Pneumatic soft finger with tactile and shape perception function

Abstract

The invention discloses a pneumatic soft finger with tactile force and a shape perception function. The upper portion of the pneumatic soft finger is an actuator, the lower portion of the pneumatic soft finger comprises a silicon substrate layer, a tactile force perception layer, a shape perception layer and an inextensible layer which are arranged sequentially from bottom to top, wherein the tactile force perception layer is internally provided with multiple film pressure sensors adhered to the top face of the silicon substrate layer and distributed in an array, the shape perception layer isinternally and horizontally provided with a slice-type bending sensor adhered to the top face of the tactile force perception layer in the length direction of the finger, the upper portion of the pneumatic soft finger is formed by one-time pouring with a mold, and the lower portion of the pneumatic soft finger is manufactured by layered pouring with the mold. The pneumatic soft finger with the tactile force and the shape perception function has the advantages that the distribution and size of the tactile force and deformation of the soft finger can be measured when the soft finger is in contact with an object, the pneumatic soft finger is used for object identification, sliding detection and the like, thereby achieving that the object is grabbed and operated more reliably.

Description

technical field [0001] The invention relates to a pneumatic soft hand, in particular to a pneumatic soft finger with tactile force and shape perception functions. Background technique [0002] Haptic perception refers to any property that is measured through contact, including force, roughness, temperature, and more. Tactile perception is indispensable for humans to grasp and manipulate objects. In the early 1980s, experiments with local anesthesia showed that human tactile perception is very important for achieving a stable grip. Through tactile perception, humans can strictly control the applied grasping force to achieve optimal grasping, that is, to ensure that there is no slippage between the hand and the grasped object and the grasping force will not be too high. As an end effector for robots to manipulate objects, the pneumatic soft hand has good flexibility, adaptability, and safe human-computer interaction. The combination of tactile sensing system and pneumatic s...

AI Technical Summary

Problems solved by technology

[0003] The traditional pneumatic soft hand lacks the ability to perceive external information when manipulating objects, which greatly limits the reliability of its grasping and operation

At present, most of the common tactile sensors cannot be used in pneumatic soft hands due to the limitations of structural rigidity, quality, size and other factors.

In addition, if the sensor is simply installed on the pneumatic soft hand without sensing function, its grasping performance will be affected, and the feedback information is single, which cannot comprehensively provide the information needed by the grasper to achieve reliable grasping

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