Soft driver

Abstract

The invention provides a soft driver. The soft driver comprises a driver body and a binding layer wrapping the periphery of the soft driver body; the soft driver body comprises a plurality of elastic layers which are sequentially stacked from inside to outside, a front end cover and a rear end cover, wherein the front end cover and the rear end cover block the two ends of the elastic layers; the hardness of the outermost elastic layer is the highest, the hardness of the other elastic layers is gradually increased or equal in sequence from inside to outside, and a cavity used for containing fluid is formed in the innermost elastic layer; the rear end cover is a closed end cover, and a first through hole for introducing fluid into the cavity is formed in the front end cover; and the binding layer wraps part of the outer side wall of the outermost elastic layer and is a stretchable thin sheet formed by cutting a plurality of notches distributed at intervals in a thin sheet made of a non-stretchable elastic material or an elastic plastic material, and bending deformation of the soft driver body is achieved while expansion of the soft driver body is limited. The soft driver is large in output force, large in bending deformation and high in response frequency, and can be used in the fields of industry and clinical medicine.

Description

technical field [0001] The invention relates to a fluid-driven soft actuator, in particular to a soft actuator capable of generating greater bending moment force while generating sufficient bending deformation. It belongs to the technical field of software drivers. Background technique [0002] Compared with traditional rigid actuators, soft actuators with good compliance, strong adaptability, and high flexibility have attracted the attention of a large number of domestic and foreign researchers in recent years. Generally speaking, soft actuators are mainly composed of soft materials with high compliance and low elastic modulus similar to bioorganics, including silicone rubber, gel, dielectric elastomer, liquid crystal elastomer, etc. At this stage, there are many driving methods for soft drives, including pneumatic drive, hydraulic drive, electric field drive, optical drive, chemical drive, temperature field drive, etc. Under these actuation forms, soft actuators can comp...

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Problems solved by technology

[0003] At this stage, there are also some domestic patents that describe the soft drive in detail, such as "Variable Stiffness Soft Drive and Hand Rehabilitation Training Robot Using the Drive" invented by Wang Lizhen and others (202010090722.6, publication date: June 2020 26th), Chen Diansheng et al. invented "A Rigid-Flexible Coupled Pneumatic Actuator Based on a New Variable Stiffness Structure" (201810365694.7, Publication Date: October 09, 2018), and Chen Wenbin et al. Software driver for four-finger stretching motion" (201810259807.5, public date: November 12, 2019), "a software rehabilitation hand imitating fishbone structure" invented by Wang Hanfei et al. (201811276358.1, public date: February 22, 2019) Japan), Li Yuwen et al. invented "A Soft Driver with Hard Shell Reinforcement" (201910738195.2, publication date: November 26, 2019), etc. These software drivers are mainly based on the manufacturing method and deformation form of the software driver. Diversity, control mode, etc., but its driver has limited bending force (cannot grasp heavier objects, cannot provide patients with greater assisting force during rehabilitation training), and limited response frequency (difficult to quickly move objects. Sorting), poor structural rigidity, poor fit with human hands, etc.

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