CN117961947A - Bionic robot arm with multiple sensing and feedback stimulation functions - Google Patents
Bionic robot arm with multiple sensing and feedback stimulation functions Download PDFInfo
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Abstract
The invention provides a bionic robot arm with multiple sensing and feedback stimulation, which consists of a robot arm, multiple sensors, multiple stimulation executors, a hand back integrated display device and a control circuit, wherein the control circuit is connected with the robot arm; the multiple sensor consists of a stretchable sensor, a pressure sensor, a temperature collector and a bidirectional electrode; the multiple stimulus executor consists of a vibration motor, a semiconductor refrigerating sheet and a bidirectional electrode; the control circuit is integrated in the palm to control the motion of the bionic robot, and collect the information of the multiple sensors to analyze and process and control the stimulus output; the integrated display device of the back of the hand of the robot, when the bionic robot receives different stimulations or wants to express emotion, can express its emotion state through the integrated display device of the back of the hand; the bionic robot senses external stimulus, not only displays the expression, but also controls the multiple stimulus executor to perform stimulus output, simulate the hand function of a bionic person or perform touch emotion interaction with the person.
Description
Technical Field
The invention relates to the technical field of sensors and robots, in particular to a bionic robot arm with multiple sensing and feedback stimulation.
Background
Emotion robots are artificial methods and techniques for imparting human emotion to robots, so that the robots have the ability to express, recognize and understand happiness, fun, and anger, imitate, extend and expand the emotion of a person, and are dreams of many scientists. In contrast to the high level of development of artificial intelligence techniques, little progress has been made in artificial emotion techniques. The main reason is that the robot lacks multiple sensors and multiple stimulators matched with the functions of the human body, so that the emotion interaction between the human body and the robot always has an unoccupied gap. The current emotion robot mainly focuses on the identification of human emotion, especially facial expression, and lacks haptic emotion communication in man-machine interaction. For the blind, the robot communicates with the robot with emotion expression, so that the blind feels true.
Patent CN201611143890.7 provides an emotion state recognition method and device for emotion robot. Extracting sentence information according to sentences input by a user; acquiring user information of the user from the memory map; and inputting the sentence information and the user information into an emotion state identification model to obtain the emotion state of the user. The emotion state memory recognition method and device of the emotion robot are characterized in that user information in a memory map is added in the emotion recognition process, and accuracy of recognizing the emotion state of the user is improved. However, the robot only recognizes the emotion state, lacks a robot arm and does not interact with a person.
Patent CN202310079342.6 discloses an interactive emotion robot suitable for old person, shoot old person's face through the infrared camera, the microphone gathers old person's sound and sends to processing unit processing back, talk with the old person through the speaker, two manipulators make some actions simultaneously, and old person's family members can use the cell-phone to be connected with processing unit through the network, control the robot and use the family members to carry out long-range video chat with the old person, make the old person of different communication capacities all can carry out emotion interaction with the family members, and the family members can also carry out the interaction with the old person through the little recreation in the panel computer, the emotion atmosphere when increasing old person and family members exchange. However, the hand of the robot is not integrated with multiple sensors and multiple stimulators, and when the robot is in contact interaction with the old, the old can feel lost immediately by the chilled robot, so that warm care cannot be realized.
Patent CN202310136411.2 discloses an intelligent soft machine hand sensing system based on ultrasonic positioning and multi-mode sensing, which comprises a flexible pneumatic manipulator composed of a non-contact ultrasonic sensor, a triboelectric bending sensor and a triboelectric tactile sensor. Although the intelligent soft robot realizes the integrated high-efficiency integration of non-contact object positioning and grabbing sensing, the intelligent soft robot lacks stimulus output or display output and expresses the emotion state of the intelligent soft robot.
Patent CN202110107174.8 proposes a safe nursing control method based on multiple perception of auxiliary feeding of a feeding-assisting robot, after motion and five sense organs action information obtained by image recognition and action perception data is received, a safe zone is set, and a control strategy of the terminal track of constraint of the feeding-assisting robot is generated; after receiving information for identifying and bearing the mouth action of a human face in auxiliary feeding, generating an auxiliary feeding safety protection control strategy of the auxiliary feeding robot aiming at three control problems in feeding care; after the image environment recognition detection of the dinner plate and the patient is compared with the images before and after feeding and then analyzed after the auxiliary feeding, according to feeding nursing requirements, aiming at residual food detection judgment after feeding nursing and sanitary problems, a nursing effect evaluation strategy after the auxiliary feeding of the feeding assisting robot is generated. While multiple-sensing feeding robots are effective in improving the safety and care of the auxiliary feeding, the lack of stimulus output or display output, expressing its own emotional state, can lead to a lack of care for the patient.
Aiming at the current hard and sensorless robot hand, a new technical scheme is required to be provided to improve the technical problems.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a bionic robot with multiple sensing and feedback stimulation.
The invention provides a bionic robot arm with multiple sensing and feedback stimulation, which comprises: the device comprises a robot arm, a multiple sensor, a multiple stimulus executor, a back of hand integrated display device and a control circuit;
the multiple sensor comprises a stretchable sensor, a pressure sensor, a temperature collector and a bidirectional electrode;
The multi-stimulus actuator comprises a vibration motor, a semiconductor refrigerating sheet and a bidirectional electrode;
The robot comprises a finger abdomen, a finger back, a palm and a hand back, wherein the finger abdomen integrates a pressure sensor, a semiconductor refrigerating sheet, a temperature collector and a two-way electrode to perform multiple sensing and feedback stimulation on the finger abdomen, and the finger back integrates a stretchable sensor to perform movement state monitoring on the finger; the palm integrated vibration motor, the pressure sensor, the semiconductor refrigerating sheet, the temperature collector and the bidirectional electrode perform palm multiple sensing and feedback stimulation;
the control circuit is integrated in the palm to control the motion of the bionic robot and collect the information of the multiple sensors for analysis and processing and control the stimulation output;
The integrated display device of the back of the hand expresses the emotion state through the integrated display device of the back of the hand when the bionic robot is stimulated differently or wants to express emotion; the robot senses external stimulus, displays expression and controls the multi-stimulus executor to perform stimulus output, simulate the functions of a bionic human hand or perform touch emotion interaction with the human.
Preferably, the multiple sensing and feedback stimulation of the finger belly is manufactured by a pressure sensor, a semiconductor refrigerating sheet, a temperature collector and a bidirectional electrode according to a specific structural design, and the structural design manufacturing process is as follows:
Step S1: manufacturing a pressure sensor on a substrate, and adding a vertical heat insulation transverse first heat dissipation layer on the upper surface;
step S2: manufacturing a semiconductor refrigeration sheet layer on the first heat dissipation layer;
step S3: manufacturing a vertical heat insulation transverse second heat dissipation layer which is distributed with the temperature collector on the semiconductor refrigeration sheet layer, and reserving a heat conduction area in the middle;
Step S4: a temperature collector and a bidirectional electrode are manufactured on the second heat dissipation layer, wherein the bidirectional electrode is arranged in the center and corresponds to the center of the semiconductor refrigerating sheet, and temperature collecting circuits are distributed around the bidirectional electrode; the functions of each unit can be independently used, the pressure sensor collects pressure, the temperature collector collects temperature, the semiconductor refrigerating sheet outputs cold and hot temperature stimulation, the two-way electrode outputs electric stimulation, and the two-way electrode can be used in combination.
Preferably, the pressure sensor is used in combination with the displacement of the robot finger to enable the hardness test of the contact object; the semiconductor refrigerating sheet and the temperature collector are combined to be used for measuring the heat conductivity of a contact object, the semiconductor refrigerating sheet carries out heating output, heat is transmitted to the object, and the object starts to heat; due to the existence of the vertical heat insulation transverse second heat dissipation layer, the temperature collector cannot directly collect the output temperature of the semiconductor refrigerating sheet, but collects the temperature of an object; at the moment, the temperature of the object is acquired by a temperature acquisition device, and the heat conduction parameter of the object is obtained by combining the structural size and the heat conduction equation; in the combined use of the stretchable sensor and the pressure sensor, the stretchable sensor obtains the displacement information of the finger, the pressure sensor obtains the stress information, and the hardness information of the object is obtained according to the relation between the force and the displacement.
Preferably, the multiple sensing and feedback stimulation of the palm is manufactured by a vibration motor, a pressure sensor, a semiconductor refrigerating sheet, a temperature collector and a bidirectional electrode according to a specific structural design, and the distribution of an array structure is presented, and the structural design manufacturing process is as follows:
Step 1: manufacturing a pressure sensor on a substrate, and adding a vertical heat insulation transverse third heat dissipation layer on the upper surface;
step2: manufacturing a semiconductor refrigeration sheet and a vibration motor common layer on the third heat dissipation layer;
step 3: manufacturing a vertical heat insulation transverse fourth heat dissipation layer except a semiconductor refrigeration piece and a vibration motor area on the common layer, wherein a reserved heat conduction area is arranged above the semiconductor refrigeration piece;
step 4: manufacturing temperature collectors on the fourth heat dissipation layer, wherein the temperature collectors are distributed around the semiconductor refrigerating sheet serving as the center;
Step 5: manufacturing a bidirectional electrode beside the temperature collector on the fourth heat dissipation layer; the repeated periodic array distribution of each unit is arranged at will according to actual needs, the functions of each unit can be used independently, the pressure sensor collects pressure, the temperature collector collects temperature, the semiconductor refrigerating sheet outputs cold and hot temperature stimulation, the vibrating motor outputs vibration stimulation, the bidirectional electrode outputs electric stimulation, and the combined use can be carried out.
Preferably, the vibration motor is used in combination with electric stimulation to simulate the process of being pricked by a sharp object, and the vibration motor is used in combination with the thermal stimulation of the semiconductor refrigerating sheet to simulate being hit by a hot object.
Preferably, the substrate is a flexible substrate, including a thin film pressure sensor; or a hard substrate comprising a magnetic film pressure sensor based on a Hall magnetic induction chip; the substrate is consistent with the size of the mounting structure on the robot finger.
Preferably, the bidirectional electrode is made of conductive wires, and when the conductive wires are two straight lines, the resistance of a contact object can be measured or electric stimulation can be output; when the shape of the lead is in the form of an interdigital electrode, interdigital capacitance can be formed, and the dielectric constant of an object or the moving proximity of the object is measured; the bidirectional electrode can also be subjected to surface modification to form a specific sensor, wherein when the bidirectional electrode comprises an interdigital electrode, if a layer of moisture sensitive film is added on the surface of the bidirectional electrode, the bidirectional electrode can form a moisture sensor, and if hydrogel modification is added, a myoelectric sensor or an electric stimulation electrode can be formed.
Preferably, the stretchable sensor is attached to the back of the finger to monitor the motion state of each finger joint;
The control circuit is integrated in the palm to control the motion of the bionic robot, and comprises a driver for controlling each finger, and an electric cylinder or a motor; the control circuit integrates a sensor data acquisition unit, an algorithm processing unit, a stimulation output control unit and a control unit for a robot to do time sequence; the algorithm processing unit not only comprises the steps of reading the parameters of an electric cylinder or a motor and combining the kinematics of the finger to obtain the position parameters of the finger, but also carries out fusion processing on the signals of all the sensor units by adopting a neural network algorithm, and outputs the motion control and stimulation signals of the robot.
Preferably, the neural network algorithm comprises a back propagation algorithm, a convolutional neural network algorithm, a cyclic neural network algorithm and a transducer algorithm; based on a deep neural network algorithm, a large model is constructed for the function of autonomous learning of the human hand by the robot.
Preferably, the multiple sensors include pressure sensors, temperature collectors, bi-directional electrodes, photo sensors, magnetic sensors, biochemical sensors, and pH or sodium ion sensors; the integration of multiple sensors is integrated by reasonable layout and structural design according to the characteristics of the sensors;
The multi-stimulus executor comprises a vibration motor, a semiconductor refrigerating sheet, a bidirectional electrode and an integrated optical device, and performs light stimulus; the integration of the multiple stimulus executor is integrated with reasonable layout and structural design according to the characteristics of the sensor;
The integrated display device of the back of the hand of the robot is a single optical light-emitting integrated display device of the back of the hand, and when the robot is subjected to different stimulus or wants to express emotion, the display of different colors is changed through the light-emitting device; or an LED array display array, which realizes different patterns or letters to express emotion through programming;
The bionic robot simulates the hand function, when the bionic robot grabs the hot water cup, the sensor detects that the temperature is overheated, the temperature is fed back to the controller, the grabbing is difficult, the control circuit transmits a stop signal, and the robot is controlled to stop grabbing; when the robot hand grabs a heavy object, the sensing force of the sensor is overlarge, and the control circuit transmits a stop signal to control the robot hand to stop grabbing; when the robot hand grabs metal, the resistance is small, the residual limb is reminded of good conductivity of the grabbed object, and the robot hand is not easy to operate in an electrified area;
the bionic robot carries out touch emotion interaction with a person, and simulates the temperature of the person to sense the temperature of the human hand for the human body of the hand; the bionic robot knows the behavior of a handshake person through the perception analysis of the handshake force, and if the unfavorable behavior exists, the unfavorable handshake behavior is output in a peer-to-peer manner through the output of force and electric stimulation.
Compared with the prior art, the invention has the following beneficial effects:
1. The invention integrates multiple sensing and multiple stimulation to realize the bidirectional sensing and stimulation functions;
2. The robot hand provided by the invention has the advantages that multiple perceptions can be integrated, so that external stimuli can be simulated by human hand perceptions, such as the perception of temperature and force of two basic functions of the human hand;
3. The robot integrates multiple stimulus and human interaction, such as temperature stimulus, and performs touch emotion interaction with the blind person, so that the handshake person can feel cold and warm care;
4. According to the integrated light-emitting device for the back of the robot, the emotion state of the robot is expressed through color change, text or pattern display, so that the emotion expression of the robot is vivid.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of a biomimetic robotic integrated multiple sensing and multiple stimulation;
FIG. 2 is a schematic diagram of multiple perception and multiple stimulation of the abdomen;
FIG. 3 is a schematic illustration of multiple sensing and multiple stimulation of a machine palm;
FIG. 4 is a schematic diagram of the fabrication of a finger-belly integrated multiple sensing and multiple stimulation;
FIG. 5 is a schematic diagram of a machine palm integrated multiple sensing and multiple stimulation.
Wherein:
a bionic robot arm 1; a robot finger 2; multiple sensations and stimuli 3 of the finger belly; a first substrate 31; a first pressure sensor 32; a first insulating layer 33; a first semiconductor refrigeration sheet 34; a second insulating layer 35; a first temperature collector 36; a first bidirectional electrode 37; a machine palm 4; palm multiple perception and stimulation 5; a second substrate 51; a second pressure sensor 52; a third insulating layer 53; a second semiconductor refrigeration sheet 54; a fourth insulating layer 55; a second temperature collector 56; a second bidirectional electrode 57; a vibration motor 58; a control circuit 6; a luminous back of hand integrated display device 7; the sensor 8 may be stretched.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
Example 1:
The invention provides a bionic robot arm with multiple sensing and feedback stimulation, which comprises: the device comprises a robot arm, a multiple sensor, a multiple stimulus executor, a back of hand integrated display device and a control circuit; the multiple sensor comprises a stretchable sensor, a pressure sensor, a temperature collector and a bidirectional electrode; the multi-stimulus actuator comprises a vibration motor, a semiconductor refrigerating sheet and a bidirectional electrode; the robot comprises a finger abdomen, a finger back, a palm and a hand back, wherein the finger abdomen integrates a pressure sensor, a semiconductor refrigerating sheet, a temperature collector and a two-way electrode to perform multiple sensing and feedback stimulation on the finger abdomen, and the finger back integrates a stretchable sensor to perform movement state monitoring on the finger; the palm integrated vibration motor, the pressure sensor, the semiconductor refrigerating sheet, the temperature collector and the bidirectional electrode perform palm multiple sensing and feedback stimulation; the control circuit is integrated in the palm to control the motion of the bionic robot and collect the information of the multiple sensors for analysis and processing and control the stimulation output; the integrated display device of the back of the hand expresses the emotion state through the integrated display device of the back of the hand when the bionic robot is stimulated differently or wants to express emotion; the robot senses external stimulus, displays expression and controls the multi-stimulus executor to perform stimulus output, simulate the functions of a bionic human hand or perform touch emotion interaction with the human.
The multiple sensing and feedback stimulation of the finger belly is manufactured by a pressure sensor, a semiconductor refrigerating sheet, a temperature collector and a bidirectional electrode according to a specific structural design, and the structural design manufacturing process is as follows:
Step S1: manufacturing a pressure sensor on a substrate, and adding a vertical heat insulation transverse first heat dissipation layer on the upper surface;
step S2: manufacturing a semiconductor refrigeration sheet layer on the first heat dissipation layer;
step S3: manufacturing a vertical heat insulation transverse second heat dissipation layer which is distributed with the temperature collector on the semiconductor refrigeration sheet layer, and reserving a heat conduction area in the middle;
Step S4: a temperature collector and a bidirectional electrode are manufactured on the second heat dissipation layer, wherein the bidirectional electrode is arranged in the center and corresponds to the center of the semiconductor refrigerating sheet, and temperature collecting circuits are distributed around the bidirectional electrode; the functions of each unit can be independently used, the pressure sensor collects pressure, the temperature collector collects temperature, the semiconductor refrigerating sheet outputs cold and hot temperature stimulation, the two-way electrode outputs electric stimulation, and the two-way electrode can be used in combination.
The pressure sensor and the displacement of the robot finger are used in combination to test the hardness of a contact object; the semiconductor refrigerating sheet and the temperature collector are combined to be used for measuring the heat conductivity of a contact object, the semiconductor refrigerating sheet carries out heating output, heat is transmitted to the object, and the object starts to heat; due to the existence of the vertical heat insulation transverse second heat dissipation layer, the temperature collector cannot directly collect the output temperature of the semiconductor refrigerating sheet, but collects the temperature of an object; at the moment, the temperature of the object is acquired by a temperature acquisition device, and the heat conduction parameter of the object is obtained by combining the structural size and the heat conduction equation; in the combined use of the stretchable sensor and the pressure sensor, the stretchable sensor obtains the displacement information of the finger, the pressure sensor obtains the stress information, and the hardness information of the object is obtained according to the relation between the force and the displacement.
The multiple sensing and feedback stimulation of the palm is manufactured by a vibrating motor, a pressure sensor, a semiconductor refrigerating sheet, a temperature collector and a bidirectional electrode according to specific structural design, and the distribution of an array structure is presented, and the structural design manufacturing process is as follows:
Step 1: manufacturing a pressure sensor on a substrate, and adding a vertical heat insulation transverse third heat dissipation layer on the upper surface;
step2: manufacturing a semiconductor refrigeration sheet and a vibration motor common layer on the third heat dissipation layer;
step 3: manufacturing a vertical heat insulation transverse fourth heat dissipation layer except a semiconductor refrigeration piece and a vibration motor area on the common layer, wherein a reserved heat conduction area is arranged above the semiconductor refrigeration piece;
step 4: manufacturing temperature collectors on the fourth heat dissipation layer, wherein the temperature collectors are distributed around the semiconductor refrigerating sheet serving as the center;
Step 5: manufacturing a bidirectional electrode beside the temperature collector on the fourth heat dissipation layer; the repeated periodic array distribution of each unit is arranged at will according to actual needs, the functions of each unit can be used independently, the pressure sensor collects pressure, the temperature collector collects temperature, the semiconductor refrigerating sheet outputs cold and hot temperature stimulation, the vibrating motor outputs vibration stimulation, the bidirectional electrode outputs electric stimulation, and the combined use can be carried out.
The vibration motor is used in combination with the electric stimulation to simulate the process of being punctured by a sharp object, and the vibration motor is used in combination with the thermal stimulation of the semiconductor refrigerating sheet to simulate being hit by a hot object; the substrate is a flexible substrate and comprises a film pressure sensor; or a hard substrate comprising a magnetic film pressure sensor based on a Hall magnetic induction chip; the size of the substrate is consistent with that of the mounting structure on the robot finger; the bidirectional electrode is made of conductive wires, and when the conductive wires are two straight lines, the resistance of a contact object can be measured, or electric stimulation can be output; when the shape of the lead is in the form of an interdigital electrode, interdigital capacitance can be formed, and the dielectric constant of an object or the moving proximity of the object is measured; the bidirectional electrode can also be subjected to surface modification to form a specific sensor, wherein when the bidirectional electrode comprises an interdigital electrode, if a layer of moisture sensitive film is added on the surface of the bidirectional electrode, the bidirectional electrode can form a moisture sensor, and if hydrogel modification is added, a myoelectric sensor or an electric stimulation electrode can be formed.
The stretchable sensor is attached to the back of the finger to monitor the motion state of each finger joint; the control circuit is integrated in the palm to control the motion of the bionic robot, and comprises a driver for controlling each finger, and comprises an electric cylinder or a motor; the control circuit integrates a sensor data acquisition unit, an algorithm processing unit, a stimulation output control unit and a control unit for a robot to do time sequence; the algorithm processing unit not only comprises the steps of reading the parameters of an electric cylinder or a motor and combining the kinematics of the finger to obtain the position parameters of the finger, but also carries out fusion processing on the signals of all the sensor units by adopting a neural network algorithm and outputs the motion control and stimulation signals of the robot; the neural network algorithm comprises a back propagation algorithm, a convolutional neural network algorithm, a cyclic neural network algorithm and a Transformer algorithm; based on a deep neural network algorithm, a large model is constructed for the function of autonomous learning of the human hand by the robot.
The multiple sensors comprise a pressure sensor, a temperature collector, a two-way electrode, a photosensitive sensor, a magnetic sensor, a biochemical sensor and a pH or sodium ion sensor; the integration of multiple sensors is integrated by reasonable layout and structural design according to the characteristics of the sensors; the multi-stimulus actuator comprises a vibration motor, a semiconductor refrigerating sheet, a bidirectional electrode and an integrated optical device, and performs optical stimulus; the integration of the multiple stimulus executor is integrated with reasonable layout and structural design according to the characteristics of the sensor; the integrated display device of the back of the hand of the robot is a single optical light-emitting integrated display device of the back of the hand, and when the robot is subjected to different stimulus or wants to express emotion, the display of different colors is changed through the light-emitting device; or an LED array display array, which realizes different patterns or letters to express emotion through programming; the bionic robot simulates the hand function, when the bionic robot grabs the hot water cup, the sensor detects that the temperature is overheated, the temperature is fed back to the controller, the grabbing is difficult, the control circuit transmits a stop signal, and the robot is controlled to stop grabbing; when the robot hand grabs a heavy object, the sensing force of the sensor is overlarge, and the control circuit transmits a stop signal to control the robot hand to stop grabbing; when the robot hand grabs metal, the resistance is small, the residual limb is reminded of good conductivity of the grabbed object, and the robot hand is not easy to operate in an electrified area; the bionic robot carries out touch emotion interaction with a person, and the bionic robot simulates the perception of the temperature of the person hand to the human body of the hand by temperature through temperature output; the bionic robot knows the behavior of a handshake person through the perception analysis of the handshake force, and if the unfavorable behavior exists, the unfavorable handshake behavior is output in a peer-to-peer manner through the output of force and electric stimulation.
Example 2:
The invention provides a bionic robot arm with multiple sensing and feedback stimulation. The bionic robot integrates multiple sensors and feedback stimulation executors, not only can know the temperature and feel and emotion interaction with a person, but also can output emotion information such as the temperature and emotion care to act on the person, and is not a hard and sensorless robot. The bionic robot consists of a robot arm, multiple sensors, multiple stimulus executors, a hand back integrated display device and a control circuit. The multiple sensor consists of a stretchable sensor, a pressure sensor, a temperature collector and a bidirectional electrode. The multi-stimulus actuator consists of a vibrating motor, a semiconductor refrigerating sheet and a bidirectional electrode. The finger belly integrated pressure sensor, the semiconductor refrigerating sheet, the temperature collector and the bidirectional electrode of the robot finger realize multiple sensing and feedback stimulation of the finger, and the finger back integrated stretchable sensor realizes the movement state monitoring of the finger. The palm integrated vibration motor, the semiconductor refrigerating sheet, the temperature collector and the bidirectional electrode realize palm multiple sensing and feedback stimulation. The control circuit is integrated in the palm, so that the movement of the bionic robot is controlled, and the information of the multiple sensors is collected for analysis and processing and stimulus output control. And when the bionic robot is stimulated differently or wants to express emotion, the emotion state of the robot back integrated display device can be expressed through the back integrated display device. The bionic robot senses external stimulus, not only displays the expression, but also controls the multiple stimulus executor to perform stimulus output, simulate the hand function of a bionic person or perform touch emotion interaction with the person (such as the blind person).
The invention provides a bionic robot arm with multiple sensing and feedback stimulation. And integrating the perception and feedback stimulation into the robot hand, and simulating the bionic human hand function to operate or performing haptic emotion interaction with the human.
The principle of the invention is as follows: the bionic robot consists of a robot arm, a multiple sensor, a multiple stimulation actuator, a hand back integrated display device and a control circuit. The multi-sensor senses external stimulus, the integrated display device of the back of the hand expresses self emotion, and the multi-stimulus executor carries out stimulus output to simulate the hand function of a bionic person or carries out touch emotion interaction with the person.
In a specific implementation process, the bionic robot with multiple sensing and feedback stimulation provided by the invention comprises the following steps:
As shown in fig. 1, the bionic robot consists of a robot arm, a multiple sensor, a multiple stimulus actuator, a dorsum manus integrated display device and a control circuit; the multiple sensor consists of a pressure sensor, a temperature collector and a bidirectional electrode; the multiple stimulus executor consists of a vibration motor, a semiconductor refrigerating sheet and a bidirectional electrode; the finger belly integrated pressure sensor, the semiconductor refrigerating sheet, the temperature collector and the two-way electrode of the robot finger realize multiple sensing and feedback stimulation of the finger, and the finger back integrated stretchable sensor realizes the movement state monitoring of the finger; the palm of the machine integrates a vibrating motor, a pressure sensor, a semiconductor refrigerating sheet, a temperature collector and a bidirectional electrode to realize palm multiple sensing and feedback stimulation; the control circuit is integrated in the palm to control the motion of the bionic robot, and collect the information of the multiple sensors to analyze and process and control the stimulus output; the integrated display device of the back of the hand of the robot, when the bionic robot receives different stimulations or wants to express emotion, can express its emotional state through the integrated display device of the back of the hand; the bionic robot senses external stimulus, not only displays the expression, but also controls the multiple stimulus executor to perform stimulus output, simulate the hand function of a bionic person or perform touch emotion interaction with the person.
As shown in fig. 2 and fig. 4, the implementation of multiple sensing and feedback stimulation of the finger is made by a pressure sensor, a semiconductor refrigerating sheet, a temperature collector and a bidirectional electrode according to a specific structural design, and the structural design making process is as follows: s1, manufacturing a pressure sensor on a substrate, adding a layer of vertical heat-insulating transverse first heat dissipation layer on the upper surface, s2, manufacturing a semiconductor refrigeration sheet layer on the first heat dissipation layer, s3, manufacturing a vertical heat-insulating transverse second heat dissipation layer which is distributed with temperature collectors on the semiconductor refrigeration sheet layer, leaving a heat conduction area in the middle, s4, manufacturing the temperature collectors and a bidirectional electrode on the second heat dissipation layer, wherein the bidirectional electrode is arranged in the center and corresponds to the center of the semiconductor refrigeration sheet, and distributing temperature acquisition circuits around; the functions of each unit can be independently used, such as pressure acquisition by a pressure sensor, temperature acquisition by a temperature acquisition device, temperature stimulation of cold and hot output by a semiconductor refrigerating sheet, electric stimulation output by a bidirectional electrode and the like. The device can also be used in combination, such as the combination of a pressure sensor and the displacement of a robot finger, and can be used for testing the hardness of a contact object; the semiconductor refrigerating sheet is used in combination with the temperature collector to measure the heat conductivity of a contact object, and the process is that the semiconductor refrigerating sheet carries out heating output, heat is transmitted to the object, and the object begins to heat; the temperature collector cannot directly collect the output temperature of the semiconductor refrigerating sheet due to the existence of the vertical heat insulation transverse second heat dissipation layer, and collects the temperature of an object; at the moment, the temperature of the object is acquired by a temperature acquisition device, and the heat conduction parameter of the object is obtained by combining the structural size and the heat conduction equation; the tensile sensor and the pressure sensor are used in combination, the tensile sensor obtains displacement information of fingers, the pressure sensor obtains stress information, and the hardness information of an object can be obtained according to the relation between force and displacement.
As shown in fig. 3 and 5, the palm multiple sensing and feedback stimulation is made by a vibration motor, a pressure sensor, a semiconductor refrigerating sheet, a temperature collector and a bidirectional electrode according to a specific structural design, and the distribution of an array structure is presented, for example, the first behavior temperature, vibration, the bidirectional electrode, the temperature, the second behavior vibration, the bidirectional electrode, the temperature, the vibration and the like are arranged and distributed, and the structural design making process is as follows: s1, manufacturing a pressure sensor on a substrate, adding a vertical heat-insulating transverse third heat dissipation layer on the upper surface, S2, manufacturing a semiconductor refrigeration sheet and a vibration motor common layer on the third heat dissipation layer, S3, manufacturing a vertical heat-insulating transverse fourth heat dissipation layer except for a semiconductor refrigeration sheet and a vibration motor area on the common layer, wherein a reserved heat conduction area is arranged above the semiconductor refrigeration sheet, S4, manufacturing temperature collectors on the fourth heat dissipation layer, wherein the semiconductor refrigeration sheet is taken as the center, and the temperature collectors are distributed around; s5, manufacturing a bidirectional electrode beside the temperature collector on the fourth heat dissipation layer; the array distribution of the repetition period of each unit can be arranged at will according to actual needs, and the functions of each unit can be independently used, such as pressure acquisition by a pressure sensor, temperature acquisition by a temperature acquisition device, cold and hot temperature stimulation output by a semiconductor refrigerating sheet, vibration stimulation output by a vibration motor, electric stimulation output by a bidirectional electrode and the like. The device can also be used in combination, such as a vibration motor and electric stimulation, to simulate the process of being pricked by a sharp object, and a vibration motor and the thermal stimulation of a semiconductor refrigerating sheet are used in combination to simulate being hit by a hot object.
The further claimed fabrication of a pressure sensor on a substrate, wherein the substrate may be a flexible substrate, such as a thin film pressure sensor; can be a hard substrate, such as a magnetic film pressure sensor based on a Hall magnetic induction chip; the substrate is consistent with the size of the mounting structure on the robot finger. The bidirectional electrode is made of conductive wires, and when the conductive wires are two straight lines, the resistance of a contact object can be measured, or electric stimulation can be output; when the wire is in the form of an interdigital electrode, an interdigital capacitor can be formed to measure the dielectric constant of the object or the moving proximity of the object. In addition, the bidirectional electrode can be subjected to surface modification to form a specific sensor, for example, when an interdigital electrode is formed, if a layer of moisture sensitive film is added on the surface of the bidirectional electrode, the bidirectional electrode can form a moisture sensor, and if hydrogel is added, the bidirectional electrode can form a myoelectric sensor or an electric stimulation electrode. The integration of interdigital electrodes on the finger enables measurement of the dielectric constant of the object, or the proximity of the object to move. The interdigital electrode is integrated on the palm and is modified into an electric stimulation electrode, so that the force stimulation during the hand grasping can be simulated. The stretchable sensor is attached to the back of the finger, the movement state of each finger joint is monitored, the stretching deformation action range is wide, the elastic deformation is usually more than 100%, the required acting force is small, and the movement of the robot finger is not influenced.
The control circuit is further characterized in that the control circuit is integrated inside the palm and controls the motion of the bionic robot, and comprises a driver for controlling each finger, such as an electric cylinder or a motor; the control circuit integrates a sensor data acquisition unit, an algorithm processing unit, a stimulation output control unit and a control unit for a robot to do time sequence; the algorithm processing unit not only comprises the steps of reading the parameters of an electric cylinder or a motor and combining the kinematics of the finger to obtain the position parameters of the finger, and the like, but also carries out fusion processing on the signals of all the sensor units by adopting a neural network algorithm, and outputs the motion control and stimulation signals of the robot. The neural network algorithm comprises a back propagation algorithm, a convolution neural network algorithm, a cyclic neural network algorithm, a transducer algorithm and the like; based on the deep neural network algorithm, a large model can be constructed for the function of the robot to autonomously learn the hands.
The multiple sensor is further claimed, and is characterized in that the multiple sensor consists of a pressure sensor, a temperature collector and a bidirectional electrode, but is not limited to the three sensors, and can also be a photosensitive sensor, a magnetic sensor and a biochemical sensor, such as a pH or sodium ion sensor; the integration of multiple sensors can be realized by reasonable layout and structural design integration according to the characteristics of the sensors.
The multi-stimulus actuator is further characterized in that the multi-stimulus actuator consists of a vibrating motor, a semiconductor refrigerating sheet and a bidirectional electrode, but is not limited to the three stimulus actuators, and can also be light stimulus; the integration of the multiple stimulus executor can be realized by reasonable layout and structural design integration according to the characteristics of the sensor.
The integrated display device of the back of the robot hand is further required to be characterized in that the integrated display device of the back of the robot hand can be a single optical light-emitting integrated display device of the back of the hand, when the robot hand is subjected to different stimulus or wants to express emotion, different color displays are changed through the light-emitting device, such as light purple and light red are used for indicating that the hand is damaged, and gray or light yellow is used for indicating that the hand is normal; the LED array display array can also be used for expressing emotion through programming different patterns or letters.
The bionic robot hand is further required to simulate the function of a bionic human hand, and is characterized in that the bionic robot hand simulates the function of a human hand, and is typically applied to the control of the robot hand to stop grabbing when the bionic robot hand grabs a hot water cup, the sensor detects the overheat temperature and feeds back the overheat temperature to a controller, so that the controller is not easy to grab; when the bionic robot grips a heavy object, the sensing force of the sensor is overlarge, and the control circuit transmits a stop signal to control the robot to stop gripping; when the bionic robot grips metal, the resistance is small, the residual limb is prompted to grip an object with good conductivity, and the bionic robot is not easy to operate in an electrified area. The bionic robot performs touch emotion interaction with a person (such as a blind person), and the temperature of the hand can be simulated to sense the temperature of the human body of the hand by the temperature output of the bionic robot; the bionic robot knows the behavior of a handshake person through the perception analysis of the handshake force, and if the unfavorable behavior exists, the unfavorable handshake behavior is output in a peer-to-peer manner through the output of force and electric stimulation.
In this embodiment, the prepared bionic robot with multiple sensing and feedback stimulation is shown in fig. 1, and specifically includes the following parts:
The bionic robot consists of a robot arm, a multiple sensor, a multiple stimulation actuator, a hand back integrated display device and a control circuit. The robot finger integrates a pressure sensor, a semiconductor refrigerating sheet, a temperature collector and a bidirectional electrode to realize temperature and pressure sensing of the finger, proximity detection and substance dielectric characteristic discrimination, and outputs temperature stimulation and electric stimulation. The palm integrated vibration motor, the pressure sensor, the semiconductor refrigerating sheet, the temperature collector and the bidirectional electrode of the machine realize palm temperature and pressure sensing, proximity detection and substance dielectric property discrimination, and output temperature stimulation, electric stimulation and vibration stimulation. The luminous integrated display device of the back of the robot can express the stimulated and non-stimulated states of emotion through the light red and the off-white of the luminous integrated display device of the back of the robot when the robot is stimulated differently or wants to express emotion.
In addition, the system does not relate to a complex using operation flow, has extremely strong universality, and particularly shows wide application prospects in the fields of intelligent operation of a bionic robot, man-machine interaction and the like.
The present embodiment will be understood by those skilled in the art as a more specific description of embodiment 1.
Those skilled in the art will appreciate that the invention provides a system and its individual devices, modules, units, etc. that can be implemented entirely by logic programming of method steps, in addition to being implemented as pure computer readable program code, in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units for realizing various functions included in the system can also be regarded as structures in the hardware component; means, modules, and units for implementing the various functions may also be considered as either software modules for implementing the methods or structures within hardware components.
In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
The foregoing describes specific embodiments of the present application. It is to be understood that the application is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the application. The embodiments of the application and the features of the embodiments may be combined with each other arbitrarily without conflict.
Claims (10)
1. A multi-sensing and feedback stimulation biomimetic robotic arm, comprising: the device comprises a robot arm, a multiple sensor, a multiple stimulus executor, a back of hand integrated display device and a control circuit;
the multiple sensor comprises a stretchable sensor, a pressure sensor, a temperature collector and a bidirectional electrode;
The multi-stimulus actuator comprises a vibration motor, a semiconductor refrigerating sheet and a bidirectional electrode;
The robot comprises a finger abdomen, a finger back, a palm and a hand back, wherein the finger abdomen integrates a pressure sensor, a semiconductor refrigerating sheet, a temperature collector and a two-way electrode to perform multiple sensing and feedback stimulation on the finger abdomen, and the finger back integrates a stretchable sensor to perform movement state monitoring on the finger; the palm integrated vibration motor, the pressure sensor, the semiconductor refrigerating sheet, the temperature collector and the bidirectional electrode perform palm multiple sensing and feedback stimulation;
the control circuit is integrated in the palm to control the motion of the bionic robot and collect the information of the multiple sensors for analysis and processing and control the stimulation output;
The integrated display device of the back of the hand expresses the emotion state through the integrated display device of the back of the hand when the bionic robot is stimulated differently or wants to express emotion; the robot senses external stimulus, displays expression and controls the multi-stimulus executor to perform stimulus output, simulate the functions of a bionic human hand or perform touch emotion interaction with the human.
2. The bionic robot hand for multiple sensing and feedback stimulation according to claim 1, wherein the multiple sensing and feedback stimulation of the finger belly is manufactured by a pressure sensor, a semiconductor refrigerating sheet, a temperature collector and a bidirectional electrode according to a specific structural design, and the structural design manufacturing process is as follows:
Step S1: manufacturing a pressure sensor on a substrate, and adding a vertical heat insulation transverse first heat dissipation layer on the upper surface;
step S2: manufacturing a semiconductor refrigeration sheet layer on the first heat dissipation layer;
step S3: manufacturing a vertical heat insulation transverse second heat dissipation layer which is distributed with the temperature collector on the semiconductor refrigeration sheet layer, and reserving a heat conduction area in the middle;
Step S4: a temperature collector and a bidirectional electrode are manufactured on the second heat dissipation layer, wherein the bidirectional electrode is arranged in the center and corresponds to the center of the semiconductor refrigerating sheet, and temperature collecting circuits are distributed around the bidirectional electrode; the functions of each unit can be independently used, the pressure sensor collects pressure, the temperature collector collects temperature, the semiconductor refrigerating sheet outputs cold and hot temperature stimulation, the two-way electrode outputs electric stimulation, and the two-way electrode can be used in combination.
3. The multi-sensing and feedback-stimulated bionic robot of claim 2, wherein the pressure sensor is used in combination with displacement of a robot finger to enable hardness testing of a contact object; the semiconductor refrigerating sheet and the temperature collector are combined to be used for measuring the heat conductivity of a contact object, the semiconductor refrigerating sheet carries out heating output, heat is transmitted to the object, and the object starts to heat; due to the existence of the vertical heat insulation transverse second heat dissipation layer, the temperature collector cannot directly collect the output temperature of the semiconductor refrigerating sheet, but collects the temperature of an object; at the moment, the temperature of the object is acquired by a temperature acquisition device, and the heat conduction parameter of the object is obtained by combining the structural size and the heat conduction equation; in the combined use of the stretchable sensor and the pressure sensor, the stretchable sensor obtains the displacement information of the finger, the pressure sensor obtains the stress information, and the hardness information of the object is obtained according to the relation between the force and the displacement.
4. The bionic robot hand for multiple sensing and feedback stimulation according to claim 1, wherein the multiple sensing and feedback stimulation of the palm is manufactured by a vibration motor, a pressure sensor, a semiconductor refrigerating sheet, a temperature collector and a bidirectional electrode according to a specific structural design, and the bionic robot hand has the distribution of an array structure, and the structural design manufacturing process is as follows:
Step 1: manufacturing a pressure sensor on a substrate, and adding a vertical heat insulation transverse third heat dissipation layer on the upper surface;
step2: manufacturing a semiconductor refrigeration sheet and a vibration motor common layer on the third heat dissipation layer;
step 3: manufacturing a vertical heat insulation transverse fourth heat dissipation layer except a semiconductor refrigeration piece and a vibration motor area on the common layer, wherein a reserved heat conduction area is arranged above the semiconductor refrigeration piece;
step 4: manufacturing temperature collectors on the fourth heat dissipation layer, wherein the temperature collectors are distributed around the semiconductor refrigerating sheet serving as the center;
Step 5: manufacturing a bidirectional electrode beside the temperature collector on the fourth heat dissipation layer; the repeated periodic array distribution of each unit is arranged at will according to actual needs, the functions of each unit can be used independently, the pressure sensor collects pressure, the temperature collector collects temperature, the semiconductor refrigerating sheet outputs cold and hot temperature stimulation, the vibrating motor outputs vibration stimulation, the bidirectional electrode outputs electric stimulation, and the combined use can be carried out.
5. The bionic robot arm with multiple sensing and feedback stimulation according to claim 4, wherein the vibration motor is used in combination with electric stimulation to simulate the process of being pricked by a sharp object, and the vibration motor is used in combination with thermal stimulation of a semiconductor refrigerating sheet to simulate being hit by a hot object.
6. The multi-sensing and feedback-stimulated biomimetic robotic according to claim 2 or 4, wherein said substrate is a flexible substrate comprising a thin film pressure sensor; or a hard substrate comprising a magnetic film pressure sensor based on a Hall magnetic induction chip; the substrate is consistent with the size of the mounting structure on the robot finger.
7. The bionic robot arm for multiple sensing and feedback stimulation according to claim 2 or 4, wherein the bidirectional electrode is made of conductive wires, and when the conductive wires are two straight lines, the resistance of the contact object can be measured or the electric stimulation can be output; when the shape of the lead is in the form of an interdigital electrode, interdigital capacitance can be formed, and the dielectric constant of an object or the moving proximity of the object is measured; the bidirectional electrode can also be subjected to surface modification to form a specific sensor, wherein when the bidirectional electrode comprises an interdigital electrode, if a layer of moisture sensitive film is added on the surface of the bidirectional electrode, the bidirectional electrode can form a moisture sensor, and if hydrogel modification is added, a myoelectric sensor or an electric stimulation electrode can be formed.
8. The multi-sensing and feedback-stimulus biomimetic robotic arm of claim 1, wherein the stretchable sensor is attached to the back of a finger, monitoring the motion state of each finger joint;
The control circuit is integrated in the palm to control the motion of the bionic robot, and comprises a driver for controlling each finger, and an electric cylinder or a motor; the control circuit integrates a sensor data acquisition unit, an algorithm processing unit, a stimulation output control unit and a control unit for a robot to do time sequence; the algorithm processing unit not only comprises the steps of reading the parameters of an electric cylinder or a motor and combining the kinematics of the finger to obtain the position parameters of the finger, but also carries out fusion processing on the signals of all the sensor units by adopting a neural network algorithm, and outputs the motion control and stimulation signals of the robot.
9. The multi-sensing and feedback-stimulated biomimetic robotic according to claim 8, wherein said neural network algorithm comprises a back propagation algorithm, a convolutional neural network algorithm, a cyclic neural network algorithm, and a transducer algorithm; based on a deep neural network algorithm, a large model is constructed for the function of autonomous learning of the human hand by the robot.
10. The multi-sensing and feedback stimulation biomimetic robotic according to claim 1, wherein the multi-sensor comprises a pressure sensor, a temperature collector, a bi-directional electrode, a photo-sensor, a magnetic sensor, a biochemical sensor and a pH or sodium ion sensor; the integration of multiple sensors is integrated by reasonable layout and structural design according to the characteristics of the sensors;
The multi-stimulus executor comprises a vibration motor, a semiconductor refrigerating sheet, a bidirectional electrode and an integrated optical device, and performs light stimulus; the integration of the multiple stimulus executor is integrated with reasonable layout and structural design according to the characteristics of the sensor;
The integrated display device of the back of the hand of the robot is a single optical light-emitting integrated display device of the back of the hand, and when the robot is subjected to different stimulus or wants to express emotion, the display of different colors is changed through the light-emitting device; or an LED array display array, which realizes different patterns or letters to express emotion through programming;
The bionic robot simulates the hand function, when the bionic robot grabs the hot water cup, the sensor detects that the temperature is overheated, the temperature is fed back to the controller, the grabbing is difficult, the control circuit transmits a stop signal, and the robot is controlled to stop grabbing; when the robot hand grabs a heavy object, the sensing force of the sensor is overlarge, and the control circuit transmits a stop signal to control the robot hand to stop grabbing; when the robot hand grabs metal, the resistance is small, the residual limb is reminded of good conductivity of the grabbed object, and the robot hand is not easy to operate in an electrified area;
the bionic robot carries out touch emotion interaction with a person, and simulates the temperature of the person to sense the temperature of the human hand for the human body of the hand; the bionic robot knows the behavior of a handshake person through the perception analysis of the handshake force, and if the unfavorable behavior exists, the unfavorable handshake behavior is output in a peer-to-peer manner through the output of force and electric stimulation.
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