CN106568473A - Multi-functional bionic finger capable of detecting three-dimensional force - Google Patents
Multi-functional bionic finger capable of detecting three-dimensional force Download PDFInfo
- Publication number
- CN106568473A CN106568473A CN201610904506.4A CN201610904506A CN106568473A CN 106568473 A CN106568473 A CN 106568473A CN 201610904506 A CN201610904506 A CN 201610904506A CN 106568473 A CN106568473 A CN 106568473A
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- Prior art keywords
- finger
- dimensional force
- detectable
- bionic finger
- circuit
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
The present invention discloses a multi-functional bionic finger capable of detecting a three-dimensional force. The multi-functional bionic finger comprises a phalanx; the front section of the phalanx is wrapped by finger skin, and a cavity is formed inside the front section of the phalanx; the rear section of the phalanx is wrapped by a protective shell; a channel is installed inside the phalanx; the channel and the cavity are filled with a filling medium; the channel is connected with one end of a pressure sensor; the other end of the pressure sensor is connected with a signal processing circuit; the upper end of the signal processing circuit is connected with an external communication circuit; the lower end of the signal processing circuit is connected with a sensitive component signal transmission circuit; the front section of the sensitive component signal transmission circuit is provided with an electrode and a temperature sensitive component; and the outer portion of the finger skin is provided with bionic lines. The bionic finger of the invention can simultaneously sense environmental information such as temperature, micro vibration and a three-dimensional force and can acquire the physical characteristics such as shape and stressed state, of a target object. The multi-functional bionic finger is of great significance to the realization of stable and controllable grasp of objects for a robot and the improvement of the operating dexterity of the robot.
Description
Technical field
The present invention relates to multifunctional bionic finger, a kind of specifically multifunctional bionic finger of detectable three-dimensional force.
Technical background
Dexterous robot operation is that service robot smoothly completes one of key technology of task, and target object is obtained in real time
The physical characteristics such as temperature, shape, material, stress, to stable, controllable grasping object, realize that dexterous robot is operated
It is particularly significant.
Bionic finger can simulate the tactile of people and obtain environmental information in real time, and the bionic finger that presently, there are can detect temperature
The physical message such as degree, contact force size, micro-vibration, realizes the temperature to target object, material, the isoparametric reality of stress size
When gather, but due to the detection that not yet can realize three-dimensional force, it is impossible to obtain the Impact direction of object, therefore, existing bionic hand
Finger can not carry out real-time judge to the contour shape of touched object, it is impossible to determine the relative position and appearance of object and bionic finger
State real-time relationship, robot is difficult to complete accurate, reliable, stable, efficient dexterous manipulation, especially when target object is unknown shape
During state, i.e., when operating environment is unstructured moving grids, or even operation task cannot be completed；For example, thing is being grasped using Dextrous Hand
During body, current bionic finger typically determines specific grip by carrying out demarcation to target object, and which is not only
Substantial amounts of staking-out work is needed, and is that unknown object object or target object attitude change beyond demarcation when object is grasped
During scope, the shape facility due to obtaining object, robot cannot determine grasping attitude, grip size and grasp contact
The parameters such as point position, cause to grasp unstable or failure.And during actual robot manipulation, target object is often not
Know and dynamic change, for this purpose, it is very necessary to provide a kind of multifunctional bionic finger of detectable three-dimensional force.
The content of the invention
For problems of the prior art, the invention provides a kind of multifunction imitated green hand of detectable three-dimensional force
Refer to, can refer to can be while gather the signals such as the impedance of pressure, temperature and filled media, can be Jing after signal processing circuit process simultaneously
The environmental informations such as micro-vibration, ambient temperature, three-dimensional force are perceived, the material of object can also be identified, the mankind can be simulated and touched
Feel, the grasping object to realizing robot stabilized, controllable is significant.
The present invention is achieved in that the invention provides a kind of multifunctional bionic finger of detectable three-dimensional force, including
Phalanges,
The leading portion of described phalanges is wrapped up by finger crust, and forms cavity；The back segment of described phalanges is wrapped up by containment vessel；
Passage is installed inside described phalanges；Described passage and cavity inside is full of filled media；
The front end of described passage communicates with the filled media of cavity inside, rear end and pressure transducer one end of described passage
It is connected；The described pressure transducer other end is connected with signal processing circuit, is connected to the middle part of signal processing circuit；
Described signal processing circuit upper end is connected with external communication circuit, and described signal processing circuit lower end is connected with sensitivity
Element signal transmission circuit；Described sensing element signal circuit is arranged on the outer surface of phalanges, described sensing element
The leading portion of signal circuit is provided with electrode and temperature-sensing element (device).
Further, the upper end of the crust of described bionic finger is provided with nail cover.
Further, described nail cover is connected by screw with crust.
Further, the finger crust is flexible insulating material, and the use advantage of flexible insulating material is：Finger crust
Corresponding deformation can be produced according to the position of contact force and size variation, and then produce the pressure and distribution of filled media
Corresponding change, and its insulation characterisitic protects finger interior not disturbed by exterior static etc., while avoiding it from being situated between filling
The impedance detection of matter produces impact.
Further, described phalanges is rigid insulating material, and the use of rigid insulating material makes to be arranged on quick on phalanges
Sensing unit signal circuit keeps solid shape, and then the relative tertiary location of electrode and temperature-sensing element (device) is kept not
Become, its insulation characterisitic avoids phalanges and produces interference to electrode and sensing element signal circuit.
Further, described filled media is conducting liquid.
Further, described sensing element signal circuit and external communication circuit is flexible PCB, to make
Sensing element signal circuit is attached on phalanges, makes electrode and temperature-sensing element (device) on sensing element signal circuit
Fixed space relative position can be kept according to the shape of phalanges, and external communication circuit then can be at bypass signal in small space
Reason circuit is connected with external circuit, it is to avoid bionic finger volume is excessive.
Present invention also offers a kind of multifunctional bionic finger of detectable three-dimensional force, the outside of described finger crust sets
It is equipped with bionical lines.
The present invention is relative to the beneficial effect of prior art：After the bionic finger of the present invention is by touching object, handss
Refer to that crust is deformed upon, changing for the internal medium filled is caused then, then recognized by internal circuit, processed, finally
Obtain the three-dimensional force for obtaining target object；Simultaneously by the internal temperature-sensing element (device) installed, realize perceiving target object simultaneously
Temperature, and then obtain the physical characteristics such as temperature, shape, material, the stress of target object；The present invention can also be by arranging
Bionical lines outside finger crust, identifies the material of touched object；The multifunctional bionic finger of the present invention is simultaneously right
The perception of the environmental informations such as temperature, micro-vibration, three-dimensional force, especially to the perception of three-dimensional force, can in real time obtain target object
The physical characteristics such as shape, stress, to realizing robot stabilized, controllable grasping object, the operation for improving robot is dexterous
Property is significant.
Description of the drawings
Fig. 1 is a kind of front sectional view of the multifunctional bionic finger of detectable three-dimensional force of the present invention；
Fig. 2 is a kind of kernel upward view removed after finger crust of multifunctional bionic finger of detectable three-dimensional force of the present invention；
Fig. 3 is a kind of upward view with bionical lines of the multifunctional bionic finger of detectable three-dimensional force of the present invention.
Wherein, 1- phalanges, 2- finger crusts, 3- electrodes, 4- filled medias, 5- temperature-sensing element (device)s, 6- nail covers, 7- spiral shells
Nail, 8- passages, 9- sensing element signal circuits, 10- pressure transducers, 11- signal processing circuits, 12- PERCOM peripheral communication electricity
Road, 13- containment vessels, the bionical lines of 14-.
Specific embodiment
The present invention provides a kind of multifunctional bionic finger of detectable three-dimensional force, to make technical scheme and effect
It is clearer, clearly, and referring to the drawings and give an actual example that the present invention is described in more detail.It should be appreciated that described herein
Be embodied as only to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1 and 2, the multifunctional bionic finger of a kind of detectable three-dimensional force of present invention design, including：Phalanges 1,
Finger crust 2, electrode 3, filled media 4, temperature-sensing element (device) 5, nail cover 6, screw 7, passage 8, sensing element signal transmission
Circuit 9, pressure transducer 10, signal processing circuit 11, external communication circuit 12, containment vessel 13, bionical lines 14.
Specifically annexation is：The leading portion of phalanges 1 is wrapped up by finger crust 2, and forms cavity, and cavity inside is full of to be filled out
Filling medium 4；Passage 8 is installed, passage 8 is communicated with described cavity inside described phalanges 1, cavity inside is full of the filling
Medium 4, the back segment of described phalanges 1 is wrapped up by containment vessel 13；
Described passage 8 is communicated in front end with the filled media 4 of cavity inside, the rear end of described passage 8 and pressure transducer
10 one end are connected；The described other end of pressure transducer 10 is connected with signal processing circuit 11；Pressure transducer 10 and signal
Process circuit 11 is arranged inside containment vessel 13.The described upper end of signal processing circuit 11 is connected with external communication circuit 12
One end, the other end of external communication circuit 12 is arranged on the outside of containment vessel 13, the described lower end of signal processing circuit 11 with it is quick
One end of sensing unit signal circuit 9 is connected；As shown in Fig. 2 sensing element signal circuit 9 is arranged on phalanges 1
Outer surface, the leading portion of described sensing element signal circuit 9, the i.e. other end of sensing element signal circuit 9 is provided with
Electrode 3 and temperature-sensing element (device) 5, wherein temperature-sensing element (device) 5 are located at the fingertip location of bionic finger.
The upper end of the crust 2 of described bionic finger is provided with nail cover 6, and nail cover 6 is by screw 7 and finger crust 2
Connection so that first lid 6 is pressed on the finger crust 2, and the described upper end of screw 7 is connected with nail cover 6, and the lower end of screw 7 passes through
Finger crust 2, and be connected with phalanges 1.Described phalanges 1 is rigid insulating material；The finger crust 2 is flexible insulation material
Material；Described filled media 4 is conducting liquid；Described sensing element signal circuit 9 and external communication circuit 12 is equal
For flexible PCB.
As shown in figure 3, the outside of described finger crust 2 is provided with bionical lines 14.
The operation principle of multifunctional bionic finger of a kind of detectable three-dimensional force of the present invention is：Bionic finger touches object
Afterwards, finger crust 2 is deformed upon, and the distribution and pressure for making bionic finger inside filled media 4 changes, and simultaneously, fills out
The heat energy of filling medium 4 is exchanged with the object touched so as to which temperature also changes simultaneously.The collection of electrode 3 of distribution is filled out
The impedance of each point of filling medium 4, Jing sensing elements signal circuit 9 delivers to signal processing circuit 11, by signal processing circuit 11
The deformation characteristics and suffered three-dimensional force of finger crust 2 are exported after dissection process；Pressure transducer 10 gathers the pressure of filled media 4
Power, the stress size of bionic finger is exported Jing after the dissection process of signal processing circuit 11；Temperature-sensing element (device) 5 gathers filled media
4 temperature value.Shape, stress and the temperature of object is touched in all kinds of parameters of the summary of signal processing circuit 11, identification.
The composition of conducting medium therein 4 includes Polyethylene Glycol, distilled water, sodium bromide, adds Polyethylene Glycol that liquid is occurring can
Larger impedance variation can be produced during micro-strain；The composition of conductive liquid can also add normal saline from Propylene Glycol；If handss
Refer to that inner chamber is enough big, filled media 4 can also adopt general normal saline；Fluid impedance is measured come more accurate by electrode 3
Acquisition finger contact force position and direction.
Additionally, bionical lines 14 is additionally provided with finger crust 2, when bionic finger 14 slides on touched body surface
When, micro-vibration can be produced, the pressure for making filled media 4 changes, and pressure transducer 10 gathers corresponding pressure change signal
Signal processing circuit 11 is delivered to, the rule of the parsing pressure change of signal processing circuit 11 identifies the material of touched object.
Claims (8)
1. a kind of multifunctional bionic finger of detectable three-dimensional force, it is characterised in that including phalanges（1）,
Described phalanges（1）Leading portion by finger crust（2）Parcel, and form cavity；Described phalanges（1）Back segment by protecting
Shell（13）Parcel；
Described phalanges（1）Inside is provided with passage（8）, described passage（8）And cavity inside is full of filled media（4）；
Described passage（8）In front end and the filled media of cavity inside（4）Communicate, described passage（8）Rear end and pressure
Sensor（10）One end is connected；Described pressure transducer（10）The other end and signal processing circuit（11）It is connected；
Described signal processing circuit（11）Upper end is connected with external communication circuit（12）, described signal processing circuit（11）Under
End is connected with sensing element signal circuit（9）；
Described sensing element signal circuit（9）Installed in phalanges（1）Outer surface, described sensing element signal transmission
Circuit（9）Leading portion be provided with electrode（3）And temperature-sensing element (device)（5）.
2. the multifunctional bionic finger of detectable three-dimensional force according to claim 1, it is characterised in that described bionic hand
The crust of finger（2）Upper end be provided with nail cover（6）.
3. the multifunctional bionic finger of detectable three-dimensional force according to claim 2, it is characterised in that described nail cover
（6）By screw（7）With crust（2）Connection.
4. according to the multifunctional bionic finger of the arbitrary described detectable three-dimensional force of claim 1 ~ 3, it is characterised in that the handss
Refer to crust（2）For flexible insulating material.
5. the multifunctional bionic finger of detectable three-dimensional force according to claim 1, it is characterised in that described phalanges
（1）For rigid insulating material.
6. the multifunctional bionic finger of detectable three-dimensional force according to claim 1, it is characterised in that described filling is situated between
Matter（4）For conducting liquid.
7. the multifunctional bionic finger of detectable three-dimensional force according to claim 1, it is characterised in that described sensitivity unit
Part signal circuit（9）And external communication circuit（12）For flexible PCB.
8. a kind of multifunctional bionic finger of three-dimensional force as claimed in claim 1 detectable, it is characterised in that described finger
Crust（2）Outside be provided with bionical lines（14）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610904506.4A CN106568473A (en) | 2016-10-18 | 2016-10-18 | Multi-functional bionic finger capable of detecting three-dimensional force |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610904506.4A CN106568473A (en) | 2016-10-18 | 2016-10-18 | Multi-functional bionic finger capable of detecting three-dimensional force |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106568473A true CN106568473A (en) | 2017-04-19 |
Family
ID=58532998
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610904506.4A Pending CN106568473A (en) | 2016-10-18 | 2016-10-18 | Multi-functional bionic finger capable of detecting three-dimensional force |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109157283A (en) * | 2018-10-17 | 2019-01-08 | 中国空间技术研究院 | A kind of interactive flexible glove system |
| CN109434866A (en) * | 2018-12-14 | 2019-03-08 | 苏州迪天机器人自动化有限公司 | Flexible finger pressure test device |
| CN110763378A (en) * | 2019-11-01 | 2020-02-07 | 浙江大学 | Wearable flexible touch force sensor |
| CN112284438A (en) * | 2020-10-27 | 2021-01-29 | 上海宇航***工程研究所 | Multifunctional finger sensor calibration tool |
| CN109434866B (en) * | 2018-12-14 | 2024-05-10 | 苏州迪天机器人自动化有限公司 | Flexible finger pressure testing device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109157283A (en) * | 2018-10-17 | 2019-01-08 | 中国空间技术研究院 | A kind of interactive flexible glove system |
| CN109434866A (en) * | 2018-12-14 | 2019-03-08 | 苏州迪天机器人自动化有限公司 | Flexible finger pressure test device |
| CN109434866B (en) * | 2018-12-14 | 2024-05-10 | 苏州迪天机器人自动化有限公司 | Flexible finger pressure testing device |
| CN110763378A (en) * | 2019-11-01 | 2020-02-07 | 浙江大学 | Wearable flexible touch force sensor |
| CN112284438A (en) * | 2020-10-27 | 2021-01-29 | 上海宇航***工程研究所 | Multifunctional finger sensor calibration tool |
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Application publication date: 20170419 |