Sensing and driving integrated rigid-flexible coupling finger and flexible robot dexterous hand

Abstract

The invention provides a sensing and driving integrated rigid-flexible coupling finger and a flexible robot dexterous hand. The rigid-flexible coupling finger comprises a metacarpal bone segment, a near segment, a middle segment, a far segment, a torsion spring, a sensing and driving steel sheet, a linear motor, a pressure sensor and a flexible segment gasket. The sensing and driving steel sheet is provided with a sawtooth-shaped structure, and a resistance strain gauge is arranged on the surface of the sensing and driving steel sheet and used for detecting the bending angle of a finger joint; the flexible robot dexterous hand comprises an index finger, a middle finger, a ring finger, a little finger, a thumb, a flexible palm gasket, a direct current motor, a control module and a power module; the index finger, the middle finger, the ring finger and the little finger have the same structure as the rigid-flexible coupling finger and are connected with the flexible palm gasket; and a thumb metacarpal bone segment is connected with an index finger metacarpal bone segment through a revolute pair. The sensing and driving integrated rigid-flexible coupling finger and the flexible robot dexterous hand have the advantages of being simple and compact in structure, flexible, self-adaptive and easy to control.

Description

technical field [0001] The invention belongs to the interdisciplinary field of robotics, sensing technology, computer science, control science, human-computer interaction technology, and medical rehabilitation, and is specifically a perception-driven integrated rigid-flexible coupling finger and a compliant robot dexterous hand. Background technique [0002] The human hand is one of the important tools for people to communicate with the external environment. The loss of hand function caused by diseases and accidents will seriously affect the daily life of patients. The rehabilitation and care of patients often bring heavy economic and time burdens to patients' families and medical institutions. Therefore, it is of great research and practical value to design a dexterous hand with good human-computer interaction and safety to assist patients in daily object grasping and other operations. [0003] At present, the typical structure of dexterous hands can be divided into rigid ...

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Problems solved by technology

Patent CN201910945737.3 proposes a design method of a hand function rehabilitation robot for stroke patients with a rigid-flexible coupling structure. In the design of the robot finger, three pieces of spring steel are used as the connection mechanism of the rigid joint, the joint adaptive length adjustment mechanism, and The joint bending drive mechanism has a complex structure, and there are problems of low joint bending motion accuracy and stability. In order to detect the bending angle of the finger, the robot finger design uses a flexible bending sensor and an acceleration gyroscope sensor to detect the bending angle of the spring steel sheet respectively. And the attitude angle of the fingers, there are problems of complex system, high assembly precision requirements, cumbersome installation, and low operational reliability, and the bending angles of the three joints of the fingers are fixed

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