CN-121572345-B - Bionic touch sensing device, tactile finger, bionic hand and bionic robot

CN121572345BCN 121572345 BCN121572345 BCN 121572345BCN-121572345-B

Abstract

The application discloses a bionic touch sensing device, a touch finger, a bionic hand and a bionic robot applying the bionic touch sensing device, which comprise phalanges, an elastic epidermis and a sensing module, wherein the elastic epidermis is sleeved with the phalanges, a containing cavity is formed between the elastic epidermis and the phalanges, the sensing module is arranged in the containing cavity and comprises a magnetic touch sensor and a signal acquisition unit electrically connected with the magnetic touch sensor, the signal acquisition unit is arranged on one side, close to the phalanges, of the containing cavity, the magnetic touch sensor is arranged on one side, facing the elastic epidermis, of the signal acquisition unit, and the magnetic touch sensor is used for detecting deformation data when the elastic epidermis contacts an external object. According to the bionic touch sensing device, the finger bones are sleeved with the elastic epidermis to form the accommodating cavity, and the signal acquisition unit and the magnetic touch sensor are distributed in the accommodating cavity in a layered manner, so that a compact integrated structure of the sensing module is realized in a very small space, and the sensing effect is improved.

Inventors

HAN BICHENG
WANG WENGUANG
GAO YIQIAN
CHEN JUNYI
ZHOU ZHITAO
YAO PAN

Assignees

浙江强脑科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260128

Claims (8)

1. A bionic touch sensing device, comprising: Phalanges; An elastic skin which is sleeved with the phalangeal bone, and a containing cavity is formed between the elastic skin and the phalangeal bone; The sensing module is arranged in the accommodating cavity and comprises a magnetic touch sensor and a signal acquisition unit electrically connected with the magnetic touch sensor, the signal acquisition unit is arranged on one side, close to the phalanges, of the accommodating cavity, the magnetic touch sensor is arranged on one side, facing the elastic epidermis, of the signal acquisition unit, and the magnetic touch sensor is used for detecting deformation data when the elastic epidermis contacts an external object; the elastic surface is provided with a plurality of bosses in a protruding mode towards one side of the accommodating cavity, one side of the elastic surface towards the accommodating cavity is thinned to form a first gully, and the first gully is arranged between any two adjacent bosses; the bosses comprise at least one first boss arranged on one side of the first gully and at least two second bosses arranged on the other side, and the two adjacent second bosses are connected into a whole.
2. The bionic touch-sensing device according to claim 1, wherein the elastic skin and the magnetic tactile sensor are provided with a tactile transmission structure for transmitting deformation of the elastic skin to the magnetic tactile sensor when the elastic skin is in contact with an external object.
3. The bionic touch sensing device according to claim 2, wherein the touch transfer structure comprises a first mating structure arranged on a side of the elastic skin facing the accommodating cavity and a second mating structure arranged on the magnetic touch sensor, and the first mating structure is abutted with the second mating structure.
4. The bionic touch-sensing device according to claim 3, wherein one of the first and second mating structures is a protrusion structure, and the other is a recess structure into which the protrusion structure extends.
5. The bionic touch sensing device according to claim 4, wherein the concave structure is a contact groove formed by concave middle part of the boss; The protruding structure is a magnetic protruding block protruding from the magnetic touch sensor, and the magnetic protruding block extends into the contact groove and is at least in contact with one of the bottom wall and the peripheral wall of the contact groove.
6. A tactile finger comprising at least one biomimetic touch sensing device according to any one of claims 1-5.
7. A simulated hand comprising a simulated palm and at least one tactile finger as defined in claim 6 connected to said simulated palm.
8. A biomimetic robot comprising a biomimetic arm and at least one biomimetic hand as recited in claim 7 coupled to the biomimetic arm.

Description

Bionic touch sensing device, tactile finger, bionic hand and bionic robot Technical Field The application relates to the field of bionic prostheses, in particular to a bionic touch sensing device, and a tactile finger, a bionic hand and a bionic robot applying the bionic touch sensing device. Background The bionic touch sensing device is a robot end effector simulating the structure and the function of human fingers, is used for sensing the complex operations such as grasping, touching and the like, and can sense external environment information and feed back the external environment information to a control system, so that the interaction effect of a bionic artificial limb and a person or a robot is improved. However, the conventional touch sensing technology of the bionic touch sensing device still has significant defects. Traditional rigid sensors (such as resistance type and piezoelectric type) are difficult to be adhered to flexible skins in a compliant mode, induction loss is easy to occur due to the fact that the contact area is limited, and induction blind areas are easy to occur due to the fact that the contact area is influenced by the curvature of fingers. Therefore, a bionic touch sensing device capable of improving the touch sensing effect is needed. Disclosure of Invention The application mainly aims to provide a bionic touch sensing device, and aims to provide a bionic touch sensing device capable of improving a touch sensing effect. In order to achieve the above object, the present application provides a bionic touch sensing device, comprising: Phalanges; An elastic skin which is sleeved with the phalangeal bone, and a containing cavity is formed between the elastic skin and the phalangeal bone; The sensing module is arranged in the accommodating cavity and comprises a magnetic touch sensor and a signal acquisition unit electrically connected with the magnetic touch sensor, wherein the signal acquisition unit is arranged on one side, close to the phalangeal bone, in the accommodating cavity, the magnetic touch sensor is arranged on one side, facing the elastic epidermis, of the signal acquisition unit, and the magnetic touch sensor is used for detecting deformation data when the elastic epidermis contacts an external object. In some embodiments, the elastic skin and the magnetic tactile sensor are provided with a tactile transmission structure to transmit deformation of the elastic skin to the magnetic tactile sensor when the elastic skin is in contact with an external object. In some embodiments, the touch sensing transmission structure comprises a first matching structure arranged on one side of the elastic surface facing the accommodating cavity and a second matching structure arranged on the magnetic touch sensor, wherein the first matching structure is abutted with the second matching structure. In some embodiments, one of the first mating structure and the second mating structure is a protruding structure, and the other is a recessed structure into which the protruding structure can extend. In some embodiments, at least one boss is convexly arranged on one side of the elastic surface facing the accommodating cavity, and the concave structure is a contact groove formed by concave middle parts of the bosses; The protruding structure is a magnetic protruding block protruding from the magnetic touch sensor, and the magnetic protruding block extends into the contact groove and is at least in contact with one of the bottom wall and the peripheral wall of the contact groove. In some embodiments, the number of the bosses is a plurality, and the elastic skin is partially thinned toward one side of the accommodating cavity to form a first groove, and the first groove is disposed between any two adjacent bosses. In some embodiments, the plurality of bosses includes at least one first boss disposed on one side of the first ravines and at least two second bosses disposed on the other side; The adjacent two second bosses are connected into a whole, or the adjacent two second bosses are provided with second ravines. Furthermore, the application provides a tactile finger comprising the bionic touch sensing device according to the foregoing embodiment. Further, the application provides a bionic hand, which comprises a bionic palm and at least one tactile finger connected with the bionic palm, wherein the tactile finger is as described in the previous embodiment. Further, the application provides a bionic robot, which comprises a bionic arm and at least one bionic hand connected with the bionic arm, wherein the bionic hand is described in the previous embodiment. The application provides a bionic touch sensing device, which is characterized in that a containing cavity is formed by sleeving a phalange and an elastic epidermis, a signal acquisition unit and a magnetic touch sensor are arranged in the containing cavity in a layered manner, the magnetic touch sensor is arranged on one side of the elastic ep