Device used for measuring grabbing and holding pressure of dexterous hand
A dexterous hand and pressure technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems that the fingers cannot quickly make corresponding gestures and actions, and the pressure measurement device cannot receive efficiently
Inactive Publication Date: 2020-03-27
ZHEJIANG UNIV OF TECH
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Problems solved by technology
[0004] In order to overcome the technical problem that the pressure measuring device in the prior art cannot receive information such as force sense and tactile sense efficiently and without hysteresis, resulting in the fingers being unable to quickly adjust the corresponding posture and action, the present invention provides a method for measuring dexterity. The hand grasps the pressure device, and the cooperation of the first airbag, the second airbag, the trachea, the tympanic membrane and the pressure measurement member can realize the efficient and non-delayed reception of information such as force and touch, so the fingers can quickly make decisions according to the received information. Corresponding posture and movement adjustment
Method used
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[0024] like Figure 1 to Figure 4As shown, a device for measuring the grasping pressure of a dexterous hand includes a hand-shaped grasping member, the grasping member includes a palm 1 and a finger 2, and the side of the finger that is in contact with the object 7 to be grasped is provided with a first Airbag 3, a second airbag 4 is provided on the side where the palm is in contact with the object to be grasped, and a conduit 5 for assisting gas circulation is provided in the finger, and the conduit communicates with the first airbag and the second airbag, and the conduit is far away from the fingertip of the finger One end of the eardrum is provided with a tympanic membrane 6, and a pressure measuring member is connected to the tympanic membrane; the first airbag is a spherical structure, part of the structure of the first airbag is embedded inside the finger, and the part protruding from the finger of the first airbag is hemispherical; the tympanic membrane is a spherical sh...
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The invention discloses a device used for measuring the grabbing and holding pressure of a dexterous hand. The device aims to solve the technical problems that in the prior art, an existing pressure measuring device cannot receive the force sense, the tactile sense and other information efficiently without lag, and then fingers cannot quickly make corresponding posture and action adjustment. The device comprises a grabbing component in a hand shape and is characterized in that the grabbing component comprises a palm and fingers, the sides, in contact with an object to be grabbed, of the fingers are provided with first air bags, the side, in contact with the object to be grabbed, of the palm is provided with second air bags, the fingers are internally provided with guide pipes for assistance in gas circulation, the guide pipes communicate with the first air bags and the second air bags, the ends, far away from the fingertips of the fingers, of the guide pipes are provided with tympanicmembranes, and pressure measuring components are connected to the tympanic membranes.
Description
technical field [0001] The invention relates to the technical field of dexterous hand grasping and operation, in particular to a device for measuring dexterous hand grasping pressure. Background technique [0002] The rapid development of science and technology has made robots more and more intelligent. Now we only need to control robots to achieve large-scale production or operation. Therefore, robot technology has now become an extremely important industry that is indispensable to our work and daily life. One of the automation technologies. The rapid development of industrial automation technology and the ever-expanding robot application field make us put forward higher and more intelligent requirements for the existing robot technology, which makes the current robot must be equipped with various sensors or sensing devices. In order to further enhance the intelligence of robots, researchers began to equip them with various sensors or sensors that can better perceive the e...
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Login to View More IPC IPC(8): B25J13/08
CPCB25J13/082
Inventor 鲍官军张亚琪俞冰清
Owner ZHEJIANG UNIV OF TECH