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Control method of robot fingers based on conductive sponge

A technology of robotic fingers and conductive sponges, applied in surgical robots, manipulators, manufacturing tools, etc., can solve problems such as excessive grip force of fingers, insensitive corners of robot fingers, etc., and achieve the effect of improving comfort and safety

Inactive Publication Date: 2016-06-29
SHENZHEN JIANMING SCI & TECH
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  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

[0004] The main purpose of the present invention is to provide a control method for a robot finger based on a conductive sponge, aiming to solve the problem that the corner of the robot finger is insensitive, and the finger grip force is too large or too small when it contacts the patient's skin

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  • Control method of robot fingers based on conductive sponge
  • Control method of robot fingers based on conductive sponge

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Embodiment Construction

[0024] In order to further illustrate the technical means and effects of the present invention to achieve the above objectives, the specific implementation, structure, features and effects of the present invention will be described in detail below in conjunction with the accompanying drawings and preferred embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0025] refer to figure 1 as shown, figure 1 It is a structural schematic diagram of a preferred embodiment of the conductive sponge-based robot finger of the present invention.

[0026] In this embodiment, the robot finger based on conductive sponge includes a finger skeleton 4 arranged on the robot finger, a conductive sponge 1, a silicone sleeve 2, a first resistance measuring electrode 3, a second resistance measuring electrode 10, a first electric wire 8. The second electric wire 9, the first gear 5, the...

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Abstract

The invention discloses a control method of robot fingers based on conductive sponge. A robot finger based on conductive sponge comprises a finger skeleton, conductive sponge, a silicon rubber case, a first resistance measuring electrode, a second electrode measuring electrode, a first electric wire, a second electric wire, a first gear, a micro motor, a support block and a controller. When the silicon rubber case touches the skin of a detected person, the first and second resistance measuring electrodes detect the first and second resistance values at the two ends of the conductive sponge respectively, and the first and second current values corresponding to the first and second resistance values are transmitted to the controller through the first and second electric wires; and the controller controls to increase or reduce the rotation angle of the micro motor according to the first and second current values so as to increase or reduce the rotation amplitude of the finger skeleton. In the invention, the problem of insensitive rotation of the robot fingers is solved, and the comfort and safety of a patient are improved.

Description

technical field [0001] The invention relates to the technical field of medical equipment, in particular to a control method for a robot finger based on a conductive sponge. Background technique [0002] In modern society, robots are more and more widely used in surgical operations. They have high surgical accuracy and reliability, and can overcome factors such as hand tremors or physical fatigue of surgeons during operations. At present, the robot finger is one of the important components of surgical robots. However, the clamping force of the fingers of the existing surgical robots is relatively small, and the activity of the tail ends of the fingers is relatively small, so it has a great impact on the operation. [0003] Based on this, it is necessary to design a control method for a robotic finger based on conductive sponge, which can flexibly control the corner of the robot finger, improve the finger grip when the robot finger contacts the patient's skin, and improve the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/32
CPCB25J15/08
Inventor 张贯京陈兴明高伟明李慧玲刘志凡
Owner SHENZHEN JIANMING SCI & TECH
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