training parameters and scene difficulty. Therefore, the problems of low interaction precision, incapability of sharing and the like in the prior art are solved.

The invention discloses a body-equipped robot control system and method based on multi-modal perception and deep learning, and the system comprises a multi-modal perception module which is used for obtaining and fusing visual information, tactile information and proprioceptive information, and generating a unified state representation; the deep reinforcement learning control module adopts a reinforcement learning algorithm based on an actor-commentator framework and is used for representing an output control strategy according to the unified state, and the reinforcement learning algorithm adopts an experience playback mechanism and a target network technology to realize stable learning; the hierarchical motion planning module is connected with the deep reinforcement learning control module and is used for decomposing a complex task corresponding to the control strategy into high-level strategy planning and bottom-level motion execution; the self-adaptive impedance control module is connected with the hierarchical motion planning module and is used for dynamically adjusting impedance parameters of the robot according to interaction information of the robot and the environment; and the safety guarantee module is used for applying constraint optimization to the control strategy or the motion execution so as to ensure the operation safety of the robot.

The invention discloses a visual tactile sensor zero drift compensation method, device, equipment and program product. The method comprises the following steps: acquiring a tactile measurement value and an acceleration value of a visual tactile sensor; determining a zero drift error value of the visual tactile sensor according to the acceleration value and a preset zero drift detection model, and performing error compensation on the tactile measurement value according to the zero drift error value to obtain a tactile output value; or inputting the tactile measurement value and the acceleration value into a tactile perception model based on tactile input and acceleration joint optimization to obtain a tactile output value. According to the invention, zero drift compensation can be carried out on non-contact deformation of the elastic body caused by inertia force or direction-changing gravity, so that the measurement precision of the visual tactile sensor is improved, and the method can be applied to the technical field of sensors.

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.

The application relates to the field of computer-aided technology and specifically discloses a vision-impaired drawing assistance system based on physiological signals and behavior analysis, aiming to solve the problems of mechanical assistance process and poor interactive experience in the prior art. The system comprises a physiological signal acquisition module for acquiring user concentration and emotion, a drawing behavior perception module for capturing brush pressure and trajectory, a multi-modal data fusion and intention analysis module for fusing data and analyzing creation intention, an adaptive guidance strategy generation module for generating personalized guidance strategies, and a multi-channel feedback execution module for providing voice, tactile and sound feedback. Through the cooperative work of the above modules, the system can realize real-time perception of user state and intention, dynamically adjust multi-sensory assistance guidance, and thus improve the naturalness of interaction and the assistance effect.

The utility model relates to the technical field of toys, in particular to a handheld pinching instrument for stimulating sense organs through touch. Comprising a shell which is made of an elastic material and is of a hollow structure; the multiple cutting planes are distributed on the surface of the shell; the concave-convex pattern is arranged on the cutting plane, and the concave-convex pattern is composed of a convex part and / or a concave part; according to the utility model, the structure is reasonable, the hollow shell has better holding and pinching feelings, the plurality of cutting planes enable the surface of the shell to have distinct edges and corners, nerves are stimulated to promote the body to release enkephalin so as to relax the body, the cutting planes are provided with various three-dimensional concave-convex patterns, the visual sense needs are met, the friction and the hand feeling can be better stimulated, and the effect is good. The entertainment of pinching is further improved, the pressure of the body is released, and anxiety is avoided.

This invention discloses a dynamic obstacle avoidance method for assistive visually impaired scenarios. First, a feature extraction module based on a hierarchical residual structure constructed within residual blocks is built, which expands the receptive field of deep features. Second, a spatial feature recovery module based on bilinear interpolation and transposed convolution upsampling is designed to make segmentation edges more accurate. Third, a discrete sampling strategy is used to extract obstacle category, distance, and contour information, and path planning is performed using a heuristic search algorithm considering safe distance constraints. Finally, priority rules and logical order rules for the obstacle avoidance warning system are assumed, and a decision is generated based on the planned path, effectively guiding blind users to avoid obstacles through auditory and tactile information. This invention solves the problem that single-stage instance segmentation algorithms struggle to simultaneously and accurately segment small target obstacles and background road surfaces, overcoming the difficulty of providing effective information for obstacle avoidance decisions in assistive visually impaired scenarios with instance segmentation results, enabling blind users to avoid obstacles more intelligently and autonomously.

This invention provides an emergency bionic robot collaborative method and multimodal rescue system with task and state collaborative perception, relating to the field of emergency bionic robot technology. It acquires environmental perception data streams through multi-source sensing acquisition devices deployed on each robot body in an emergency bionic robot cluster, covering panoramic vision, terrain stiffness distribution, gas composition concentration, and sound wave spectrum data. Each type of data stream is processed to obtain feature segments, and then visual and tactile, olfactory and auditory related segments are spatially superimposed to generate a collaborative scene map. The collaborative scene map undergoes physical field state interference deduction and cross-map temporal correlation fusion to generate a global collaborative perception situational deduction map. Based on this global collaborative perception situational deduction map, the coordinates of the disaster spread source, the leading edge of the spread path, and the robot's pose and state information are determined, generating a distributed rescue collaborative instruction set to achieve efficient robot collaborative rescue.

The application provides a flexible three-dimensional force sensor simulating hair touch, and belongs to the technical field of electronic skin. The flexible three-dimensional force sensor comprises: a flexible pressure sensing layer comprising at least one sensing unit; and an elastic force decomposition layer arranged on the flexible pressure sensing layer, wherein the elastic force decomposition layer comprises force decomposition units corresponding to the sensing units, each force decomposition unit is implanted with high-rigidity hair on a side away from the flexible pressure sensing layer, the high-rigidity hair comprises a first part exposed outside the force decomposition unit and a second part implanted inside the force decomposition unit, and the first part and the second part constitute a two-stage lever structure; when a space force acts on the high-rigidity hair, the high-rigidity hair amplifies the space force through the two-stage lever structure, and transmits the amplified space force to the corresponding sensing unit through the corresponding force decomposition unit, so that the flexible pressure sensing layer senses the space force. The application can more accurately perceive slight force.

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 invention belongs to the field of medical teaching training, and discloses a urinary surgery simulation training method and system based on tactile feedback, and the method comprises the steps: collecting operation behavior data and force change data, and obtaining a preliminary perception sequence; obtaining a classified organization state cluster according to the preliminary sensing sequence; extracting a hand feeling perception feature from the classified organization state cluster to obtain an update cluster; aiming at the update cluster and the operation behavior data, constructing a support vector machine model to train a tactile feedback response to obtain a dynamic matching function; processing the tactile feedback response data through a dynamic matching function to obtain an optimized feedback sequence; acquiring tissue state update from the optimized feedback sequence, and performing real-time calibration on hand feeling perception by adopting an information processing link to obtain a calibrated perception model; and according to the calibrated sensing model and the force change data, generating a corresponding operation processing track. According to the method, high authenticity and low delay of tactile feedback are realized, and an accurate dynamic matching result is provided for a complex operation scene.

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 invention provides a fruit picking method, device and equipment integrating tactile sensation and spectrum sensing, and belongs to the field of fruit picking, the method is applied to a tactile sensation and spectrum integrated end effector, and the method comprises the following steps: acquiring three-dimensional force information of a fruit contact area and multiband spectrum data of a fruit surface in real time; outputting varieties, maturity and internal quality parameters of the fruits through a pre-trained fruit variety identification model and a pre-trained maturity identification model; the three-dimensional force information is combined, the safety domain of the grabbing force is calculated through fusion of priori estimation and online observation, the grabbing force compensation amount is generated based on tactile feedback, and the grabbing force is adjusted in real time to restrain slippage and fruit damage; and fruit picking is carried out by adopting a self-adaptive control strategy combining digital twin feed-forward and tactile closed-loop feedback. In this way, the lossless performance, accuracy and overall efficiency of fruits during automatic picking are remarkably 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.

This invention discloses a force feedback method, device, electronic device, and storage medium. The method includes: determining a target surgical instrument; during a simulated surgery performed on a skin tissue model using the target surgical instrument, determining a first real-time position of the pierceable tissue entity at a target time point, and determining a first reference position of the moving entity on the tissue at a reference time point corresponding to the target time point; determining a second real-time position of the moving entity on the tissue at the target time point based on the first real-time position information and the first reference position information; determining a target feedback force of the target surgical instrument at the target time point based on the first and second real-time position information; and providing force feedback to the object operating the target surgical instrument based on the target feedback force. Based on this invention, force feedback-based simulated surgery can achieve a tactile interactive perception that more closely resembles actual surgery.

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 invention relates to the technical field of intelligent blind guiding, and discloses an intelligent blind guiding cap system based on multi-modal perception, which comprises a multi-source data acquisition module, a data processing module, a multi-terminal interaction and prompt module and a collaboration and optimization module. Through multi-modal perception fusion, visual information of the obstacle is captured, sound source and temperature and humidity data are also included, and correlation reasoning is carried out, so that the problem of a single-modal perception blind area is solved, the accuracy of obstacle recognition in complex environments such as rainy days is improved, and the safety of the blind guiding process is greatly enhanced; meanwhile, through layered adaptive interaction and integration of bone conduction hearing, micro-vision display, tactile vibration and other multi-sensory prompt modes, users with residual vision and mild hearing impairment are covered, the prompt information receiving rate is increased, and adaptive coverage of different user groups is achieved.

The invention discloses metal plate local leveling treatment equipment based on visual man-machine cooperation, and belongs to the technical field of plate leveling equipment, and the metal plate local leveling treatment equipment comprises a man-machine interaction unit which comprises a pressure sensing operation part used for converting pressing operation force of an operator into a continuous control electric signal; the hydraulic driving execution unit is electrically connected with the control processing unit and is used for providing controllable pressure and action required by leveling according to the driving control signal; a feedback unit; the hydraulic driving execution unit comprises an execution oil cylinder and a hydraulic locking mechanism, and a pressure head is mounted at the tail end of a piston rod of the execution oil cylinder; a closed-loop control system framework combining intuitive judgment and tactile feedback of people with accurate and powerful output of a machine in real time is constructed, a basic mode of man-machine cooperation operation is achieved, a brand new technical path is provided for fine leveling of complex local deformation, and the limitation of automatic equipment under the non-standard working condition is broken through.

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 relates to the technical field of industrial process control and digital visualization, in particular to a digital visualization control method for a food production line control system. The method comprises the following steps that the surface hardness parameter of food to be grabbed is obtained, and a contact sensitivity triggering threshold value is set according to the surface hardness parameter; the flexible air bag gripper is driven to descend to make contact with food, and signals collected by the flexible touch skin are converted into visual contact dynamic pressure distribution data; virtual package fitting degree simulation verification is carried out on the contact dynamic pressure distribution data and a contact sensitivity triggering threshold value in a digital visualization background, and a self-adaptive differential pressure adjusting signal is generated; inflation and deflation linkage of the independent miniature air chamber is triggered based on the self-adaptive differential pressure adjusting signal. According to the invention, the independent air chamber is driven by flexible tactile feedback to carry out self-adaptive differential pressure regulation and full-flow digital visual monitoring, so that lossless accurate grabbing of vulnerable food with irregular shapes and transparent quality management in the production process are realized.

An apparatus and method for detecting, recording, measuring, and mapping the size, shape, and location of an injury to the sub-surface layers of a subject's skin or other soft tissue by using a capacitive tactile sensor to measure changes in tactile pressure of the skin or other tissue surface under investigation are described. The capacitive tactile sensor includes at least one exposure window; a substrate including a plurality of electrodes disposed within a housing; an insulating layer; a non-conductive compressible membrane covering positioned on the insulating layer, wherein at least a portion of the membrane is accessible via the exposure window; and a controller configured to calculate at least one parameter of the subject's tissue. A method of measuring a parameter of a subject's tissue and a method of performing a self-guided examination of a subject's tissue are also described.

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.

This utility model relates to a needleless injector body and a needleless injector. The needleless injector body includes a first component and a second component capable of relative movement with respect to the first component. The needleless injector body also includes an auxiliary device having a first feedback component and a second feedback component. The first feedback component is disposed on the first component and moves with it, and the second feedback component is disposed on the second component and moves with it. When the first component and the second component move relative to each other, the first feedback component and the second feedback component interact to provide tactile and / or auditory feedback. The needleless injector includes an injection head and the needleless injector body.

The embodiment of the application provides a feedback structure and a biological safety cabinet, and relates to the technical field of feedback structures.The feedback structure comprises a cover plate, a glass window, a tactile feedback component and a visual feedback component, the cover plate is arranged on a cabinet body of the biological safety cabinet, the glass window is slidably arranged relative to the cover plate, the tactile feedback component is arranged on the cover plate, and the visual feedback component is used for being triggered by the tactile feedback component to generate visual feedback when the glass window moves to a working position.The feedback structure can move together with the glass window during use, and when the glass window moves to the working position, the tactile feedback component can trigger the visual feedback component, so that the visual feedback component generates visual feedback, and it is ensured that the glass window has reached the working position can be accurately known.The feedback structure can accurately feed back when the glass window reaches the working position, and is more accurate and convenient to use.