Soft robotic finger based on flexible luminal deformation for force and position feedback

Abstract

The application belongs to the technical field of soft robot, and discloses a soft robot finger based on force and body position feedback of flexible cavity deformation, which comprises a force feedback mechanism and a position feedback mechanism. The force feedback mechanism comprises a soft fingertip, which is fixed at the upper end of a fixing part, the fixing part is fixed at the top end of a soft finger, a first silica gel hose penetrates the inside of the soft finger, and the fixing part and a first air pressure sensor are connected, and the first air pressure sensor is electrically connected with a first microcontroller. The position feedback mechanism comprises a bellows, which is fixed in a joint groove of the soft finger, a second silica gel hose penetrates the soft finger, and the bellows and a second air pressure sensor are connected, and the second air pressure sensor is electrically connected with a second microcontroller. The application aims to obtain the position information of the soft robot finger itself and the contact force information when the soft robot finger contacts with an object by using internal and external sensors respectively.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of soft robots, and particularly relates to a force and body position feedback soft robot finger based on flexible cavity deformation. BACKGROUND

[0002] Sensing is a research focus of soft robots. Currently, soft robots are no longer limited to simple reciprocating on-off open-loop motion, and need a sensing mechanism to obtain information in the internal and external environment and feed back to the control mechanism of the soft robot. The sensing mechanism of the soft robot generally consists of internal sensors and external sensors. Internal sensing mainly obtains variables such as the position and speed of the robot, and external sensing mainly obtains state variables such as contact force and distance when the robot interacts with the external environment. For internal sensing, mature sensing methods such as encoders, strain gauges and inertial measurement units are mostly used in traditional robot mechanisms, but such methods usually destroy the softness characteristics of the soft robot, and thus are not suitable for internal sensing of the soft robot. For external sensing, common external sensing methods mainly include camera mechanisms and electromagnetic tracking mechanisms, and most of such sensing methods need large and complex equipment, and are usually ineffective in some specific, narrow and magnetic object application scenarios.

[0003] In view of these problems, some new flexible sensing methods have appeared in recent years, such as optical fibers, conductive liquids and conductive carbon black. For example, the utility model patent CN 215114387 U proposes a flexible strain sensor based on conductive carbon black. When the finger is bent, the sensor attached to the joint will deform and the resistance will change. When the finger is straightened, the resistance returns to the initial value, and the greater the degree of finger bending, the higher the amplitude of the resistance response.

[0004] Most of the current sensing researches on soft robots are based on separate body sensing or separate external sensing, and few researches simultaneously integrate body sensing and external sensing mechanisms in the same soft robot mechanism. Therefore, the application proposes a force and body position feedback soft robot finger based on flexible cavity deformation. SUMMARY

[0005] In view of the deficiencies of the prior art, the purpose of the application is to provide a force and body position feedback soft robot finger based on flexible cavity deformation, which solves the problems mentioned in the background art.

[0006] The purpose of the application can be achieved by the following technical solutions:

[0007] The flexible cavity deformation-based force and body position feedback soft robot finger comprises a soft finger, a force feedback mechanism, a position feedback mechanism, a driving mechanism and a finger fixing mechanism.

[0008] The force feedback mechanism comprises a soft fingertip fixedly connected to the upper end of a fixing member, the fixing member being fixedly connected to the top end of the soft finger, a first silica gel hose penetrating through the inside of the soft finger to connect the fixing member and a first air pressure sensor, and the first air pressure sensor being electrically connected to a first microcontroller.

[0009] A cavity is formed in the inside of the soft fingertip, and a channel is arranged in the inside of the fixing member, and the first silica gel hose is in communication with the channel and the cavity.

[0010] The position feedback mechanism comprises a bellows fixedly connected to a joint groove of the soft finger, a second silica gel hose penetrating through the inside of the soft finger to connect the bellows and a second air pressure sensor, and the second air pressure sensor being electrically connected to a second microcontroller.

[0011] Further, the soft finger is in a cylindrical shape and is composed of three finger phalanges, one finger metacarpal bone and three finger joints; the three finger phalanges are movably connected in sequence through the finger joints, and the finger metacarpal bone is movably connected with the distal finger phalange through the finger joint; and the joint groove is formed on the other side of the finger joint.

[0012] Further, two equal and deep rope through holes are formed on the eccentric side of the inside of the soft finger; three equal and deep second silica gel hose through holes are formed on the same side of the eccentric inside of the soft finger as the rope through holes; and a first silica gel hose through hole is also formed on the other side of the eccentric inside of the soft finger.

[0013] Further, the soft fingertip is in a semispherical shape, and the cavity inside the soft fingertip is also in a semispherical shape.

[0014] Further, the fixing member is in a cylindrical shape, and the channel in the inside of the fixing member comprises an air cavity through hole formed in the inside of the top, and the bottom of the air cavity through hole is connected with a pipeline structure; one end of the first silica gel hose is connected to the pipeline structure, and the other end of the first silica gel hose penetrates through the whole soft finger through the first silica gel hose through hole and is connected with the first air pressure sensor at the bottom.

[0015] Further, the position feedback mechanism comprises three bellows, and the three bellows are respectively an upper end bellows, a middle bellows and a lower end bellows; and the three bellows are arranged at different joint groove positions on the corresponding soft fingers.

[0016] Further, the bellows contains a cavity structure inside, two independent silica gel hose channels are arranged in the cavity structure; a silica gel hose hole is arranged at the bottom of the bellows, one end of the second silica gel hose is connected to the silica gel hose hole, and the other end penetrates through the whole soft finger through the second silica gel hose through hole and is connected with the second air pressure sensor at the bottom.

[0017] Further, the driving mechanism is composed of a steering wheel and a rope, a steering wheel rotating shaft on the steering wheel is fixedly connected with a steering wheel pulley, one end of the rope is fixed to the top of the soft finger through the rope through hole, and the other end is fixed to the steering wheel pulley.

[0018] Further, the finger fixing mechanism is composed of a base and a connecting piece, the bottom end of the soft finger is fixed to the middle of the upper end of the base through the connecting piece.

[0019] Further, the first air pressure sensor, the first microcontroller, the second air pressure sensor and the second microcontroller are fixedly connected inside the base; the steering wheel is fixed to the inside of the base through a steering wheel upper end fixing piece and a steering wheel lower end fixing piece.

[0020] Advantages of the present application:

[0021] The present application proposes a novel flexible sensing mode based on gas pressure and cavity deformation, which integrates force feedback and position feedback functions at the top of the soft robot finger and the groove, respectively, and does not affect the flexibility of the soft robot finger. Under the driving of the steering wheel and the rope, the finger bends at the groove, the bellows is extruded and bends along the folding and telescoping direction synchronously and in the same direction as the finger, at the same time, the gas inside the bellows is compressed, and the pressure signal is converted through the measurement of the air pressure sensor and the processing of the microcontroller; after the soft robot finger at the top of the finger is deformed under the action of external force, the gas inside is also compressed, and the pressure signal is also converted through the measurement of the air pressure sensor and the processing of the microcontroller. The air pressure sensor can sense very slight air pressure change, the response time is rapid, usually not more than 5ms. Based on the experiment, the corresponding contact force-pressure value and bending angle-pressure value relationship can be established, so that the soft robot finger has the functions of force feedback and position feedback, and the internal and external sensing capabilities are obtained. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description, and obviously, other drawings can also be obtained by those skilled in the art without creative labor.

[0023] Figure 1Fig. 1 is a schematic diagram of the tissue structure of a soft robotic finger according to an embodiment of the present application;

[0024] Figure 2 Fig. 2 is a schematic diagram of the overall structure of a soft robotic finger according to an embodiment of the present application;

[0025] Figure 3 Fig. 3 is a schematic diagram of the structure of a soft finger according to an embodiment of the present application;

[0026] Figure 4 Fig. 4 is a schematic diagram of the cross-sectional structure of a soft finger according to an embodiment of the present application;

[0027] Figure 5 Fig. 5 is a schematic diagram of the structure of a force feedback mechanism according to an embodiment of the present application;

[0028] Figure 6 Fig. 6 is a schematic diagram of the structure of a soft fingertip according to an embodiment of the present application;

[0029] Figure 7 Fig. 7 is a schematic diagram of the structure of a fixing member according to an embodiment of the present application;

[0030] Figure 8 Fig. 8 is a sectional view of a fixing member according to an embodiment of the present application;

[0031] Figure 9 Fig. 9 is a schematic diagram of the structure of a position feedback mechanism according to an embodiment of the present application;

[0032] Figure 10 Fig. 10 is a schematic diagram of the structure of a bellows according to an embodiment of the present application;

[0033] Figure 11 Fig. 11 is a schematic diagram of the cross-sectional structure of a bellows according to an embodiment of the present application;

[0034] Figure 12 Fig. 12 is a sectional view of the connection between a bellows and a silicone hose according to an embodiment of the present application;

[0035] Figure 13 Fig. 13 is a schematic diagram of the structure of a finger fixing mechanism according to an embodiment of the present application;

[0036] Figure 14 Fig. 14 is a schematic diagram of the structure of a driving mechanism according to an embodiment of the present application;

[0037] Figure 15 Fig. 15 is a schematic diagram of the principle of driving and position feedback according to an embodiment of the present application;

[0038] Figure 16 Fig. 16 is a schematic diagram of the principle of force feedback according to an embodiment of the present application.

[0039] Reference signs:

[0040] 1, soft finger; 11, finger phalanx; 12, finger metacarpal; 13, finger joint; 14, joint groove; 15, rope through hole; 16, first silica gel hose through hole; 17, second silica gel hose through hole;

[0041] 2, force feedback mechanism; 21, soft fingertip, 211, cavity; 22, fixing part; 221, air cavity through hole; 222, pipe-shaped structure; 23, first silica gel hose; 24, first air pressure sensor; 25, first microcontroller;

[0042] 3, position feedback mechanism; 31, bellows; 311, upper end bellows; 312, middle bellows; 313, lower end bellows; 314, internal cavity structure; 315, silica gel hose hole; 316, silica gel hose channel; 32, second silica gel hose; 33, second air pressure sensor; 34, second microcontroller;

[0043] 4, driving mechanism; 41, steering gear; 411, steering gear rotating shaft; 412, steering gear pulley; 42, rope; 43, steering gear upper end fixing part; 44, steering gear lower end fixing part;

[0044] 5, finger fixing mechanism; 51, base; 52, connecting piece;

[0045] 6, object. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0047] In the description of the present application, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inner", "periphery" and the like indicate the orientation or positional relationship, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the components or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0048] As shown in Figure 1 and Figure 2 , the Figure 1 is a soft robotic finger tissue structure diagram of the embodiment of the present application, Figure 2 is a soft robotic finger overall structure diagram of the embodiment of the present application. The soft robotic finger is composed of five parts of soft finger 1, force feedback mechanism 2, position feedback mechanism 3, driving mechanism 4 and finger fixing mechanism 5.

[0049] As shown in Figure 3 , Figure 3 is a schematic diagram of the soft finger structure of the embodiment of the present application. The soft finger 1 is cylindrical, composed of three finger phalanges 11, one finger metacarpal 12 and three finger joints 13; the three finger phalanges 11 are connected in turn through the finger joints 13, and the finger metacarpal 12 is connected with the end finger phalange 11 through the finger joint 13; each finger joint 13 has a joint groove 14 of the same size and depth on the other side.

[0050] As shown in Figure 4 , Figure 4 is a schematic diagram of the cross-sectional structure of the soft finger of the embodiment of the present application. The eccentric side of the soft finger 1 has two equal and deep rope through holes 15 inside, for assembling the rope 42; the same side of the eccentric inside of the soft finger 1 has three equal and deep second silica gel hose through holes 17, which are used as the passage of the second silica gel hose 32 of the position feedback mechanism 3; the other side of the eccentric inside of the soft finger 1 also has a first silica gel hose through hole 16, which is used as the passage of the first silica gel hose 23 of the force feedback mechanism 2.

[0051] As shown in Figure 5 , Figure 5 is a schematic diagram of the force feedback mechanism structure of the embodiment of the present application. The whole force feedback mechanism 2 is composed of a soft fingertip 21, a fixed part 22, a first silica gel hose 23, a first air pressure sensor 24 and a first microcontroller 25. The soft fingertip 21 is fixedly arranged at the upper end of the fixed part 22, the lower end of the fixed part 22 is fixedly connected with the first air pressure sensor 24 through the first silica gel hose 23, and the first air pressure sensor 24 is electrically connected with the first microcontroller 25.

[0052] As shown in Figure 6 , Figure 6 is a schematic diagram of the soft fingertip structure of the embodiment of the present application. The soft fingertip 21 is semispherical, and has a semispherical cavity 211 inside.

[0053] As shown in Figure 7 and Figure 8 , Figure 7 is a schematic diagram of the fixed part structure of the embodiment of the present application, Figure 8is the sectional view of the fixing member of the embodiment of the present application. The fixing member 22 is fixedly connected between the top end of the soft finger 1 and the bottom end of the soft fingertip 21, and is used to connect the soft finger 1 and the soft fingertip 21. The fixing member 22 is in a cylindrical shape, and a gas cavity through hole 221 is opened in the inner side of the top end of the fixing member 22. The gas cavity through hole 221 is in communication with the cavity 211, and the bottom end of the gas cavity through hole 221 is connected with a pipe-shaped structure 222. One end of the first silica gel hose 23 is fixedly connected to the pipe-shaped structure 222, and the other end of the first silica gel hose 23 penetrates through the whole soft finger 1 through the first silica gel hose through hole 16, and is fixedly connected with the first air pressure sensor 24 at the bottom. The first air pressure sensor 24 is connected to the first microcontroller 25 for signal analysis and processing.

[0054] As shown in Figure 9 , Figure 9 is the structural schematic diagram of the position feedback mechanism of the embodiment of the present application. The whole position feedback mechanism 3 is composed of a bellows 31, a second silica gel hose 32, a second air pressure sensor 33 and a second microcontroller 34. The lower end of the bellows 31 is fixedly connected with the second air pressure sensor 33 through the second silica gel hose 32, and the second air pressure sensor 33 is electrically connected with the second microcontroller 34.

[0055] As shown in Figure 10 and Figure 11 , Figure 10 is the structural schematic diagram of the bellows of the embodiment of the present application, Figure 11Figure 1 is a schematic diagram of the cross-sectional structure of the bellows of an embodiment of the present application. The position feedback mechanism 3 comprises three bellows 31, namely an upper end bellow 311, a middle bellow 312 and a lower end bellow 313. The three bellows 31 are fixedly arranged at different positions of the three joint grooves 14 on the soft finger 1. The pitch of the bellows 31 is not the same, and the pitch inside the joint groove 14 is the smallest, and the pitch outside the joint groove 14 is the largest. This special structure design enables the bellows 31 to fold and stretch synchronously and in the same direction with the soft finger 1 under external force. The bellows 31 are internally provided with a cavity structure 314. In order to enable the silicone tube holes 315 at the bottom of the upper end bellow 311, the middle bellow 312 and the lower end bellow 313 to be connected with the second silicone tubes 32 to smoothly pass through the entire soft finger 1 through the second silicone tube through holes 17, and to avoid affecting each other while ensuring that the air volume of the internal cavity structure 314 of the upper end bellow 311, the middle bellow 312 and the lower end bellow 313 is the same, two independent silicone tube channels 316 are arranged inside the internal cavity structure 314, and the silicone tube channels 316 are used for the second silicone tubes 32 to pass through. Therefore, the internal structures of the upper end bellow 311, the middle bellow 312 and the lower end bellow 313 are different, that is, the distribution positions of the silicone tube holes 315 and the two silicone tube channels 316 are different. The internal silicone tube channels 316 also have a bellows structure, and the pitch inside and outside is also not the same, which can synchronously and in the same direction with the external bellows 31 to fold and shrink.

[0056] As shown in Figure 12 , Figure 12 Figure 2 is a schematic diagram of the connection profile of the bellows and the silicone tube of an embodiment of the present application. The silicone tube holes 315 at the bottom of the upper end bellow 311, the middle bellow 312 and the lower end bellow 313 are fixedly connected with one end of the respective second silicone tubes 32, and the other end of the three second silicone tubes 32 passes through the respective second silicone tube through holes 17 inside the soft finger 1 and is fixedly connected to the second air pressure sensor 33. The second air pressure sensor 33 is connected to the second microcontroller 34 for signal analysis and processing.

[0057] As shown in Figure 13 , Figure 13 Figure 3 is a schematic diagram of the finger fixing mechanism structure of an embodiment of the present application. The finger fixing mechanism 5 is composed of a base 51 and a connecting piece 52, and the bottom end of the soft finger 1 is fixed to the middle of the upper end surface of the base 51 through the connecting piece 52.

[0058] The first air pressure sensor 24 and the first microcontroller 25 connected with the bottom end of the first silicone tube 23, and the second air pressure sensor 33 and the second microcontroller 34 connected with the bottom end of the second silicone tube 32 are fixedly connected inside the base 51.

[0059] As Figure 14 and Figure 15 shown, Figure 14 is a schematic diagram of the driving mechanism structure of the embodiment of the present application, Figure 15 is a schematic diagram of the driving and position feedback principle of the embodiment of the present application. The driving mechanism 4 is composed of a steering wheel 41 and a rope 42. The steering wheel rotating shaft 411 is fixedly connected to the steering wheel pulley 412. One end of the rope 42 is fixed to the top of the soft finger 1 through the rope through hole 15, and the other end is fixed to the steering wheel pulley 412. The steering wheel 41 is fixed to the inside of the base 51 through the steering wheel upper end fixing piece 43 and the steering wheel lower end fixing piece 44.

[0060] The steering wheel 41 drives the rope 42 to contract and cooperate to output torque, so that the soft finger 1 generates coupled bending at each joint groove 14. The bellows 31 is compressed by force, and due to the special bellows structure design adopted by the external structure and the internal silicone hose channel 316, the bellows 31 will be folded and contracted synchronously and in the same direction with the soft finger 1 at the joint groove 14. After the external force is removed, the soft finger 1 can restore to the original state due to its own elasticity, and at the same time, the bellows 31 is also pulled up to the original state. In the whole folding and stretching process, the gas in the internal cavity structure 314 of the bellows 31 is compressed and restored. The pressure generated by the compressed and restored gas is transmitted to the second air pressure sensor 33 through the second silicone hose 32. After the measurement of the second air pressure sensor 33 and the analog-digital conversion of the second microcontroller 34, the corresponding air pressure value can be mapped. Based on the experiment, the corresponding relationship between the bending angle and the air pressure value can be obtained. Then, the change of the air pressure value caused by the compression and restoration of the bellows 31 during the bending process of the soft finger 1 can obtain the corresponding change of the bending angle of the soft finger 1 at the joint groove 14. After obtaining the bending angle at each joint groove 14, the position of the soft machine finger tip in the two-dimensional space can be calculated, so that the soft machine finger has the ability of position feedback.

[0061] As Figure 16 shown, Figure 16 is a schematic diagram of the force feedback principle of the embodiment of the present application. When the soft fingertip 21 contacts with the object 6, it is deformed locally under the action of force, causing the gas in the cavity 211 to be compressed. The pressure generated by the compressed gas is transmitted to the first air pressure sensor 24 through the air cavity through hole 221, the pipe-shaped structure 222 and the first silicone hose 23 in turn. After the measurement of the first air pressure sensor 24 and the analog-digital conversion of the first microcontroller 25, the corresponding air pressure value can be mapped. Based on the experiment, the corresponding contact force and air pressure value are calibrated. The change of the air pressure value caused by the soft fingertip 21 at the top of the finger when contacting with the object 6 can be converted into the size of the contact force, so that the soft machine finger has the ability of force feedback.

[0062] In the description of the application, reference to terms such as "one embodiment", "an example", "certain examples" or the like means that a particular feature, structure, material or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. The appearances of the above-described terms in various places in the specification are not necessarily referred to the same embodiment or example. Furthermore, the described particular features, structures, materials or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0063] The foregoing merely illustrates the principles of the application and application of its more particular aspects and embodiments. This description and drawings are not to be used in limiting the true spirit and scope of the application. Those skilled in the art will readily devise other ways and means of implementing the application without departing from the spirit and scope of the application as disclosed here.

Claims

1. A soft robotic finger based on force and body position feedback from deformation of a flexible lumen, characterized in that, The soft finger (1), the force feedback mechanism (2), the position feedback mechanism (3), the driving mechanism (4) and the finger fixing mechanism (5) are included. The force feedback mechanism (2) includes a soft fingertip (21) fixedly connected to the upper end of a fixing member (22) fixedly connected to the top end of the soft finger (1), a first silica gel hose (23) penetrating the inside of the soft finger (1) connects the fixing member (22) and a first air pressure sensor (24) electrically connected to a first microcontroller (25). The soft fingertip (21) is internally provided with a cavity (211), and the fixing member (22) is internally provided with a channel, and the first silica gel hose (23) is in communication with the channel and the cavity (211). The position feedback mechanism (3) includes a bellows (31) fixedly connected to the joint groove (14) of the soft finger (1), a second silica gel hose (32) penetrating the inside of the soft finger (1) connects the bellows (31) and a second air pressure sensor (33) electrically connected to a second microcontroller (34). The inside of the soft finger (1) is eccentrically provided with two equal and deep rope through holes (15), and the inside of the soft finger (1) is eccentrically provided with three equal and deep second silica gel hose through holes (17) on the same side as the rope through holes (15), and the inside of the soft finger (1) is also eccentrically provided with a first silica gel hose through hole (16). The fixing member (22) is in a cylindrical shape, the channel in the inside of the fixing member (22) includes an air cavity through hole (221) provided in the inside of the top, the bottom of the air cavity through hole (221) is connected to a pipeline structure (222), one end of the first silica gel hose (23) is connected to the pipeline structure (222), and the other end penetrates the whole soft finger (1) through the first silica gel hose through hole (16) and is connected to the first air pressure sensor (24) at the bottom. The position feedback mechanism (3) includes three bellows (31), and the three bellows (31) are respectively an upper end bellows (311), a middle bellows (312) and a lower end bellows (313), and the three bellows (31) are respectively arranged at different joint groove (14) positions on the corresponding soft finger (1). The bellows (31) internally contains a cavity structure (314), two independent silica gel hose channels (316) are arranged in the cavity structure (314), a silica gel hose hole (315) is arranged at the bottom of the bellows (31), one end of the second silica gel hose (32) is connected to the silica gel hose hole (315), and the other end penetrates the whole soft finger (1) through the second silica gel hose through hole (17) and is connected to the second air pressure sensor (33) at the bottom.

2. The soft robotic finger based on force and body position feedback using flexible lumens deformation according to claim 1, wherein, The soft finger (1) is cylindrical, composed of three finger phalanges (11), one finger metacarpal (12) and three finger joints (13); the three finger phalanges (11) are connected in turn through the finger joints (13), and the finger metacarpal (12) and the distal finger phalange (11) are connected through the finger joint (13); the joint groove (14) is arranged on the other side of the finger joint (13).

3. The soft robotic finger based on force and body position feedback using flexible lumens deformation according to claim 1, wherein, The soft finger tip (21) is semispherical, and the cavity (211) inside is also semispherical.

4. The soft robotic finger based on force and body position feedback using flexible lumens deformation according to claim 1, wherein, The driving mechanism (4) is composed of a steering engine (41) and a rope (42), the steering engine rotating shaft (411) on the steering engine (41) is fixedly connected with a steering engine pulley (412), one end of the rope (42) is fixed to the top of the soft finger (1) through the rope through hole (15), and the other end is fixed to the steering engine pulley (412).

5. The soft robotic finger based on the deformation of the flexible lumens for force and body position feedback according to claim 4, characterized in that, The finger fixing mechanism (5) is composed of a base (51) and a connecting piece (52), and the bottom end of the soft finger (1) is fixed to the middle of the upper end of the base (51) through the connecting piece (52).

6. The soft robotic finger based on the deformation of the flexible lumens for force and body position feedback according to claim 5, wherein, The first air pressure sensor (24), the first microcontroller (25), the second air pressure sensor (33) and the second microcontroller (34) are fixedly connected inside the base (51); the steering engine (41) is fixed to the inside of the base (51) through a steering engine upper end fixing piece (43) and a steering engine lower end fixing piece (44).

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