CN107225577A - Apply tactilely-perceptible method and tactile sensor on intelligent robot - Google Patents
Apply tactilely-perceptible method and tactile sensor on intelligent robot Download PDFInfo
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- CN107225577A CN107225577A CN201610178342.1A CN201610178342A CN107225577A CN 107225577 A CN107225577 A CN 107225577A CN 201610178342 A CN201610178342 A CN 201610178342A CN 107225577 A CN107225577 A CN 107225577A
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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
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
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Abstract
The present invention provides a kind of tactilely-perceptible method applied on intelligent robot, comprises the following steps：External pressure signal is obtained, the external pressure signal is converted into data signal；External pressure signal duration value is calculated, digital signal change rate is calculated according to the duration value and data signal；The digital signal change rate and default change threshold are compared, so that it is determined that the type of external pressure signal；And determine pressure generation position, it is compared according to the type of the pressure generation position and external pressure signal with default map listing, the generation emotion expression service control signal corresponding with the type of the pressure generation position and external pressure signal, so as to trigger corresponding emotion expression service.Possess the perception at multiple positions using the intelligent robot of the present invention, according to position and force-bearing types, with different emotion expression services, intelligent robot is more personalized.
Description
Technical field
The present invention relates to a kind of field in intelligent robotics, and in particular to one kind is applied in intelligent robot
On tactilely-perceptible method and tactile sensor.
Background technology
In field in intelligent robotics, haptic system occupies very in the sensory system of intelligent robot
Consequence.Have at present and disclose a kind of robot with haptic system, use flexible PCB
As the carrier of tactilely-perceptible, and touch is used to perceive chip as the detection circuit of touch feeling,
Realize the tactilely-perceptible ability of robot.
With the continuous improvement of the intelligence degree of intelligent robot, intelligent robot starts to be applied to
Family field, for example, give people to bring the pet robot of laughter, look after the nursing machine of kinsfolk
People, these require that intelligent robot can not only receive external information, additionally it is possible to carry out necessarily
Processing, gives and feeds back.Above-mentioned intelligent robot is although with tactile induction system, but information processing
Scarce capacity, so that intelligence degree is not high.
The content of the invention
In view of this, the present invention provides a kind of tactilely-perceptible method and tactile sensor, applies
With intelligent robot, there is intelligent robot different with the expression of stress size according to force part
The ability of mood.
There is provided a kind of tactilely-perceptible applied on intelligent robot according to the first aspect of the invention
Method, comprises the following steps：External pressure signal is obtained, the external pressure signal is converted to
Data signal；Calculate external pressure signal duration value, according to the duration value and
Data signal calculates digital signal change rate；By the digital signal change rate and default change
Threshold value is compared, so that it is determined that the type of external pressure signal；And determination pressure generation position,
Compared according to the type of the pressure generation position and external pressure signal with default map listing
It is right, generate the emotion expression service corresponding with the type of the pressure generation position and external pressure signal
Control signal, so as to trigger corresponding emotion expression service.
Preferably, if the digital signal change rate is more than default first change threshold, by institute
The type for stating external pressure signal is defined as patting, otherwise, by the type of the external pressure signal
It is defined as stroking.
Preferably, if the digital signal change rate is more than default first change threshold,
The type of the external pressure signal is defined as into beating includes：First change threshold second changes threshold
If the change threshold of the value first digital signal change rate is more than the first change threshold and is less than or equal to
Second change threshold, then be defined as slight beating by the type of the pressure signal；And if institute
Digital signal change rate is stated more than the second change threshold, then is defined as the type of the pressure signal
Firmly pat.
Preferably, the emotion expression service is specially：Perform corresponding mechanical action, play corresponding
Suggestion voice and/or the corresponding prompt message of display.
Preferably, the calculating external pressure signal duration value, according to it is described lasting when
Between value and data signal calculate digital signal change rate and be：Calculate external pressure signal it is lasting when
Between be worth, preset time period correspondence is chosen according to preset time period in the duration value
Data signal, according to the preset time period and the corresponding data signal meter of the preset time period
Calculate digital signal change rate.
Preferably, the preset time period is 0.5-1.5 seconds.
Preferably, the head of the pressure generation position including the intelligent robot, back, preceding
At chest, belly and/or forelimb.
There is provided a kind of tactilely-perceptible applied on intelligent robot according to the second aspect of the invention
Device, including be arranged on intelligent robot：The pressure for obtaining external pressure signal perceives unit；
The external pressure signal is converted to the AD conversion unit of data signal；It is described outer for calculating
Portion's pressure signal duration value and digital change rate signal, according to the digital signal change rate
The pressure type for comparing the type for determining the external pressure signal with default change threshold judges single
Member；Position judgment unit for determining pressure generation position according to the external pressure signal；With
Carried out in the type according to the pressure generation position and external pressure signal and default map listing
Compare, generate the mood table corresponding with the type of the pressure generation position and external pressure signal
Up to the control signal generation unit of control signal.
Preferably, the emotion expression service control signal is used to control to perform corresponding mechanical action, broadcast
Put corresponding suggestion voice and/or show corresponding prompt message.
Preferably, it is resistive pressure sensor that the pressure, which perceives unit,.
Preferably, the device also includes single with pressure type judging unit, control signal generation respectively
Member connection, the data storage cell for storing default change threshold and default map listing.
The present invention provides a kind of tactilely-perceptible method applied on intelligent robot and tactilely-perceptible dress
Put, the tactilely-perceptible method and tactile sensor obtain external pressure signal, by the outside pressure
Force signal is converted to data signal；External pressure signal duration value is calculated, is held according to described
Continuous time value and data signal calculates digital signal change rate；By the digital signal change rate
It is compared with default change threshold, so that it is determined that the type of external pressure signal；And determine
Pressure generation position, according to the type of the pressure generation position and external pressure signal with it is default
Map listing is compared, and generates the type phase with the pressure generation position and external pressure signal
Corresponding emotion expression service control signal, so as to trigger corresponding emotion expression service.Using the intelligence of the present invention
The perception at the multiple positions of energy robot, according to position and force-bearing types, with different
Emotion expression service, makes intelligent robot more personalize.
Brief description of the drawings
Description by referring to the following drawings to the embodiment of the present invention, of the invention is above-mentioned and other
Objects, features and advantages will be apparent from, in the accompanying drawings：
Fig. 1 is the structural representation of the intelligent robot of the penguin shape of the embodiment of the present invention；
Fig. 2 is that the pressure sensor of the embodiment of the present invention uses schematic diagram；
Fig. 3 is the flow chart of the tactilely-perceptible method of the embodiment of the present invention；
Fig. 4 is the flow chart of the tactilely-perceptible method of another embodiment of the present invention；
Fig. 5 is the circuit connection block diagram of the tactile sensor of the embodiment of the present invention；
Fig. 6 is the circuit connection block diagram of the tactile sensor of another embodiment of the present invention.
Embodiment
Below based on embodiment, present invention is described, but the present invention is not restricted to these
Embodiment.It is detailed to describe some specific detail portions below in the detailed description of the present invention
Point.The description of part can also understand this completely without these details for a person skilled in the art
Invention.In order to avoid obscuring the essence of the present invention, known method, process, flow be not detailed
Narration.What other accompanying drawing was not necessarily drawn to scale.
Flow chart, block diagram in accompanying drawing illustrate the system, method, device of the embodiment of the present invention
Square frame on possible System Framework, function and operation, flow chart and block diagram can represent a list
First, program segment or only one section of code, the unit, program segment and code are all for realizing
Provide the executable instruction of logic function.It should also be noted that it is described realize regulation logic function can
Execute instruction can be reconfigured, so as to generate new unit and program segment.Therefore the square frame of accompanying drawing
And square frame order is used only to the process and step of preferably diagram embodiment, without that should be made with this
For the limitation to invention itself.
In one embodiment of the present of invention shown in Fig. 1, the intelligent robot is a penguin
The intelligent robot of shape, penguin robot is deep to be liked by children due to its active figure.
In Fig. 1, the left wing of the penguin robot, shirtfront, right wing, head, the area of back
Domain, is pasted with the diaphragm pressure sensor of numbering 101,102,103,104,105 respectively.This
There is viscose glue at the diaphragm pressure sensor back side of scheme, is affixed directly to some position of penguin body.
At the back of penguin robot, shirtfront, belly and/or forelimb, dipteron can install strip sensing
Device, can perceive the stress in bar-shaped zone.Square shape sensor is installed in penguin robot head,
The stress in square areas can be perceived.Pressure sensor in this programme is preferably resistance-type
Pressure sensor.
Fig. 2 is the use schematic diagram of pressure sensor.In fig. 2, pressure sensor 200 includes
Pressure sensitive layer 201 and adhesive layer 202, can be pasted pressure sensor by adhesive layer 202
In the optional position of intelligent robot shell.The size and area of pressure sensor can also be according to realities
Border needs to be adjusted.
It will be understood to those skilled in the art that the robot of penguin form is the intelligence of the present invention
The preferred configuration of robot or other any pet forms or class people form or industrial circle
Arbitrary shape robot.Similarly, the shape of pressure sensor, size and installation site
All do not require specifically, preferred scheme is only proposed in the above-described embodiment to this, should not evidence
This is used as the limitation to intelligent robot of the invention.
Fig. 3 is the flow chart of the tactilely-perceptible method of the embodiment of the present invention.The tactilely-perceptible method
Including step 301- steps 306.
In step 301, external pressure signal is obtained, external pressure signal is converted into digital letter
Number.When this method application intelligent robot, sensing is pasted at each position of intelligence machine human body
Part, for obtaining the pressure signal at each position.In this step, the pressure got is believed
Number changing into data signal is used for subsequent treatment.
In step 302, external pressure signal duration value is calculated, according to time value and number
Word signal of change goes out digital signal change rate.In a preferred embodiment, held in pressure signal
In the continuous period, the period of 0.5-1.5 seconds is selected, the data signal in the period is calculated
Change (apply external force change), be used as numeral to believe the ratio of both differences and the period
Number rate of change.Generally the period of 0.5-1.5 seconds is enough the effect that sensor captures application
The accurate change of power is so as to capture the change of data signal.For example, the external force of the application at 1 second
For 100 newton, the area of application is 0.026 square metre, by the newton of 100/0.026 ≈ 3846/
Square metre, the 3846 newton/square metre numerical value that as digital signal change rate is characterized.
In step 303, digital signal change rate and default first change threshold are compared.At this
In step, compare digital signal change rate and default first change threshold, and according to comparative result
Determine the type of external pressure signal.
In step 304, determine that the type of external pressure signal is defined as patting.
In step 305, determine that the type of external pressure signal is defined as stroking.
Such as digital signal change rate in upper example for 3846 newton/square metre, if default become
Change threshold value and be more than the value, then can be determined that to pat, otherwise to stroke.
Within step 306, according to the type of pressure generation position and external pressure signal with it is default
Map listing is compared, and generates corresponding with the type of pressure generation position and external pressure signal
Emotion expression service control signal, so as to trigger emotion expression service.
Default map listing is stored with pressure generation position, the type of external pressure signal and machine
The mapping relations of people's feedback.In one embodiment, the mapping relations are as shown in the table：
| Pressure position | Pressure type | Robot feeds back |
| Head | Stroke | Head rocks from side to side, playing alert tones |
| Wing | Stroke | Wing swing |
| Belly | Stroke | Head and wing are swung |
| Back | Stroke | Head and wing are swung |
| Head | Pat | Take a step back |
| Back | Pat | Retreat two steps |
One emotion expression service control letter is generated according to the type of pressure generation position, external pressure signal
Number.Emotion expression service control signal is used to characterize the robot in robot feedback kind, such as upper table
Feedback.By emotion expression service control signal, the executing agency that can trigger robot performs some move
Make, expression is so as to express the anthropomorphic mood such as some happiness, indignation, melancholy.Emotion expression service
Executing agency can include each position of machine human body, the sound on machine human body
Device, display device etc..For example, the action danced for joy is performed by both hands, both feet, or it is logical
Cross speech synthesizing device and microphone plays corresponding prompt tone, or some tables are shown by display screen
Feelings symbol, prompt tone etc., or several ways combination feedback.
Above-described embodiment provide inducing method, enable intelligent robot according to different parts with
And the type of the external force applied thereon makes different feedbacks, intelligent robot is more personalized.
Fig. 4 is the flow chart of the tactilely-perceptible method of another embodiment of the present invention.The tactilely-perceptible
Method includes step 401- steps 407.Wherein step 401-402 and Fig. 3 step 301-302
It is identical, just do not repeating here.
In step 403, digital signal change rate and default first change threshold, second are compared
Change threshold.In this step, digital signal change rate and the first change threshold are respectively compared, the
Two change thresholds, if digital signal change is more than the second change threshold, perform step 404,
If numerical signal rate of change is more than the first change threshold and less than or equal to the second change threshold, held
Row step 405, otherwise performs step 406.
In step 404,405,406, judge respectively the type of said external pressure signal as with
Power is patted, and is slightly patted and is stroked.Following table is a new mapping table
| Pressure position | Pressure type | Robot feeds back |
| Head | Stroke | Head rocks from side to side, playing alert tones |
| Wing | Stroke | Wing swing |
| Belly | Stroke | Head and wing are swung |
| Back | Stroke | Head and wing are swung |
| Head | It is slight to pat | Take a step back |
| Back | Firmly pat | Retreat two steps |
In step 407, according to the type of pressure generation position and external pressure signal with it is default
Map listing is compared, and generates corresponding with the type of pressure generation position and external pressure signal
Emotion expression service control signal.
In the tactilely-perceptible method described in Fig. 4, the description of the second change threshold is added, so that
Beating is divided into and firmly patted and slight beating, the various of intelligent robot processing and feedback is added
Property, it is more personalized.Certainly, it will be appreciated by those skilled in the art that arriving, Fig. 1 and figure
2 be only the exemplary description of the tactilely-perceptible method to the present invention, and the species of pressure type should not
This is confined to three types mentioned above, all to pass through change rate signal and default change threshold
The pressure type for comparing determination all should be within the scope of protection of the invention.In addition, the present invention is strong
Adjust and emotion expression service control signal is generated by pressure type and pressure position collective effect, wherein, feelings
Thread expression control signal is used to trigger the emotion expression services of diversified forms, can define a variety of pressure positions,
The mapping relations (such as upper table) of pressure type and control signal, all these definition and realization all should
Within protection scope of the present invention.Those skilled in the art can be in spirit of the invention
Under make some it is rational deform, this deformation should also be included within protection scope of the present invention.
Fig. 5 is the circuit connection block diagram of the tactile sensor of the embodiment of the present invention.As shown in figure 5,
Tactile sensor 500 includes 501-505.
Pressure, which perceives unit 501, to be used to obtain external pressure signal, and pressure signal is transferred into mould
Number converting unit 502.Pressure perceives unit 401 can be using ultrathin resistive pressure sensor
As external force detecting device, the pressure for being applied to its thin membrane regions is converted into resistance value by sensor
Change, so as to obtain the corresponding signal of pressure information.External pressure is bigger, and resistance value is lower, leads to
The change for crossing the resistance value that the circuit of sensor internal is changed external pressure is converted into voltage or electricity
The change of stream, and the numerical value of voltage or electric current is converted into data signal is output to AD conversion unit
502。
External pressure signal is converted to data signal by AD conversion unit 502, and is transferred to pressure
Type judging unit 503 and position judgment unit 504.
Pressure type judging unit 503 be used for calculate the external pressure signal duration value and
Digital signal change rate, compares according to the digital signal change rate and default change threshold and determines
The type of the external pressure signal.
Position judgment unit 504 is used to determine pressure generation position according to external pressure signal.
Control signal generation unit 505 according to the pressure signal type and pressure generation position received,
It is compared with default map listing, generation and the class of pressure generation position and external pressure signal
The control signal generation unit of the corresponding emotion expression service control signal of type.Here emotion expression service control
Signal processed is used to control to perform corresponding mechanical action, plays corresponding suggestion voice and/or display phase
The prompt message answered.
In a preferred embodiment, as shown in fig. 6, tactile sensor 600 except including
Outside functional unit shown in Fig. 5, in addition to data storage cell 601, sentence respectively with pressure type
Disconnected unit 503, control signal generation unit 505 are connected, for store default change threshold and
The data storage cell of default map listing.
When above-mentioned tactile sensor is applied to intelligent robot, by intelligence machine human body
The pressure that each position is pasted perceives unit by the tactile sensor of pressure transmission to robot, leads to
Cross and emotion expression service control signal is generated after tactile sensor processing, the control signal is used for driving machine
Device people makes various emotion expression services.
Multiple execution units, such as both hands, both feet, shirtfront, back, head are installed on machine human body
Portion etc., such as voice playing unit for playing corresponding suggestion voice, speech synthetic device, Mike
Wind, and/or for showing the information display unit of corresponding prompt message, such as LED display,
These parts and tactile sensor electrical connection, and made according to the emotion expression service control signal received
Corresponding emotion expression service.
Tactile sensor shown in Fig. 5 and Fig. 6, including be arranged on intelligent robot：Obtain
The pressure of external pressure signal is taken to perceive unit；External pressure signal is converted to the mould of data signal
Number converting unit；For calculating external pressure signal duration value and digital change rate signal,
The type of determination external pressure signal is compared according to digital signal change rate and default change threshold
Pressure type judging unit；Position for determining pressure generation position according to institute's external pressure signal
Judging unit；For the type according to pressure generation position and external pressure signal and default mapping
List is compared, and generates corresponding with the type of the pressure generation position and external pressure signal
Emotion expression service control signal control signal generation unit.Wherein, emotion expression service control signal and
The type of the external force of application is simultaneously related to position, according to the two parameter search map listings, root
Fed back according to the output control intelligent robot retrieved.So so that intelligent robot it is anti-
Feedback is more interesting.And because data storage cell is arrived in the storage of default map listing, therefore pass through
The map listing of data storage cell is modified, the feedback change of intelligent robot is realized.
It is obvious to a person skilled in the art that the invention is not restricted to above-mentioned one exemplary embodiment
Details, and without departing from the spirit or essential characteristics of the present invention, can be with others
Concrete form realizes the present invention.For example, in actual applications, can it is different the need for by above-mentioned list
Meta function is divided into the functional structures different with the embodiment of the present invention, or by the embodiment of the present invention
Several functional units merge the functional structures different with resolving into.Therefore, no matter from the point of view of which point,
Embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by institute
Attached claim rather than described above are limited, it is intended that will fall equivalency in claim
Implication and scope in all changes be included in the present invention.Should not will be any in claim
Reference is considered as the claim involved by limitation.Furthermore, it is to be understood that the word of " comprising " one is not excluded for it
His unit or step, odd number are not excluded for plural number.The multiple units or dress stated in system claims
Putting can also be by a unit or device be realized by software or hardware.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for this
For art personnel, the present invention can have various changes and change.All spirit in the present invention
With any modification, equivalent substitution and improvements made within principle etc., it should be included in the present invention's
Within protection domain.
Claims (11)
1. a kind of tactilely-perceptible method applied on intelligent robot, it is characterised in that including with
Lower step：
External pressure signal is obtained, the external pressure signal is converted into data signal；
External pressure signal duration value is calculated, is believed according to the duration value and numeral
Number calculate digital signal change rate；
The digital signal change rate and default change threshold are compared, so that it is determined that outside
The type of pressure signal；And
Pressure generation position is determined, according to the type of the pressure generation position and external pressure signal
It is compared with default map listing, generation and the pressure generation position and external pressure signal
The corresponding emotion expression service control signal of type, so as to trigger corresponding emotion expression service.
2. tactilely-perceptible method according to claim 1, it is characterised in that if the numeral
Change rate signal is more than default first change threshold, then the type of the external pressure signal is true
It is set to beating, otherwise, the type of the external pressure signal is defined as stroking.
3. tactilely-perceptible method according to claim 2, it is characterised in that if described
Digital signal change rate is more than default first change threshold, then by the class of the external pressure signal
Type, which is defined as beating, to be included：
If the digital signal change rate is more than the first change threshold and change threshold less than or equal to second
Value, then be defined as slight beating by the type of the pressure signal；And
If the digital signal change rate is more than the second change threshold, by the pressure signal
Type is defined as firmly patting.
4. tactilely-perceptible method according to claim 1, it is characterised in that the mood table
Up to specially：Corresponding mechanical action is performed, corresponding suggestion voice is played and/or shows corresponding
Prompt message.
5. tactilely-perceptible method according to claim 1, it is characterised in that outside the calculating
Portion's pressure signal duration value, number is calculated according to the duration value and data signal
Word change rate signal is：
External pressure signal duration value is calculated, according to default in the duration value
Period chooses the corresponding data signal of the preset time period, according to the preset time period and institute
State the corresponding data signal of preset time period and calculate digital signal change rate.
6. tactilely-perceptible method according to claim 5, wherein, the preset time period is
0.5-1.5 seconds.
7. tactilely-perceptible method according to claim 1, it is characterised in that the pressure production
Raw position is included at head, back, shirtfront, belly and/or the forelimb of the intelligent robot.
8. a kind of tactile sensor applied on intelligent robot, it is characterised in that including setting
Put on intelligent robot：
The pressure for obtaining external pressure signal perceives unit；
The external pressure signal is converted to the AD conversion unit of data signal；
For calculating the external pressure signal duration value and digital change rate signal, according to
The digital signal change rate and default change threshold compare the class for determining the external pressure signal
The pressure type judging unit of type；
Position judgment unit for determining pressure generation position according to the external pressure signal；
Arranged for the type according to the pressure generation position and external pressure signal with default mapping
Table is compared, and generates corresponding with the type of the pressure generation position and external pressure signal
The control signal generation unit of emotion expression service control signal.
9. tactile sensor according to claim 8, it is characterised in that the mood table
It is used to control to perform corresponding mechanical action up to control signal, plays corresponding suggestion voice and/or aobvious
Show corresponding prompt message.
10. tactile sensor according to claim 8, it is characterised in that the pressure
Perception unit is resistive pressure sensor.
11. tactile sensor according to claim 8, it is characterised in that the device is also
It is default for storing including being connected respectively with pressure type judging unit, control signal generation unit
Change threshold and default map listing data storage cell.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108189025A (en) * | 2017-11-23 | 2018-06-22 | 上海楷沃机器人科技有限公司 | A kind of method for emulating anthropomorphic robot control chest vibration amplitude |
| CN108312155A (en) * | 2018-03-07 | 2018-07-24 | 重庆鲁班机器人技术研究院有限公司 | The control method of robot and robot |
| CN109040688A (en) * | 2018-08-23 | 2018-12-18 | 顺德职业技术学院 | The method and system that the industrial robot operation video of a kind of pair of acquisition is stored |
| CN109100988A (en) * | 2018-08-23 | 2018-12-28 | 顺德职业技术学院 | A kind of method and system of industrial robot work compound |
| CN110021294A (en) * | 2018-01-09 | 2019-07-16 | 深圳市优必选科技有限公司 | Control method, device and the storage device of robot |
| CN110053031A (en) * | 2019-04-25 | 2019-07-26 | 深圳市启玄科技有限公司 | A kind of robot control assembly and method based on tactile |
| CN110405778A (en) * | 2018-04-28 | 2019-11-05 | 深圳果力智能科技有限公司 | A kind of robot |
| CN110834343A (en) * | 2018-08-17 | 2020-02-25 | 北京猎户星空科技有限公司 | Robot finger, touch sensing device and robot for robot |
| CN111248860A (en) * | 2020-01-14 | 2020-06-09 | 北京联合大学 | Touch sensing system and touch sensing method for capsule robot |
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| CN110405778B (en) * | 2018-04-28 | 2022-10-21 | 深圳果力智能科技有限公司 | Robot |
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| CN109040688A (en) * | 2018-08-23 | 2018-12-18 | 顺德职业技术学院 | The method and system that the industrial robot operation video of a kind of pair of acquisition is stored |
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