Pneumatic skeleton flexible perception ecological manipulator and preparation and application method thereof

The pneumatic skeletal flexible sensing robotic hand integrates a flexible pneumatic muscle module and a self-powered sensing module, solving the problem of accurate pressure sensing when the robotic hand grasps fragile objects. It achieves accurate sensing of grasping force and joint bending angle, expanding the application scenarios.

CN117340916BActive Publication Date: 2026-06-26CHINA AGRI UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
CHINA AGRI UNIV
Filing Date
2023-09-28
Publication Date
2026-06-26

AI Technical Summary

Technical Problem

Existing robotic arms struggle to achieve accurate pressure sensing when grasping fragile objects, and flexible pressure sensors are unstable and difficult to integrate, limiting their application in different scenarios.

Method used

A pneumatic skeletal flexible sensing eco-manipulator was designed, comprising a flexible pneumatic muscle module, an embedded eco-skeletal module, a flexible self-powered pressure sensing module, and a flexible self-powered curvature sensing module. It simulates human finger movements through pneumatic control and integrates a piezoelectric polymer and a superelastic micro-patterned layer to achieve precise sensing of grasping force and joint bending angle.

Benefits of technology

It enables non-destructive gripping of fragile objects, can sense gripping force and the bending angle of the mechanical finger joints, expands the adaptability of the robotic arm to different application environments, and avoids damage caused by insufficient or excessive gripping force.

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Abstract

The application provides a pneumatic skeleton flexible perception ecological manipulator and a preparation and application method, and the manipulator comprises a manipulator kit, a flexible pneumatic muscle module, an embedded ecological skeleton module, a flexible self-powered pressure sensing module, a flexible self-powered curvature sensing module and a mounting flange module; the flexible pneumatic muscle module is used for simulating three-degree-of-freedom grabbing motion of a human finger and driving the embedded ecological skeleton module; the embedded ecological skeleton module is embedded in the flexible pneumatic muscle module and simulates a human finger bone; the flexible self-powered pressure sensing module is integrated on the middle phalanx and the distal phalanx of the mechanical finger and is used for sensing the force of a grabbed object; the flexible self-powered curvature sensing module is integrated at a joint of the mechanical finger and is used for monitoring the bending angle of the joint of the mechanical finger; and the mounting flange module is used for mounting and fixing the pneumatic skeleton flexible perception ecological manipulator. The application solves the problem that the manipulator in the prior art cannot accurately perceive the pressure of a grabbed object in the grabbing process.
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