Device, system and method for acquiring force information based on bionic structure

Patent metadata

Field	Value
Publication number	US-12251817-B2
Application number	US-202217751920-A
Country	US
Kind code	B2
Filing date	May 24, 2022
Priority date	May 31, 2021
Publication date	Mar 18, 2025
Grant date	Mar 18, 2025

Abstract

Provided are a device, a system and a method for acquiring a force information based on a bionic structure, including: a force information acquisition layer and a magnetic field signal acquisition chip; wherein a permanent magnet is embedded in the force information acquisition layer; wherein the force information acquisition layer has an elastic structure configured to generate a deformation corresponding to a first force information of a force after being subjected to the force, so that the permanent magnet moves with the deformation to generate a magnetic field signal corresponding to the force information; wherein the magnetic field signal acquisition chip is arranged in parallel with the force information acquisition layer, and is configured to acquire the magnetic field signal and convert the magnetic field signal into an electrical signal.

First claim

What is claimed is:

1. A device for acquiring a force information, comprising:
a force information acquisition layer and a magnetic field signal acquisition chip;
wherein a permanent magnet is embedded in the force information acquisition layer;
wherein the force information acquisition layer has an elastic structure configured to generate a deformation corresponding to a first force information of a force after being subjected to the force, so that the permanent magnet moves with the deformation to generate a magnetic field signal corresponding to the force information;
wherein the magnetic field signal acquisition chip is arranged in parallel with the force information acquisition layer, and is configured to acquire the magnetic field signal and convert the magnetic field signal into an electrical signal,
wherein the force information acquisition layer comprises an imitation Merkel cell layer and/or an imitation Ruffini corpuscle layer;
wherein the imitation Merkel cell layer is configured to generate a deformation corresponding to a second force information of a normal force after being acted by the normal force, so that the permanent magnet in the imitation Merkel cell layer moves with the deformation to generate a magnetic field signal corresponding to the second force information;
wherein the imitation Ruffini corpuscle layer is configured to generate a deformation corresponding to a third force information of a tangential force after being acted by the tangential force, so that the permanent magnet in the imitation Ruffini corpuscle layer moves with the deformation to generate a magnetic field signal corresponding to the third force information,
wherein the force information acquisition layer further comprises: an imitation epidermis layer;
wherein the imitation epidermis layer covers an outside of the imitation Merkel cell layer and/or the imitation Ruffini corpuscle layer, an outer surface of the imitation epidermis layer comprises a plurality of protrusions; and the imitation epidermis layer is configured to transmit a force to the imitation Merkel cell layer and/or the imitation Ruffini corpuscle layer after being subjected to the force,
wherein the force information acquisition layer is made of a liquid silicone rubber;
wherein a hardness of the imitation epidermis layer is greater than a hardness of the imitation Merkel cell layer and/or the imitation Ruffini corpuscle layer,
wherein the imitation Merkel cell layer comprises cylindrical permanent magnets, and the cylindrical permanent magnets are evenly distributed in the imitation Merkel cell layer; and the imitation Ruffini corpuscle layer comprises elongated permanent magnets, and the elongated permanent magnets are evenly distributed in the imitation Ruffini corpuscle layer.

2. A system for acquiring a force information, wherein the system comprises the device according to claim 1 ;
wherein the system further comprises: a robotic arm, a serial port connecting line, a data processing device and a force information display device;
wherein the robotic arm is configured to connect the magnetic field signal acquisition chip;
wherein the serial port connecting line is connected with the magnetic field signal acquisition chip, the serial port connecting line is connected with the data processing device, and the serial port connecting line is configured to transmit an electrical signal converted by the magnetic field signal acquisition chip to the data processing device;
wherein the data processing device is configured to determine a display information of a first force information based on the electrical signal, and transmit the display information to the force information display device;
wherein the force information display device is configured to display the display information of the first force information.

3. A method for acquiring a force information, comprising:
generating a deformation corresponding to a first force information of a force after a force information acquisition layer of the device according to claim 1 being subjected to the force, so that a permanent magnet in the force information acquisition layer moves with the deformation to generate a magnetic field signal corresponding to the force information;
acquiring the magnetic field signal and converting the magnetic field signal into an electrical signal, through a magnetic field signal acquisition chip of the device according to claim 1 .

4. The method according to claim 3 , wherein the force information acquisition layer comprises an imitation Merkel cell layer and/or an imitation Ruffini corpuscle layer;
the generating a deformation corresponding to a first force information of a force after a force information acquisition layer being subjected to the force, so that a permanent magnet in the force information acquisition layer moves with the deformation to generate a magnetic field signal corresponding to the force information comprises at least one of:
the imitation Merkel cell layer is configured to generate a deformation corresponding to a second force information of a normal force after being acted by a normal force, so that the permanent magnet in the imitation Merkel cell layer moves with the deformation to generate a magnetic field signal corresponding to the second force information;
the imitation Ruffini corpuscle layer is configured to generate a deformation corresponding to a third force information of a tangential force after being acted by the tangential force, so that a permanent magnet in the imitation Ruffini corpuscle layer moves with the deformation to generate a magnetic field signal corresponding to the third force information.

5. The method according to claim 3 , wherein the force information acquisition layer further comprises: an imitation epidermis layer, and the imitation epidermis layer is configured to transmit a force to the imitation Merkel cell layer and/or the imitation Ruffini corpuscle layer after being subjected to the force.

6. The method according to claim 3 , further comprising:
transmitting the electrical signal to a signal processing unit through a serial port connecting line;
determining a display information of the first force information based on the electrical signal through a data processing device, and transmitting the display information to a force information display device;
displaying the display information of the first force information through the force information display device.

7. The method according to claim 3 , further comprising:
connecting the magnetic field acquisition chip through a robotic arm.

Assignees

• Inst Automation Cas

Inventors

• Zhou Xiaohu
• Hou Zengguang
• Gui Meijiang
• Xie Xiaoliang
• Liu Shiqi
• Feng Zhenqiu
• Zhou Yanjie
• Meng Lingwu
• Li Hao

Classifications

• G01L5/228 Primary

  using tactile array force sensors · CPC title

• G01L1/122 Primary

  by using permanent magnets · CPC title

• B25J13/084

  Tactile sensors (in general G01L5/16, G01L5/22) · CPC title

• G01L5/169

  using magnetic means · CPC title

• G01L1/127

  by using inductive means (G01L1/122, G01L1/125 take precedence) · CPC title