US 12,251,817 B2
Device, system and method for acquiring force information based on bionic structure
Xiaohu Zhou, Beijing (CN); Zengguang Hou, Beijing (CN); Meijiang Gui, Beijing (CN); Xiaoliang Xie, Beijing (CN); Shiqi Liu, Beijing (CN); Zhenqiu Feng, Beijing (CN); Yanjie Zhou, Beijing (CN); Lingwu Meng, Beijing (CN); and Hao Li, Beijing (CN)
Assigned to INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES, Beijing (CN)
Filed by Institute of Automation, Chinese Academy of Sciences, Beijing (CN)
Filed on May 24, 2022, as Appl. No. 17/751,920.
Claims priority of application No. 202110605003.8 (CN), filed on May 31, 2021.
Prior Publication US 2022/0379490 A1, Dec. 1, 2022
Int. Cl. G01L 5/22 (2006.01); B25J 13/08 (2006.01); G01L 1/12 (2006.01)
CPC B25J 13/082 (2013.01) [G01L 1/122 (2013.01); G01L 5/228 (2013.01)] 7 Claims
OG exemplary drawing
 
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.