CN218097621U - Device for collecting massage signals - Google Patents

Abstract

An apparatus for acquiring massage signals, comprising: the bionic skin layer-dermis layer structure comprises a double-layer flexible layer structure, a camera array, an acceleration sensor and a light source; the camera array is used for capturing the deformation of the double-layer flexible layer structure; the double-layer flexible layer structure is based on a material with light transmission and flexibility; the device senses the deformation of the double-layer flexible layer structure by capturing the light irradiated to the double-layer flexible layer structure by the light source. Therefore, the device can acquire the hand feeling and the operation habit of a masseur, so that a large amount of data accumulation is formed, and the massage robot in the anthropomorphic health physiotherapy field can be better realized based on the data in the future.

Description

Device for collecting massage signals

Technical Field

The present disclosure relates to sensor technologies, and in particular, to a device for collecting massage signals.

Background

With the growing concern of people on health, the massage robot has a new development opportunity. However, how the massage robot achieves the manual massage effect comparable to that of a massage worker is a key of the massage robot.

In contrast to vision, haptics is another important perceptual form of the acquisition of environmental information by robots, and is an essential medium for their realization to interact directly with the environment. Unlike vision, touch itself determines the ability to be strongly sensitive.

How to utilize the concept of the sensor so as to obtain the hand feeling and the operation habit of a masseur, thereby forming a large amount of data accumulation so as to better realize the massage robot in the anthropomorphic health physiotherapy field based on the data in the future, and the concept of the sensor becomes a technical problem which needs to be solved urgently.

SUMMERY OF THE UTILITY MODEL

In order to solve the above technical problem, the present disclosure discloses a device for collecting massage signals, including:

the bionic skin layer-dermis layer structure comprises a double-layer flexible layer structure, a camera array, an acceleration sensor and a light source;

the camera array is used for capturing the deformation of the double-layer flexible layer structure;

the double-layer flexible layer structure is based on a material with light transmission and flexibility;

the device senses the deformation of the double-layer flexible layer structure by capturing the light irradiated to the double-layer flexible layer structure by the light source.

Preferably, the first and second liquid crystal materials are,

the skin layer includes a reflective layer that reflects light rays.

In a preferred embodiment of the method of the invention,

the camera is a binocular camera.

Preferably, the first and second liquid crystal materials are,

the thickness of the dermis layer is larger than that of the epidermis layer, preferably, the thickness of the dermis layer is larger than 10mm, and the thickness of the epidermis layer is smaller than 5mm.

Preferably, the first and second liquid crystal materials are,

the hardness of the dermis layer is less than that of the epidermis layer, preferably, the hardness of the epidermis layer belongs to the Shore A hardness range, and the hardness value is more than 15; the hardness of the dermis layer is less than 10.

Preferably, the first and second liquid crystal materials are,

the dermal layer adheres to the epidermal layer by its own adhesiveness.

Preferably, the first and second liquid crystal materials are,

the double-layer flexible layer structure is preferably designed as a consumable type flexible layer which is easy to replace.

Preferably, the first and second liquid crystal materials are,

the interior of the dermis layer is penetrated by a pigmented needle to form a mark.

Preferably, the first and second liquid crystal materials are,

the inner part of the dermis layer is provided with a contour or a pattern or a color block through laser or needle printing.

Preferably, the first and second liquid crystal materials are,

two cameras of the binocular camera respectively incline to a center O between the cameras by a certain angle.

Therefore, the device for collecting the massage signals is convenient for obtaining the hand feeling and the operation habit of a masseur, and one hand of data is accumulated for the massage robot. The device is preferably implemented as a phantom, or, in the case of conditional conditions, as a device.

Drawings

FIG. 1 is an exploded schematic view of an apparatus in one embodiment of the disclosure;

FIG. 2 is an overall schematic view of the device in one embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a sensor optical path in one embodiment of the present disclosure;

FIG. 4 is a schematic top view of the optical path shown in FIG. 3;

FIG. 5 is a schematic diagram of a prior art touch sensor;

fig. 6A is a schematic optical path diagram of binocular imaging in one embodiment of the present disclosure;

fig. 6B is a schematic diagram of optical paths of binocular imaging in the prior art.

Detailed Description

In order to make those skilled in the art understand the technical solutions disclosed in the present disclosure, the technical solutions of various embodiments will be described below with reference to the embodiments and the accompanying fig. 1 to 6B, where the described embodiments are some embodiments of the present disclosure, but not all embodiments. The terms "first," "second," and the like as used in this disclosure are used for distinguishing between different objects and not for describing a particular order. Furthermore, "including" and "having," and any variations thereof, are intended to cover and not to be exclusive inclusions. For example, a process, method, system, or article or apparatus that comprises a list of steps or elements is not limited to only those steps or elements but may alternatively include other steps or elements not expressly listed or inherent to such process, method, system, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the disclosure. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It will be appreciated by those skilled in the art that the embodiments described herein may be combined with other embodiments.

In one embodiment, the present disclosure discloses an apparatus for collecting massage signals, comprising:

the bionic skin layer-dermis layer structure comprises a double-layer flexible layer structure, a camera array, an acceleration sensor and a light source;

the camera array is used for capturing the deformation of the double-layer flexible layer structure;

the double-layer flexible layer structure is based on a material with light transmission and flexibility;

the device senses the deformation of the double-layer flexible layer structure by capturing the light irradiated to the double-layer flexible layer structure by the light source.

For the above embodiment, the innovativeness of the device for collecting massage signals is provided, and the innovativeness is mainly embodied in the following points:

first, innovation is realized in the double-layer flexible layer structure. It can be understood that the epidermis layer is used for contacting with the contact surface, the epidermis layer not only provides tactile hand feeling (note: it can be understood that different levels of tactile hand feeling can be provided by selecting or designing materials for the epidermis layer), but also can be provided with a reflecting layer on the epidermis layer, so that light rays along the dermis layer and the epidermis layer are reflected and then enter the camera head along the direction of the epidermis layer and the dermis layer; for example, on the side close to the dermis layer, a silver pigment is mixed on one surface of the inner part of the epidermis layer to serve as a reflecting layer, so that the camera array can be assisted to capture the deformation of the double-layer flexible layer structure; of course, a silver pigment may be mixed or coated on the outer surface of the skin layer or on the inner surface of the outer surface of the skin layer as a reflective layer, wherein when the silver pigment is mixed or coated on the outer surface, the requirements on wear resistance and durability of the reflective layer are high;

secondly, the acceleration sensor is arranged, so that the hand feeling and the operation habit of a masseur, including the force exerting mode, the acceleration of action change and the like, can be captured and collected more accurately and comprehensively;

thirdly, because the double-layer flexible layer structure is a bionic epidermal layer-dermis layer, the double-layer flexible layer structure can physically imitate human skin, and even if a better material is adopted, the sensitivity of the double-layer flexible layer structure can exceed that of the human skin;

fourthly, because the double-layer flexible layer structure has the light transmissivity, when the double-layer flexible layer structure deforms, the light penetrating through the double-layer flexible layer structure changes on the light path, and the light is captured by the camera, so that the device realizes the perception of touch. It should be noted that when the camera array captures light, the camera captures the deformation of the double-layer flexible layer structure not only through the epidermis layer of the outermost layer of the device, but also through the dermis layer.

Further, if the device further comprises a processor, the processor may directly process the image obtained by the camera and directly obtain the specific tactile information by parsing the image.

Therefore, the masseur can directly perform massage operation on the device, and the device can acquire data such as hand feeling and operation habits of the masseur. The device is preferably implemented as a phantom, or, in the case of conditional conditions, as a device.

In one embodiment of the method of manufacturing the optical fiber,

according to the flexibility of the double-layer flexible layer structure, the double-layer flexible layer structure is deformed;

according to the light transmission of the double-layer flexible layer structure, the deformation of the double-layer flexible layer structure can be captured by the camera array.

Referring to fig. 1, in one embodiment,

from outside-in, the device comprises from top to bottom: double-deck flexible layer structure 1, transparent material 2, lamp plate 3, a plurality of camera 4 form the camera array, and circuit board 5, installation material 6 is fixed the board 7 of circuit board, lower part packaging body 8, wherein, circuit board 5 is connected with acceleration sensor. Lamp plate 3 can install between transparent material 2 and camera array, provides the illumination environment for the device is inside. The transparent material can be transparent acrylic or other more flexible transparent materials. The circuit board 5 may further connect the respective cameras through a heat sink.

It should be noted that the device is preferably used for manikins, which can be realized as a jacket, a shirt, etc., and a device in the form of a face mask like a face mask. Furthermore, with the development of flexible materials, the device can also be implemented as a device that can be used by a natural human model, while ensuring that light hardly penetrates out of the device. For the manikin, the lower encapsulation 8 may be ABS material, the board 7 fixing the circuit board may be ABS material or other flexible material, and the mounting material 6 may be copper posts; for a natural mannequin, the lower enclosure 8 may be a flexible light shielding material, the board 7 holding the circuit board is preferably a flexible material, and the mounting material 6 may be a material required for gluing or other means.

It should be noted that the camera array is preferentially disposed at corresponding positions of meridians and collaterals and acupoints of the human body, or disposed in corresponding regions or points of each muscle corresponding to a muscle perspective diagram and the like.

Fig. 2 is a schematic diagram showing the overall structure of the apparatus of fig. 1.

In another embodiment, as shown in FIG. 3, it illustrates the theoretically complete optical path of a single camera head through the maximum optical path range on the left and right. Ideally, the single camera provides the sensing capability of the device within this range, within this maximum optical path.

However, fig. 3 also illustrates the optical path of interest in practice by the optical path ranges of practical application on the left and right sides, considering the weakening of the effect of the edge. Fig. 4 further illustrates the optical path of interest in practice by means of a cross-sectional top view, which as shown covers a rectangular area where the effect and performance of the device is more stable.

With regard to the apparatus of the present disclosure, as mentioned above, the operating principle thereof is as follows: because the double-layer flexible layer structure has light transmission, when the double-layer flexible layer structure deforms, light penetrating through the double-layer flexible layer structure changes on a light path, and therefore the device can sense the touch sense by sensing the change of the light path. And, for this reason, the present disclosure discloses a device for collecting massage signals through the above-described embodiments.

It should be noted that the device disclosed in the present disclosure integrates the bionic and the above-mentioned working principle, which is significantly different from the solution in the prior art.

Taking CN108446042A as an example, it discloses a capacitive touch sensor, which is characterized in that: the touch sensor comprises a plurality of sensor units, each sensor unit comprises 4 multi-functional layers, each multi-functional layer comprises a corresponding area, and the 4 multi-functional layers form two capacitors C1 and C2; two layers of electrodes are arranged inside each multi-functional layer, the upper layer is a cross-shaped common electrode, the lower layer is 4 independent electrodes corresponding to the cross-shaped common electrode on the upper layer, and the cross-shaped common electrode and the 4 independent electrodes form 4 parallel plate capacitors; the cross-shaped common electrode is connected with an excitation signal, and the independent electrode is connected with an analog-digital conversion circuit.

Fig. 5 illustrates the working principle of the capacitive touch sensor in the prior art, as described in the specification [ 0081 ]: as shown in the figure, the sensor unit of the SPI bus in a measuring state is selected to be marked as 0 through an address bit in a regional shielding type scanning mode; the sensor cells for which the address bits are not designated are marked as X ground shields and therefore do not contribute to cross-talk to the selected sensor cells. The 4 multifunctional layers of the selected sensor unit form 2 capacitors for realizing the function of touch, and the excitation signal comes from the inside of the sensor unit. When the sensor unit is used as a grounding shielding unit, the 4 multifunctional layers are grounded simultaneously, and the size of the shielding area, namely the number of the units shielded by the grounding can be selected according to actual needs. When the sensor unit is used as a grounding shielding unit, the multifunctional layers of the sensor unit temporarily lose the function of touch feeling, but the unit used for three-dimensional force measurement in each multifunctional layer is still in a normal working state so as to ensure that the sensor unit still has the functions of pressure feeling and sliding feeling. Since the 4 multi-functional layers of the non-selected sensor cells are grounded, no crosstalk is caused to adjacent selected cells.

Obviously, the above prior art is a touch sensor constructed based on the principle that electronic components utilize capacitive touch, and the touch sensor does not have any physical simulation function, and cannot achieve the bionic effect that can be achieved by the bionic epidermal layer-dermal layer of the device disclosed by the present disclosure.

In another embodiment of the present invention, the substrate is,

the cameras include 2 cameras to form binocular camera shooting.

Because binocular camera shooting can sense three-dimensional image information, and the three-dimensional image information can analyze three-dimensional force information, the light source can be a monochromatic light source, such as a white light source.

Referring to fig. 6A, in another embodiment,

when the camera includes 2 cameras to form a binocular camera, each camera (for example, the cameras camera 1 and camera 2 in the figure) is respectively inclined to the central point O between the 2 cameras, so that, on the side of the double-layer flexible layer structure close to the cameras, the visual field range of each camera is maximally covered up to: between the camera and the two ends of the double-layer flexible layer structure. The advantage of this embodiment is that the requirements on the performance and parameters of the camera are at least reduced.

Comparing fig. 6A and 6B, it can be seen that in fig. 6B, the two cameras are horizontally placed, which do not involve tilting to the central point O, which results in unnecessary waste of the performance of the cameras, and the field of view of the camera in fig. 6B is larger than that of the camera in fig. 6A, but exceeds the requirement for actually sensing an image in the field of view between the two ends of the double-layer flexible layer structure.

Therefore, the embodiment shown in fig. 6A makes full use of the capability of each camera, and meanwhile, because α < β, the embodiment also effectively reduces the FOV of the camera, and reduces the parameter requirements on the camera.

In another embodiment, the skin layer may be a fully mixed coating with a silicone gel. Further, the skin layer is implemented as an opaque/opaque reflective layer.

In another embodiment of the present invention, the substrate is,

the coating described in this disclosure may be a white coating, or a black coating, or a composite coating that feels a variety of hands, or a silver coating, or a gray coating.

In another embodiment of the present invention, the substrate is,

the double-layer flexible layer structure is palm-shaped.

It will be appreciated that this takes advantage of both the flexibility of the two-layer flexible layer structure and the better personification of the palm-shaped design. Typically, the palm is designed to be circular.

In a further embodiment of the method according to the invention,

the epidermis layer and the dermis layer are both made of flexible materials based on silicon rubber materials. For example, the epidermis layer and the dermis layer are both made of flexible materials based on PDMS silicone materials.

Typically, the silicone rubber material is a chemical silicone rubber material. The flexible material having translucency and flexibility can be further expanded to materials other than silicone rubber materials.

Further, the epidermis layer and the dermis layer can even be made of flexible materials based on different materials so as to flexibly control the flexibility and the light transmittance.

In another embodiment of the present invention, the substrate is,

the thickness of the dermis layer is larger than that of the epidermis layer, preferably, the thickness of the dermis layer is larger than 10mm, and the thickness of the epidermis layer is smaller than 5mm.

In another embodiment of the present invention, the substrate is,

the hardness of the dermis layer is smaller than that of the epidermis layer, preferably, the hardness of the epidermis layer belongs to the Shore A hardness range, and the hardness value is larger than 15; the dermis layer has a hardness of less than 10.

In a further embodiment of the method according to the invention,

the dermal layer adheres to the epidermal layer by its own adhesiveness.

In this way, it is possible to bond the two by itself, rather than introducing other glue. Of course, as for the edge part after the two are bonded, since the work of the device is hardly influenced, if the edge part needs to be more tightly bonded, transparent soft glue can be coated on the edge or the periphery of the edge.

In a further embodiment of the method according to the invention,

the double-layer flexible layer structure is preferably designed as a consumable type flexible layer which is easy to replace.

It can be appreciated that this embodiment makes the device disclosed in this disclosure a convenient maintenance device, as is consumable replacement. The optical signal in the optical path is transmitted in an optical mode, and the device can be continuously used for a long time as long as the performance such as the resolution ratio of the camera is not reduced.

In another embodiment of the present invention, the substrate is,

marking may be performed by penetrating the interior of the dermal layer with a pigmented needle;

when the device works, the deformation of the double-layer flexible layer structure is further sensed after the deformation of the double-layer flexible layer structure is captured by the camera array.

For example, a needle brush coated with pigment is used to penetrate into the dermis layer along the thickness direction of the dermis layer in batches at one time, and the density and the height of the stitches are set according to the density setting of the marks. It is to be understood that the color of the pigment is for ease of sensing when post-processing image data captured by the camera array, and the disclosure is not limited to a particular color. In theory, other directions (typically, any directions in the XYZ coordinate system) may be used instead of the thickness direction, as long as it is convenient to sense the deformation of the image data captured by the camera array when the image data is post-processed. It can be appreciated that even different coordinate systems can process the relevant data by coordinate transformation. The thickness direction is a preferred direction, and the thickness direction refers to a direction from the skin layer to the dermis layer or a direction opposite thereto. The mark on the thickness is beneficial to analyzing deformation when image data is processed in a later period.

The marking is performed to solve the problem of the parameter such as the displacement variation caused by the deformation of the flexible layer structure from the time t1 to the time t2, and even the average speed of the displacement variation. The key to the problem is that reference information about the space needs to be included in the image data. The embodiment prefers marks in the thickness direction, such marks obviously become auxiliary information (note: including at least information in the z direction), and marks with colors at each place can establish a localized spatial information in the flexible layer structure. The marks can be used as extra space reference information, so that the problem of solving parameters such as displacement variation caused by deformation of the flexible layer structure from time t1 to time t2 and average speed on each dimension corresponding to the displacement variation is solved.

Further, in the case of marking, between time t1 and time tN, regardless of whether time t1 is time 0 or another time, during this time interval, the disclosure may further determine a contact force, specifically at least a three-dimensional contact force (hereinafter also referred to as a six-dimensional contact force, and more specifically hereinafter). The reason is that: the deformation of the epidermis itself involves a process from time t1 to time tN when a force is applied to the device, and in this process, a number of intermediate times ti (i equals 2,3,4, etc.), which soon become contact points if the initial position of contact is a point, and which often accompanies a change in the outer surface of the epidermis in the sense of a curve, then the contact force is necessarily calculated over an intermediate number of time periods, such as a change between time t2 and time t1, a change between time t3 and time t2, etc. For the outer surface of the skin layer, this is obviously a continuous process of curvature, the action of the force being dynamic and involving components of the force in the XYZ three directions. Since the mark is equal to introducing additional spatial information, specifically, positioning information, the present disclosure can find the three-dimensional contact force during the deformation of the double-layer flexible layer structure. The colored points marked in this embodiment become reference points or anchor points that can be searched all the time in the whole process of changing the outer surface curved surface of the epidermis layer, and at any moment, what spatial state all marks are can be known all the time, and at the next moment, what spatial state all marks are can be known still. Light enters the epidermis layer from the dermis layer, passes through the reflecting layer and then enters the camera along the epidermis layer to the dermis layer direction, and at the moment t1 to the moment t2, all changes that serve as the mark of location can be reflected, and how much and the speed of change then have a mapping relation with the force of applying to double-deck flexible layer structure, therefore, this disclosure can be used for seeking three-dimensional contact force. Naturally, a dynamic geometric deformation process can also be determined at this time.

In addition, as long as the deformation capacity of the double-layer flexible layer structure is fine enough, the resolution capacity of the camera has no upper limit, theoretically, the interval between the t1 moment and the t2 moment can be small enough, and the accuracy can be continuously improved by the method for obtaining the contact force.

In another embodiment of the present invention, the substrate is,

the interior of the dermal layer may be contoured for marking, using a laser or needle;

when the device works, the deformation of the double-layer flexible layer structure is further sensed after the deformation of the double-layer flexible layer structure is captured by the camera array.

Compared with the former embodiment, the mark of the present embodiment is not a dot as a mark, but a certain outline or a pattern or a color block as a mark. It can be understood that the embodiment can also sense the touch force by sensing the corresponding contour or pattern or color block, such as a circle, or other contour, or a shape corresponding to a certain pattern, in the post-image processing process. The contour may refer to a narrow outer contour. In the present disclosure, to further extend, no matter the previous embodiment is dotted to perform the marking, or the present embodiment is marked with a certain outline or pattern or color block to perform the marking, the marking manner is not limited, and even the color block may be a random color block, and the pattern may be a random pattern, because the inventor realizes through various marking embodiments that: the camera can always see the mark and the change of the mark between any two moments before and after.

In another embodiment of the present invention, the substrate is,

and the straight line mark with the color is formed from the outer surface of the epidermal layer to a certain depth of the dermal layer, penetrates through the epidermal layer and penetrates into the dermal layer along the straight line direction. For example, a needle with a color on its entire body is directly inserted from the outer surface of the epidermis layer to a certain depth of the dermis layer, and after the needle is withdrawn, a straight mark of the color is formed in the double-layer flexible layer structure.

It will be appreciated that this also helps to find the three-dimensional contact force, and that this way allows a better view: when a force is applied to the outer surface of the epidermis layer, the epidermis layer and the inner portion of the dermis layer are specifically changed due to the deformation.

Each mark can be arranged on a double-layer flexible layer structure in an array manner, can also be arranged on the double-layer flexible layer structure in a random distribution manner, and can also be mixed with various different types of marks.

For the different labels, it is noted that:

the color block is larger than the dot, so when the deformation amplitude is large, the color block is more advantageous than the dot because the sensing performance of the color block is better than that of the dot when the deformation amplitude is large, and the sensing of large deformation can be met, and the dot can not be sensed at a certain moment or a certain moment due to the large deformation amplitude under extreme conditions; if the dots and the color blocks can be sensed, the resolution of the device is higher than that of the color blocks when the dots are marked, and the reason is that the size of the color blocks is just larger than that of the dots, so the massage sensing equipment of the color blocks cannot be fine enough, and the calculated amount of image processing of the color blocks is increased due to the large appearance size of the color blocks; further, the use of a plurality of markers in combination enables the sensitivity of the markers to be balanced with the resolution of the massage sensing device.

In addition, the color blocks of different colors have better sensability than the color blocks of a single color, because not only the color blocks constitute a kind of positioning information, but also the different colors themselves constitute an extra auxiliary information.

In another embodiment of the present invention, the substrate is,

the thickness and softness of the skin layer are constrained by the computational accuracy of the static geometry of the bi-layer flexible layer structure at any one time.

It will be appreciated that the thinner and softer the skin layer, the more accurate the static geometry, or static geometry deformation, at any one time can be calculated.

In a further embodiment of the method according to the invention,

when the device is subjected to a contact force due to contact,

the skin layer is used for fitting higher resolution, so that deformation of the double-layer flexible layer structure has the resolution of the skin layer.

It can be understood that the deformability of the skin layer itself is related to its resolution, the finer the deformability, the higher the resolution.

In a further embodiment of the method according to the invention,

when the flexible massage sensing device is used, the six-dimensional contact force is expressed by sensing the deformation of the double-layer flexible layer structure: in addition to the three-dimensional pressure vector field distributed in the epidermis layer as the contact layer surface, three moments per force vector are included. For example, the corresponding moments in the X, Y, Z coordinate system, are figuratively understood: the six-dimensional force refers to a force in the axial direction of the three-dimensional coordinate and a rotational force around the three-dimensional coordinate axis (note: in the present disclosure, the rotational force around the three-dimensional coordinate axis is understood as a moment).

It should be noted that this further enhances the innovative features of the disclosed technique, which facilitates the sensing of six-dimensional force fields. It will be appreciated that the toughness, hardness, thickness and material of the epidermis and dermis layers, respectively, may be further adjusted to optimize this property.

Compared with the aforementioned CN108446042A, the prior art can only sense three-dimensional force, but cannot sense rotational force around three-dimensional coordinate axes. The key to this significant difference is: the bionic double-layer flexible layer structure can be twisted and kneaded, and the rotation action can cause the transmission of light on the light path to change, so that the light can be sensed.

In another embodiment, the silicone rubber material has a light transmission of 95%.

In another embodiment of the present invention, the substrate is,

the camera is side imaging, and the advantage of design like this is under the circumstances of confirming the camera lens formation of image angle, and the camera is closer to double-deck flexible layer structure, is favorable to reducing the overall height or the gross thickness of device.

In another embodiment of the present invention, the substrate is,

the middle shell and other shell bodies can play a role in shading light.

In a further embodiment of the method according to the invention,

the surface of the double-layer flexible layer structure has viscosity, and the viscosity of the surface of the double-layer flexible layer structure is utilized to be matched with inorganic transparent materials, such as: bonding glass, quartz and the like; preferably, the double-layer flexible layer structure can be realized as a double-layer soft cushion, the elongation at break is 100%, when the double-layer soft cushion is manufactured, a soft cushion mold is used for molding, and after vacuumizing, the double-layer soft cushion is formed by heating and baking; in addition, the dermis layer is soft and has certain viscosity, so that transparent soft glue is coated only on the edge of the contact surface of the dermis layer and the epidermis layer, and the middle part is naturally adhered after air bubbles are squeezed out. It is understood that various bonding or conforming references in this disclosure may require the elimination of air bubbles, including the elimination of air bubbles by the adaptation of the double-layer flexible layer structure to the surface of the transparent material. Because the surface of the soft cushion has certain viscosity, the soft cushion can be self-adaptive to the surface of the transparent material, and full fit is realized.

The transparent material plays a role in supporting and transmitting light. Furthermore, the edges of the transparent material are as transparent as possible.

In another embodiment of the present invention, the substrate is,

preferably, the lamp panel is made of RGB LEDs, for example, 6 red lamps, 6 green lamps and 6 blue lamps are arranged in a group and a plurality of groups. Can understand, the lamp is used for providing the effect of light filling lamp or flash light for this disclosure the device can also work under the environment that needs the light filling such as dark.

Can understand, the device during operation, deformation can be seen to the camera after cushion surface atress deformation, and this is an image to can realize later stage applications such as touch sensing and detection through the processing of image. For example, hand, which may be derived primarily from the deformation of the skin layer interface.

In another embodiment, the transparent material is designed in the form of concave lenses and arrays thereof, thereby reducing the distance between the camera head and the flexible layer, and thus the thickness of the device.

Further, in another embodiment, the present disclosure also discloses a method for processing image data captured by the apparatus, including the following steps:

s100: detecting and sensing dermis layer marks on the imaging data of the epidermis layer and the dermis layer with high resolution, and calculating a three-dimensional force field by using the displacement of the marks;

s200: performing drying removal, image enhancement and other treatment on the high-resolution epidermal layer and dermal layer imaging data, and performing target removal on the dermal layer mark to obtain a high-quality epidermal layer high-resolution image;

s300: calculating a pixel gradient value based on the high-quality epidermal layer high-resolution image, and fitting the three-dimensional force field calculated in the step S100 by using gradient information to obtain a high-resolution three-dimensional force field;

s400: and calculating three-dimensional moment data based on the three-dimensional force field data so as to obtain a six-dimensional force field with high resolution and containing the moment.

For this method, it is possible to determine, sense and analyze the contact force by analyzing the data of the force field. The image understanding, the moment is more than the force by distance information, and the deformation of the device contains the information that the distance changes, and relates to the distance information and the time information. Therefore, while the massage sensing device of the present disclosure can determine the three-dimensional contact force by using the aforementioned marks, the present disclosure can further calculate the three-dimensional moment data to finally obtain the six-dimensional force field including the moment. When the image data includes information such as marks, even if the double-layer flexible layer structure has a curved surface change, the marks can always serve as a reference, the processing method of the image data is only to analyze and calculate the information, and the fundamental material basis is the device disclosed by the disclosure.

In another embodiment, the method further comprises the steps of:

s500: and (4) performing target detection and segmentation on the high-quality epidermal layer high-resolution image obtained by calculation in the step (S200) by using a Convolutional Neural Network (CNN), and extracting to obtain contact surface shape information.

In another embodiment, the method further comprises the steps of:

s600: and for the contact surface deformation information, fusing the contact surface deformation information of each frame of detected image on a time sequence, and performing behavior sensing and extraction by using a time sequence neural network (RNN) to obtain dynamic hand feeling information.

In the previous embodiment, it can be understood that, since time is involved in the deformation process, the time t in the fourth dimension is involved in the XYZ three dimensions, which is the root cause of the present disclosure for obtaining the contact surface deformation information and the dynamic hand feeling information.

In summary, the present disclosure provides a new device, and further discloses: through advanced image recognition and deep learning technologies, functions of contact surface six-dimensional force field calculation, contact surface deformation sensing, dynamic hand feeling sensing and the like can be finally realized on the basis of high-resolution imaging data of the epidermal layer.

Summarized below, the main features of the present disclosure are as follows:

1. provide high resolution and high precision "" contact force sensing "". The contact force obtained by the corresponding processing method is a three-dimensional contact force, and the result is a three-dimensional pressure vector field distributed on the surface of the contact layer, and can be finally realized as six dimensions;

2. provide "" contact surface deformation "" with high resolution and high precision. The result is a three-dimensional spatial location distributed over the surface of the contact layer;

3. the bionic epidermis-dermis double-layer flexible structure can sense the deformation of the epidermis layer and can express the six-dimensional contact force by increasing the deformation of the sensing dermis layer; the result includes three moments of each force vector in addition to the three-dimensional pressure vector field distributed on the surface of the contact layer;

4. the surface toughness, hardness, thickness, material and other different configurations of the materials of the epidermis and the dermis layer can measure the contact surface deformation in a larger space range, and the precision is kept;

5. through the high dynamic vision module with more than 120 frames, the contact force of high dynamic can be realized, and the contact force which changes rapidly can be measured more accurately;

6. based on the 'hand feeling' sensing of deep learning, different types of images caused by contact force and contact surface deformation results are sensed into a plurality of different hand feelings through a deep neural network;

7. based on deep learning "dynamic hand feeling" sensing, dynamic hand feeling can be sensed and classified in the active touch process;

8. based on the action of the acceleration sensor, it is possible to acquire the change of the acceleration involved in the motion of the masseur throughout the massage period.

Those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts, modules, and elements described are not necessarily required for the disclosure.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the several embodiments provided in the present disclosure, it should be understood that the disclosed methods may be implemented as corresponding functional units, processors or even systems, wherein parts of the system may be located in one place or distributed over multiple network elements. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment. In addition, each functional unit may be integrated into one processing unit, each unit may exist alone, or two or more units may be integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit. The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present disclosure may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a smartphone, a personal digital assistant, a wearable device, a laptop, a tablet computer) to perform all or part of the steps of the method according to the embodiments of the present disclosure. The storage medium includes various media capable of storing program codes, such as a usb disk, a Read-only Memory (R0M), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.

As described above, the above embodiments are only used to illustrate the technical solutions of the present disclosure, and not to limit the same; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims (11)

1. An apparatus for acquiring massage signals, comprising:

the bionic skin layer-dermis layer structure comprises a double-layer flexible layer structure, a camera array, an acceleration sensor and a light source;

the camera array is used for capturing the deformation of the double-layer flexible layer structure;

the double-layer flexible layer structure is based on a material with light transmission and flexibility;

the device senses the deformation of the double-layer flexible layer structure by capturing the light irradiated to the double-layer flexible layer structure by the light source.

2. The apparatus of claim 1, wherein:

the skin layer includes a reflective layer that reflects light rays.

3. The apparatus of claim 1, wherein:

the camera is a binocular camera.

4. The apparatus of claim 1, wherein:

the thickness of the dermal layer is greater than the thickness of the epidermal layer.

5. The apparatus of claim 4, wherein:

the thickness of the dermis layer is more than 10mm, and the thickness of the epidermis layer is less than 5mm.

6. The apparatus of claim 1, wherein:

the dermis layer is less stiff than the epidermis layer.

7. The apparatus of claim 6, wherein:

the hardness of the epidermal layer belongs to the Shore A hardness range, and the hardness value is greater than 15; the hardness of the dermis layer is less than 10.

8. The apparatus of claim 1, wherein:

the dermal layer is bonded to the epidermal layer by its own adhesiveness.

9. The apparatus of claim 1, wherein:

the interior of the dermal layer is penetrated by a pigmented needle to form a mark.

10. The apparatus of claim 1, wherein:

the inner part of the dermis layer is provided with a contour or a pattern or a color block through laser or needle printing.

11. The apparatus of claim 1, wherein:

two cameras of the binocular camera respectively incline to a center O between the cameras by a certain angle.

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