CN116117780A - Robot touch sensing system - Google Patents
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- CN116117780A CN116117780A CN202310118968.3A CN202310118968A CN116117780A CN 116117780 A CN116117780 A CN 116117780A CN 202310118968 A CN202310118968 A CN 202310118968A CN 116117780 A CN116117780 A CN 116117780A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
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Abstract
The invention provides a robot touch perception system, comprising: the magnetic touch sensing structure, the magnetic field signal acquisition module and the processing module; the magnetic touch sensing structure comprises an annular halbach array formed by a plurality of permanent magnets and a flexible shell coated on the outer surface of the annular halbach array; the magnetic touch sensing structure is arranged at the operation end of the robot and is used for generating radial deformation under the action of external force to convert the external force into a magnetic field signal when the robot interacts with the environment; the magnetic field signal acquisition module is arranged at the operation end of the robot and positioned at the center of the magnetic touch sensing structure and is used for acquiring magnetic field signals of the magnetic touch sensing structure; the processing module is electrically connected with the magnetic signal acquisition module and is used for acquiring magnetic field signals of the magnetic touch sensing structure so as to determine the magnitude of external force based on the magnetic field signals. The system has high sensing accuracy to external force and high sensing accuracy.
Description
Technical Field
The invention relates to the technical field of information acquisition, in particular to a robot touch perception system.
Background
The tactile information contains mechanical characteristics in the interaction process of the robot and the external environment, so that the sensing technology based on the tactile sense has wide application in various fields such as man-machine cooperation, motion control, medical health and the like. The touch sensing technology can provide important decision basis for intelligent interaction and flexible operation of the robot in a complex control environment, and is one of the most important sensing means of the robot in a precise control environment. However, the shortage of the application of the haptic information often causes sudden accidents in the interaction process, and when the robot interacts with the complex environment, the robot needs to avoid collision with the external environment, so the conventional rigid haptic sensor does not meet the requirements; furthermore, since force stimuli during interaction are sometimes small, the sensing accuracy of the sensor tends to be difficult to sense small force stimuli.
Aiming at the problems, the Chinese patent No. CN114993528A published in 9 and 2 of 2022 discloses a touch sensor and a preparation method thereof, wherein the touch sensor adopts a cross-shaped conductive channel structure and can detect the magnitude and the direction of external mechanical stimulus. In the chinese patent No. CN115014596 a published at 9 and 6 of 2022, a piezoresistive flexible tactile sensor is disclosed, which has a grid microstructure, and can measure three-dimensional force and tensile deformation by the resistance change of the piezoresistive ring. Chinese patent No. CN115342949 a, published in 2022, 11 and 15, discloses a flexible tactile sensor comprising a surface texture sensor and a pressure sensor, which can sense external force stimulus through a piezoelectric film.
However, although the above-mentioned patent discloses flexible tactile sensors with certain applicability, most of these sensors rely on a "data-driven" method to establish a relationship between output and external force stimulus, the established relationship is not interpretable, and noise in the data affects the accuracy of the obtained external force stimulus, and affects their use in complex scenarios.
Disclosure of Invention
The invention provides a robot touch sensing system, which is used for solving the problem that the accuracy of an external force sensing result is seriously influenced by noise in data by a touch sensor in the prior art through a data driving method, and realizing the robot touch sensing system.
The invention provides a robot touch perception system, comprising: the magnetic touch sensing structure, the magnetic field signal acquisition module and the processing module;
the magnetic touch sensing structure comprises an annular halbach array formed by a plurality of permanent magnets and a flexible shell coated on the outer surface of the annular halbach array;
the magnetic touch sensing structure is arranged at the operation end of the robot and is used for generating radial deformation under the action of external force to convert the external force into a magnetic field signal when the robot interacts with the environment;
the magnetic field signal acquisition module is arranged at the operation end of the robot and is positioned at the center of the magnetic touch sensing structure and used for acquiring magnetic field signals of the magnetic touch sensing structure;
the processing module is electrically connected with the magnetic signal acquisition module and is used for acquiring a magnetic field signal of the magnetic touch sensing structure so as to determine the magnitude of the external force based on the magnetic field signal.
According to the robot touch perception system provided by the invention, the processing module is specifically used for:
acquiring a first corresponding relation between the magnetic induction intensity at the central position of the magnetic touch sensing structure and the deformation of the magnetic touch sensing structure;
obtaining a second correspondence between the deformation of the magnetic tactile sensation structure and the external force based on elastic mechanical calculation;
determining a third corresponding relation between the magnetic induction intensity and the external force according to the first corresponding relation and the second corresponding relation, and establishing a corresponding list;
acquiring the current magnetic signal to acquire the magnetic induction intensity at the central position of the current magnetic tactile sensing structure;
and determining the current magnitude of the external force by querying the corresponding list based on the magnetic induction intensity at the current center position of the magnetic touch sensing structure.
According to the robot touch perception system provided by the invention, the processing module is specifically used for:
acquiring a first corresponding relation between the magnetic induction intensity at the central position of the magnetic touch sensing structure and the deformation of the magnetic touch sensing structure and establishing a first corresponding list;
acquiring the current magnetic signal to acquire the magnetic induction intensity at the central position of the current magnetic tactile sensing structure;
determining deformation data of the current magnetic touch sensing structure by querying the first corresponding list based on the magnetic induction intensity at the center position of the current magnetic touch sensing structure;
and calculating the current external force according to deformation data of the current magnetic touch sensing structure based on elastic mechanics.
According to the robot touch perception system provided by the invention, the magnetic field signal acquisition module is specifically used for:
collecting magnetic field signals of the magnetic touch sensing structure;
and converting the magnetic field signal into an electric signal and outputting the electric signal.
According to the invention, the robot touch sensing system further comprises:
and the display module is electrically connected with the processing module and is used for displaying the magnitude of the external force.
According to the invention, the robot touch sensing system further comprises:
and the loudspeaker is electrically connected with the processing module and used for broadcasting the magnitude of the external force.
According to the invention, the robot touch sensing system further comprises:
and the alarm is electrically connected with the processing module and is used for alarming when the magnitude of the external force exceeds a preset threshold value.
According to the robot touch sensing system provided by the invention, the flexible shell is made of liquid silicone rubber material.
According to the robot touch perception system provided by the invention, the annular halbach array is composed of at least 8 permanent magnets.
According to the robot touch sensing system provided by the invention, through the arrangement of the magnetic touch sensing structure, on one hand, the external force born by the magnetic touch sensing structure can be calculated through analysis of the change of the internal magnetic field, so that the interpretability of the touch sensing process is enhanced, and the accuracy of external force sensing is higher; on the other hand, the magnetic touch sensing structure comprises an annular halbach array, the change of an internal magnetic field of the annular halbach array is obvious under smaller deformation, and the sensing precision of a touch sensing system to tiny external force is improved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a robotic haptic system provided by the present invention;
FIG. 2 is a schematic diagram of a magnetic tactile sensation structure provided by the present invention;
fig. 3 is a schematic structural diagram of the annular halbach array provided by the invention;
FIG. 4 is a schematic diagram of a second embodiment of a haptic sensation system of a robot;
FIG. 5 is a schematic flow chart of a processing method of the processing module according to the present invention;
FIG. 6 is a schematic diagram of a magnetic tactile sensation structure according to the present invention in contact with an external object;
FIG. 7 is a second flow chart of a processing method of the processing module according to the present invention;
FIG. 8 is a flow chart of a method for acquiring a magnetic field signal acquisition module according to the present invention;
fig. 9 is a schematic diagram of a third embodiment of the haptic system for a robot according to the present invention.
Reference numerals:
10. a magnetic tactile sensation structure; 11. a circular halbach array; 12. a flexible housing; 20. a magnetic field signal acquisition module; 30. a processing module; 40. a robot; 50. and a display module.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The following describes the haptic perception system of the robot 40 of the present invention in connection with fig. 1-9, as shown in fig. 1, the system comprising: the magnetic touch sensing structure 10, the magnetic field signal acquisition module 20 and the processing module 30; the magnetic touch perception structure 10 comprises an annular halbach array 11 formed by a plurality of permanent magnets and a flexible shell 12 coated on the outer surface of the annular halbach array 11; the magnetic touch sensing structure 10 is disposed at an operation end of the robot 40, and is configured to generate radial deformation under an external force to convert the external force into a magnetic field signal when the robot 40 interacts with the environment; the magnetic field signal acquisition module 20 is disposed at an operation end of the robot 40 and located at a central position of the magnetic tactile sensation structure 10, and is configured to acquire a magnetic field signal of the magnetic tactile sensation structure 10; the processing module 30 is electrically connected to the magnetic signal acquisition module, and is configured to acquire a magnetic field signal of the magnetic tactile sensation structure 10, so as to determine the magnitude of the external force based on the magnetic field signal.
Specifically, the robot 40 haptic sensation system includes: the magnetic touch sensing structure 10, the magnetic field signal acquisition module 20 and the processing module 30. As shown in fig. 2, the magnetic tactile sensing structure 10 includes an annular halbach array 11 of a plurality of permanent magnets and a flexible housing 12 including the annular halbach array 11, the annular halbach array 11 being a magnet structure that is an approximately ideal structure in engineering with the goal of generating the strongest magnetic field with the least amount of magnets. As shown in fig. 3, there are shown schematic views of the annular halbach arrays 11 of 1 order, 2 order, 3 order and 4 order, and as can be seen from fig. 2, the polarization direction at the center position of the annular halbach array 11 of 2 order has a certain and unique direction, so that the analysis and calculation of the external force based on the magnetic induction intensity are facilitated, and therefore, the annular halbach array 11 of 2 order is preferentially selected for the annular halbach array 11 in the haptic sensing system of the robot 40. The setting of flexible casing 12 is on the one hand to wrap up shaping by the annular halbach array 11 that a plurality of permanent magnets are constituteed, and on the other hand is convenient for carry out flexible contact with the environment, improves the security when contacting, and further, flexible casing 12 still has better resilience ability, can kick-back fast when receiving external force deformation after external force disappears.
The operation end of the robot 40, that is, the end of the robot 40 contacting the interactive object during the interaction with the interactive object, as shown in fig. 4, the robot 40 may be a robot arm or the like, and the operation end of the robot 40, that is, the gripping end shown in fig. 4. The annular halbach array 11 is disposed at an operation end of the robot 40, so that an external force applied by the robot 40 during operation is a force in a radial direction relative to the annular halbach array 11, so that the annular halbach array 11 deforms radially.
The magnetic field signal acquisition module 20 may be a magnetic field signal acquisition chip, disposed at an operation end of the robot 40 and located at a central position of the annular halbach array 11, and configured to acquire magnetic induction intensity when the magnetic induction intensity at the central position changes after the annular halbach array 11 is deformed by an external force.
The processing module 30 is electrically connected with the magnetic signal acquisition module, specifically may be electrically connected through a serial connection line, and is configured to obtain a magnetic field signal of the magnetic tactile sensation structure 10, that is, a magnetic induction intensity at the center of the magnetic tactile sensation structure 10, and determine an external force received by the magnetic tactile sensation structure 10 through the magnetic induction intensity.
According to the robot 40 touch perception system provided by the invention, through the arrangement of the magnetic touch perception structure 10, on one hand, the external force born by the magnetic touch perception structure 10 can be calculated through analysis of the change of the internal magnetic field, so that the interpretability of the touch perception process is enhanced, and the accuracy of external force sensing is higher; on the other hand, the magnetic tactile sensation structure 10 comprises the annular halbach array 11, the change of the internal magnetic field of the annular halbach array 11 is obvious under smaller deformation, and the sensing precision of the tactile sensation system to tiny external force is improved.
In one embodiment, as shown in fig. 5, the processing module 30 is specifically configured to:
s501: a first correspondence between the magnetic induction intensity at the center position of the magnetic tactile sensation structure 10 and the deformation of the magnetic tactile sensation structure 10 is obtained.
S502: a second correspondence between the deformation of the magnetic tactile sensation structure 10 and the external force is obtained based on an elastomehc calculation.
S503: and determining a third corresponding relation between the magnetic induction intensity and the external force according to the first corresponding relation and the second corresponding relation, and establishing a corresponding list.
S504: the current magnetic signal is acquired to learn the magnetic induction intensity at the center position of the current magnetic tactile sensation structure 10.
S505: the magnitude of the external force is determined by querying the correspondence list based on the magnetic induction intensity at the current center position of the magnetic tactile sensation structure 10.
Specifically, to improve the instantaneity of the tactile sensation, the processing module 30 may obtain a first corresponding relationship in advance based on the corresponding situation of the deformation of the magnetic tactile sensation structure 10 and the magnetic induction intensity at the central position, where the magnetic induction intensity at the central position corresponds to a when the deformation is a and the magnetic induction intensity at the central position corresponds to B when the deformation is B. The processing module 30 also needs to obtain a second correspondence between the deformation of the magnetic tactile sensation structure 10 and the external force in advance, where the second correspondence is obtained based on the elastomehc calculation, and the second correspondence is that the external force corresponding to the deformation a is α, and the external force corresponding to the deformation B is β. According to the first correspondence relationship and the second correspondence relationship, the processing module 30 may determine a third correspondence relationship between the magnetic induction intensity and the external force in advance, where the external force corresponding to the third correspondence relationship is α when the magnetic induction intensity is a, and the external force corresponding to the magnetic induction intensity is β when the magnetic induction intensity is b. The corresponding list is a table established according to the third corresponding relation, and the table shows external force data values corresponding to different magnetic induction intensity values.
When the tactile sensation is performed, the processing module 30 obtains the current magnetic signal to obtain the magnetic induction intensity at the central position of the current magnetic tactile sensation structure 10, and according to the obtained current magnetic induction intensity, the external force corresponding to the current magnetic induction intensity can be found by searching in the corresponding list.
The relationship analysis and calculation process of the magnetic induction intensity at the center position of the magnetic touch sensing structure 10 and the deformation of the magnetic touch sensing structure 10 is as follows:
the ring halbach array 11 is a hollow magnetized cylinder made of permanent magnetic material with a central portion that is hollow, and the strong magnetic field generated by the ring halbach array is completely confined inside the hollow cylinder.
In the ideal annular halbach array 11, a plurality of permanent magnets form a complete seamless annular whole, and according to the related electromagnetic theory, one point on the ideal annular halbach array 11 is not subjected to external force
Can be expressed as:
wherein: b (B) r The residual magnetic intensity of the single permanent magnet is the same as that of all the permanent magnets; m is the order of the annular halbach array 11, m=2; epsilon is the point
An included angle formed by the positive direction of the X axis of the coordinate axis, wherein the X axis direction is consistent with the polarization direction at the central position of the annular halbach array 11; />
For->
Unit vector in radial direction, +.>
For->
In tangential direction ofIs a unit vector of (a).
In the absence of external forces, the ideal toroidal halbach array 11 produces a magnetic induction at the inner central location of:
wherein: b (B) r The residual magnetic intensity of the single permanent magnet is the same as that of all the permanent magnets; r is (r) o An outer circle radius of the annular halbach array 11; r is (r) i An inner radius of the circular halbach array 11;
is a unit vector in the positive direction of the X axis.
For an ideal circular halbach array 11
Position coordinates of the points, ideal center position inside the circular halbach array 11 +.>
Coordinates of the points +.>
Magnetic induction at the point>
All are expressed in plural forms, namely, are recorded as:
wherein:
for->
X-axis component of magnetic induction, +.>
For->
The Y-axis component of the magnetic induction, i, represents the imaginary number.
By deriving the formula (5), under the condition of not considering the thickness (t) of the permanent magnet, after the ideal annular halbach array 11 is deformed by external force, the magnetic induction intensity at the central position is as follows:
wherein: b (B) r The residual magnetic intensity of the single permanent magnet is the same as that of all the permanent magnets; b i 、b o The semi-minor axes of the inner ellipse and the outer ellipse of the deformed ring-shaped halbach array 11 are respectively; e-shaped article i 、∈ o The eccentricity of the inner ellipse and the outer ellipse of the deformed ring-shaped halbach array 11, respectively.
Equation (6) is derived without consideration of the permanent magnet thickness t. Therefore, the correction coefficient should be increased, considering the thickness of the permanent magnet, so that equation (6) is closer to reality, specifically:
wherein B is r The residual magnetic intensity of the single permanent magnet is the same as that of all the permanent magnets; t is the thickness of the permanent magnet; b i 、b o The semi-minor axes of the inner ellipse and the outer ellipse of the deformed ring-shaped halbach array 11 are respectively; e-shaped article i 、∈ o The eccentricity of the inner ellipse and the outer ellipse of the deformed ring-shaped halbach array 11;
the magnetic induction intensity at the center position of the deformed ideal annular halbach array 11 is considered after the thickness is considered; ρ i Is the distance ρ between a point on the inner elliptical ring after the deformation of the annular halbach array 11 and the central point of the annular halbach array 11 o Is the distance from a point on the outer elliptical ring to the central point of the annular halbach array 11 after the annular halbach array 11 is deformed.
For the annular halbach array 11 which is integrated with the ideal one, the annular halbach array 11 formed by a plurality of permanent magnets is slotted, so that magnetic leakage can occur, and on the other hand, the number of the permanent magnets forming the annular halbach array 11 can also influence the magnetic induction intensity at the central position. Therefore, the Area Correction Factor (ACF) and the Block Correction Factor (BCF) are increased on the basis of the formula (10) so that the perceived external force is closer to reality, that is:
in the formula, as shown in FIG. 2, S p Is the sum of the areas of the sector surfaces of the plurality of permanent magnets, S e Is the area of the deformed annular surface formed by a plurality of permanent magnets,
the magnetic induction intensity calculation formula after correction.
According to the formula (12), we can obtain the relationship between the magnetic induction intensity and the deformation amount at the center of the ring-shaped halbach array 11.
Then, by combining the existing elastic mechanics correlation theory, the analytic mapping relationship between the magnetic induction intensity at the center and the external force stimulus can be finally established.
As shown in fig. 6, based on elastic mechanics, the relationship between the deformation of the magnetic tactile sensation structure 10 and the external force applied thereto is specifically:
total deformation quantity alpha t Represented as upper deformation alpha u And lower deformation alpha b And (2) sum:
α t ＝α u +α b (13)
wherein the upper part deforms alpha u For the deformation of the magnetic tactile sensation 10 by the external object a in fig. 6, the following deformation α b Deformation of the annular magnetic tactile sensation structure 10 for the external object B.
Upper deformation alpha u And lower deformation alpha b The specific calculation method of (a) is as follows:
where F is the external force applied to the annular halbach array 11, a is half the thickness of the magnetic tactile sensing structure 10, D c Is the diameter, delta, of the magnetic tactile sense structure 10 when not subjected to an external force 1 Poisson's ratio, δ for external object a and external object B 2 Poisson's ratio, E, for the flexible housing 12 on the outer surface of the annular halbach array 11 1 Young's modulus, E, of external object A and external object B 2 Young's modulus, G, of the flexible housing 12 on the outer surface of the annular halbach array 11 s Is the weight of the magnetic tactile sensation structure 10.
In one embodiment, as shown in fig. 7, the processing module 30 is specifically configured to:
s701: a first correspondence between the magnetic induction intensity at the center position of the magnetic tactile sensation structure 10 and the deformation of the magnetic tactile sensation structure 10 is obtained and a first correspondence list is established.
S702: the current magnetic signal is acquired to learn the magnetic induction intensity at the center position of the current magnetic tactile sensation structure 10.
S703: based on the magnetic induction intensity at the center position of the current magnetic touch sensing structure 10, the deformation data of the current magnetic touch sensing structure 10 is determined by querying the first corresponding list.
S704: based on elastic mechanics, the magnitude of the external force is calculated from deformation data of the magnetic tactile sensation structure 10.
Specifically, the processing module 30 may obtain the first correspondence in advance based on the correspondence between the deformation of the magnetic tactile sensation structure 10 and the magnetic induction intensity at the central position, where the first correspondence is that the magnetic induction intensity at the central position corresponds to a when the deformation is a, and the magnetic induction intensity at the central position corresponds to B when the deformation is B.
When the tactile sensation is performed, the processing module 30 obtains the current magnetic signal to obtain the magnetic induction intensity at the central position of the current magnetic tactile sensation structure 10, and according to the obtained current magnetic induction intensity, the deformation data of the current magnetic tactile sensation structure 10 can be found by searching in the first corresponding list.
Under the condition that the processing module 30 has better computing capability, based on elastic mechanics, the processing module 30 can directly calculate and obtain the magnitude of the external force currently received according to the deformation data of the current magnetic touch sensing structure 10.
In one embodiment, as shown in fig. 8, the magnetic field signal acquisition module 20 is specifically configured to:
s801: collecting magnetic field signals of the magnetic tactile sensation structure 10;
s802: and converting the magnetic field signal into an electric signal and outputting the electric signal.
Specifically, the magnetic field signal acquisition module 20 is configured to acquire a magnetic field signal of the magnetic tactile sensation structure 10, that is, acquire a magnetic induction intensity at a central position of the magnetic tactile sensation structure 10. After the magnetic field signal is collected, the magnetic field signal is converted into an electrical signal to be output, and the processing module 30 can obtain the magnetic induction intensity at the central position of the magnetic touch sensing structure 10 through simple calculation of the electrical signal.
In one embodiment, as shown in fig. 9, further comprising:
and a display module 50 electrically connected to the processing module 30 for displaying the magnitude of the external force.
Specifically, the haptic sensing system of the robot 40 may further include a display module 50, where the display module 50 may be electrically connected to the processing module 30 through a serial connection line, so as to display the external force of the environment received by the robot 40 in real time, so that a worker can see the external force in time.
In one embodiment, further comprising:
and a speaker electrically connected to the processing module 30 for broadcasting the magnitude of the external force.
Specifically, the haptic sensing system of the robot 40 may further include a speaker, so that the external force of the environment received by the robot 40 is broadcasted in real time, so that the worker can hear in time.
In one embodiment, further comprising:
and the alarm is electrically connected with the processing module 30 and is used for alarming when the magnitude of the external force exceeds a preset threshold value.
Specifically, the haptic sensing system of the robot 40 may further include an alarm, so that the robot 40 can alarm when the external force received by the robot is greater than a preset threshold value, and the structure can enable the staff to learn the alarm condition and respond in time, so as to reduce or reduce the damage to the interactive object caused in the working process of the robot 40 to a certain extent.
The magnitude of the preset threshold value can be set according to working requirements.
In one embodiment, the flexible housing 12 is made of a liquid silicone rubber material.
Specifically, the liquid silicone rubber material has high elasticity and can provide good resilience after the magnetic tactile sensing structure 10 is deformed.
In one embodiment, the annular halbach array 11 is composed of at least 8 of the permanent magnets.
Specifically, the ring halbach array 11 is at least composed of 8 permanent magnets, and the number of the permanent magnets is too small, so that corresponding deformation is not generated when the permanent magnets are stressed.
According to the robot 40 touch perception system provided by the invention, through the arrangement of the magnetic touch perception structure 10, on one hand, the external force born by the magnetic touch perception structure 10 can be calculated through analysis of the change of the internal magnetic field, so that the interpretability of the touch perception process is enhanced, and the accuracy of external force sensing is higher; on the other hand, the magnetic tactile sensation structure 10 comprises the annular halbach array 11, the change of the internal magnetic field of the annular halbach array 11 is obvious under smaller deformation, and the sensing precision of the tactile sensation system to tiny external force is improved.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A robotic haptic system, comprising: the magnetic touch sensing structure, the magnetic field signal acquisition module and the processing module;
the magnetic touch sensing structure comprises an annular halbach array formed by a plurality of permanent magnets and a flexible shell coated on the outer surface of the annular halbach array;
the magnetic touch sensing structure is arranged at the operation end of the robot and is used for generating radial deformation under the action of external force to convert the external force into a magnetic field signal when the robot interacts with the environment;
the magnetic field signal acquisition module is arranged at the operation end of the robot and is positioned at the center of the magnetic touch sensing structure and used for acquiring magnetic field signals of the magnetic touch sensing structure;
the processing module is electrically connected with the magnetic signal acquisition module and is used for acquiring a magnetic field signal of the magnetic touch sensing structure so as to determine the magnitude of the external force based on the magnetic field signal.
2. The robotic haptic system as recited in claim 1 wherein said processing module is specifically configured to:
acquiring a first corresponding relation between the magnetic induction intensity at the central position of the magnetic touch sensing structure and the deformation of the magnetic touch sensing structure;
obtaining a second correspondence between the deformation of the magnetic tactile sensation structure and the external force based on elastic mechanical calculation;
determining a third corresponding relation between the magnetic induction intensity and the external force according to the first corresponding relation and the second corresponding relation, and establishing a corresponding list;
acquiring the current magnetic signal to acquire the magnetic induction intensity at the central position of the current magnetic tactile sensing structure;
and determining the current magnitude of the external force by querying the corresponding list based on the magnetic induction intensity at the current center position of the magnetic touch sensing structure.
3. The robotic haptic system as recited in claim 1 wherein said processing module is specifically configured to:
acquiring a first corresponding relation between the magnetic induction intensity at the central position of the magnetic touch sensing structure and the deformation of the magnetic touch sensing structure and establishing a first corresponding list;
acquiring the current magnetic signal to acquire the magnetic induction intensity at the central position of the current magnetic tactile sensing structure;
determining deformation data of the current magnetic touch sensing structure by querying the first corresponding list based on the magnetic induction intensity at the center position of the current magnetic touch sensing structure;
and calculating the current external force according to deformation data of the current magnetic touch sensing structure based on elastic mechanics.
4. The robotic haptic system of claim 1, wherein the magnetic field signal acquisition module is specifically configured to:
collecting magnetic field signals of the magnetic touch sensing structure;
and converting the magnetic field signal into an electric signal and outputting the electric signal.
5. The robotic haptic system of any one of claims 1-4, further comprising:
and the display module is electrically connected with the processing module and is used for displaying the magnitude of the external force.
6. The robotic haptic system of claim 5, further comprising:
and the loudspeaker is electrically connected with the processing module and used for broadcasting the magnitude of the external force.
7. The robotic haptic system of claim 5, further comprising:
and the alarm is electrically connected with the processing module and is used for alarming when the magnitude of the external force exceeds a preset threshold value.
8. The robotic haptic system of any one of claims 1-4, wherein the flexible housing is made of a liquid silicone rubber material.
9. The robotic haptic system of any one of claims 1-4, wherein the annular halbach array is comprised of at least 8 of the permanent magnets.
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| CN117426913A (en) * | 2023-12-06 | 2024-01-23 | 江西源东科技有限公司 | Pneumatic soft bionic hand with touch sensing function and touch sensing method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117426913A (en) * | 2023-12-06 | 2024-01-23 | 江西源东科技有限公司 | Pneumatic soft bionic hand with touch sensing function and touch sensing method |
| CN117426913B (en) * | 2023-12-06 | 2024-03-12 | 江西源东科技有限公司 | Pneumatic soft bionic hand with touch sensing function and touch sensing method |
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