Pneumatic soft mechanical hand with touch sensing function

Abstract

The invention discloses a pneumatic type soft mechanical hand with a touch sensing function. The pneumatic soft mechanical hand is composed of an electric heating phase change actuator, a soft mechanical hand and a flexible touch sensing unit, wherein a flexible heating film and a liquid phase change material are arranged in the electric heating phase change actuator. According to the pneumatic type soft mechanical hand with the touch sensing function, the liquid phase change material is evaporated by electrifying and heating the flexible heating film, so that the pressure intensity of the cavity in the inner part of the electric heating phase change actuator is regulated, thus the bending state of the soft mechanical hand is dynamically adjusted so as to complete the grabbing operation; meanwhile, the flexible touch sensing unit is used for sensing time-varying information of grabbing force during the grabbing target process of the soft mechanical hand and taking the time-varying information as a feedback source for adjusting the bending state of the soft mechanical hand, so that closed-loop feedback control is formed; and the structure of the pneumatic type soft mechanical hand is flexible, a feasibility scheme is provided for safely and intelligently grabbing for the robot dexterous hand.

Description

technical field [0001] The invention belongs to the field of soft robots and sensors, and is mainly used in intelligent robots to complete safe and dexterous grasping, and in particular relates to a pneumatic soft manipulator with tactile perception function. Background technique [0002] In recent years, the application of flexible materials in the design and manufacture of soft manipulators has attracted widespread attention from scholars at home and abroad, and has been continuously studied. With the development of society, people put forward new requirements for humanoid hand mechanical devices in many fields, including the safety, friendliness and flexibility of human-machine and machine-environment interactions. For example, in the sorting of objects with changeable shapes and fragile surfaces (fruits, vegetables, and biological tissues, etc.), in the design of medical rehabilitation and auxiliary power devices for stroke patients, and in medical devices such as assist...

AI Technical Summary

Problems solved by technology

Due to the easily deformable nature of flexible materials, soft manipulators are susceptible to passive deformation due to environmental conditions, which affects the repeatability and positioning accuracy of their movements.

②The problem of low output force of the soft manipulator

Traditional rigid manipulators have deficiencies in grasping fragile and easily damaged objects due to their lack of flexibility. Although general flexible manipulators can overcome the disadvantages of rigid manipulators, they still cannot obtain the contact force during the grasping process because they do not have tactile perception functions. time-varying information of

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