Soft operating arm based on cross-modal tactile sensor and bubble driver

Abstract

The invention discloses a soft operation arm based on a cross-modal tactile sensor and a bubble driver. The soft operation arm comprises the cross-modal tactile sensor, a soft pneumatic finger, a square fixing plate, a triangular supporting plate and the bubble driver. The mechanical arm has safe man-machine interactivity and infinite degree of freedom, and the motion ability of the mechanical arm is improved; meanwhile, a soft pneumatic finger with a transmembrane state tactile sensing function is carried, so that self-adaptive grabbing can be realized, and multifunctional sensing can be realized by utilizing a transmembrane state tactile sensor, and whether the soft manipulator is in contact with an object or not can be sensed; sensing whether the soft pneumatic finger successfully grabs the object or not, and monitoring the grabbing stability of the object in real time in the process of grabbing and carrying the object; and the contact force in the grabbing process can be sensed, and the output grabbing force can be accurately controlled, so that safe grabbing of an object is realized.

Description

technical field [0001] The invention relates to the technical field of robotic arms and robotic hands, in particular to a software manipulation arm based on a cross-modal tactile sensor and a bubble driver. Background technique [0002] Compared with traditional rigid robots, soft robots have flexibility, adaptability, human-computer interaction safety and biocompatibility, and have broad application prospects in agriculture, animal husbandry, food and medical industries. The grasping of fruits, vegetables and biological tissues) requires that the software gripper and manipulator can grasp and realize automatic handling operations; at the same time, multi-fingered hands, as a substitute for human hands, need to show sufficient flexibility and have tactile perception functions. , to adapt to the unstructured complex contact environment. [0003] For the manipulator drive, the traditional manipulator has fewer degrees of freedom due to the limitation of rigid materials, and i...

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Problems solved by technology

[0003] For the manipulator driver, the traditional manipulator has fewer degrees of freedom due to the limitation of rigid materials, and increasing the degree of freedom requires the addition of corresponding sensors, which increases the complexity of the system, and there is a large gap in the process of human-computer interaction. Potential safety hazards; for end effectors, the biggest difference between a soft hand and a rigid manipulator is that the body material is flexible. Since soft materials have more complex and rich response characteristics than rigid materials, this not only brings functional flexibility and compliance, There are also more possibilities in the design and control methods of the soft hand

As a branch of the soft robot field, the soft hand is developing rapidly. With its good active and passive adaptability, safety and complex environment adaptability and other performance advantages, it will definitely play an important application value in many fields of production and life. In terms of tactile sensing, the application and commercialization of the existing tactile sensing technology is obviously lagging behind, and most of the research results obtained are still in the laboratory stage. There is basically no durable, reliable, and versatile soft tactile sensor in the world. For this reason, a soft manipulator based on cross-modal tactile sensors and bubble drivers is now proposed.

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