A humanoid soft finger with origami structure based on conductive thermoplastic starch polymer

Abstract

A humanoid soft finger with an origami structure based on a conductive thermoplastic starch polymer belongs to the technical field of humanoid fingers, and aims to solve the problem of the existing humanoid soft fingers that use thermal phase change materials to achieve variable stiffness. The long response time of the high elastic state causes the slow response speed of the variable stiffness and the incompatibility of the flexibility and stiffness of the finger joints of the humanoid software. The present invention includes finger root, metacarpophalangeal joint, proximal phalanx, interphalangeal joint, middle phalanx, fingertip joint, distal phalanx, strain constraint layer, variable stiffness layer, cooling layer, and contact layer; U-shaped concaves are arranged at joints Groove, wrapped in Yoshimura-style origami on the outside; three homemade conductive thermoplastic starch polymers are placed on the bottom of the finger. The present invention can not only realize fast active control of phalanx stiffness, but also realize flexible movement of joints and synchronous passive adjustment of joint stiffness, and has the advantages of fast variable stiffness, high adaptability and flexible movement.

Description

technical field [0001] The invention relates to a humanoid soft finger, in particular to a humanoid soft finger with origami structure based on conductive thermoplastic starch polymer. Background technique [0002] Human fingers have biological characteristics such as mixed rigidity and softness, underactuation, active and passive control of stiffness, and have the functions of flexible movement and reliable grasping. It has always been one of the hot research directions in the field of bionic robots. The characteristics of high flexibility and good interactivity make humanoid soft fingers show greater advantages in unstructured environments compared with humanoid rigid fingers. However, existing humanoid soft fingers that use thermal phase change materials (such as conductive polylactic acid, shape memory polymers, etc.) The speed is slow, which reduces the flexibility of finger movement; the existing humanoid soft finger joints can not balance the compliant bending and jo...

AI Technical Summary

Problems solved by technology

However, existing humanoid soft fingers that use thermal phase change materials (such as conductive polylactic acid, shape memory polymers, etc.) The speed is slow, which reduces the flexibility of finger movement; the existing humanoid soft finger joints can not balance the compliant bending and joint stiffness. To achieve compliant bending of the joints, the stiffness of the joints can only be reduced or the joints cannot be bent when the stiffness is high.

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