Modular multifunctional soft dexterous hand capable of being bent in two directions

Abstract

A modular multifunctional soft dexterous hand capable of being bent in two directions comprises a large palm, a small palm, a silica gel adjustable connector and five finger actuators capable of beingbent in two directions, wherein the five finger actuators are installed on the palms. Each palm is formed by connecting two hard materials and soft silica gel in the middle. Each pneumatic finger isdesigned in a modular mode and is composed of three soft joints, two soft knuckles of an enhanced structure and a bending sensor, and the bending sensor is bonded to the lower layer of the finger actuator. The soft joints adopt a pneumatic network principle, the knuckles adopt equidistant enhanced structures, and the knuckles and the soft joints are each provided with an air hole to be connected with an air path, so that independent or coupled driving control is realized during inflation. The dexterous hand is simple in structure, the bending angle can be monitored and controlled in real time,and a bidirectional bending module of a palm joint can achieve forward bending and reverse active telescopic movement; and a multi-module form is adopted, so that multi-degree-of-freedom flexible operation can be realized, and a better hand rehabilitation training effect is achieved.

Description

technical field [0001] The invention belongs to the technical field of pneumatic soft robots, and relates to a bidirectionally bendable multi-module soft dexterous hand, which can be applied to flexible self-adaptive grasping and hand rehabilitation training. Background technique [0002] As the product of the combination of bionics and robotics, the dexterous hand has some appearance characteristics and functions of the human hand, and can simulate the movement of the human hand. In order to perform tasks instead of human hands in hazardous environments or delicate operations, the degree of freedom of dexterous hands needs to be enhanced. In recent years, the number of patients with loss of hand function caused by stroke and other diseases has been increasing year by year. For such patients, multifunctional dexterous hands are needed for daily life assistance and rehabilitation training. However, the degree of freedom of dexterous hands at this stage is not enough, and th...

AI Technical Summary

Problems solved by technology

Although the existing dexterous hands are mostly made of soft materials such as silicone rubber and are simple to manufacture, the structure will bend as a whole after inflation, and the degree of freedom of movement is not enough, and the palm joint can only bend one degree of freedom, which is not effective for hand training. , can't fit the human hand well, so it will bring discomfort and fail to achieve better results

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