Pneumatic soft dexterous hand

By incorporating pneumatic actuators and dynamic expansion mechanisms into the bionic hand and fingers, the problem of insufficient dexterity in the palm portion of the dexterous hand is solved, resulting in better adjustment and gripping effects, and adaptability to complex motion control.

CN119057812BActive Publication Date: 2026-06-23CHINA UNIV OF PETROLEUM (BEIJING)
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Patent Information

Application Number
CN202310647772.3
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2023-06-02
Publication Date
2026-06-23
Estimated Expiration
2043-06-02

AI Technical Summary

Technical Problem

The existing dexterous hand's palm part is made of rigid materials, which results in insufficient flexibility and difficulty in coordinating with the fingers to achieve complex movement control, thus reducing its applicability.

Method used

A pneumatic soft dexterous hand was designed. By setting multiple bionic fingers and a pneumatic actuator on the bionic palm, the first and second pneumatic actuators of the palm are used to realize the multi-angle bending adjustment of the palm, and the finger bending angle is adjusted by the finger pneumatic actuator. Combined with a dynamic expansion mechanism and a tactile sensor, the gripping effect is improved.

Benefits of technology

It improves the flexibility and support of the palm, enhances gripping ability, and can mimic complex hand movements to adapt to different gripping needs.

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Abstract

The application provides a pneumatic soft dexterous hand, and relates to the technical field of mechanical hands.The pneumatic soft dexterous hand comprises a bionic palm, the rigidity of the bionic palm gradually increases from the front end of the bionic palm to the heel of the bionic palm, a plurality of bionic fingers are arranged on the bionic palm, each bionic finger is provided with a finger pneumatic actuator, a palm pneumatic actuator is arranged on the bionic palm, and the palm pneumatic actuator at least comprises a first palm pneumatic actuator arranged in a first direction of the bionic palm and a second palm pneumatic actuator arranged in a second direction of the bionic palm.The bionic palm and the bionic fingers are matched to realize palm bending, thumb opposition and other hand movements, the adjusting dimension and the adjusting flexibility of the pneumatic soft dexterous hand are significantly improved, the pneumatic soft dexterous hand has good support and better gripping effect.
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