A bend angle self-feedback underwater variable stiffness soft dexterous hand and a method for using the same

Abstract

The application provides a bending angle self-feedback underwater variable stiffness soft dexterous hand, which comprises a soft dexterous finger, a bending self-feedback unit and a dexterous hand palm, the soft dexterous finger comprises a paper folding framework, a driving skin, a variable stiffness unit and a driving channel; the bending self-feedback unit comprises a plurality of electrode patches, a scanning circuit and a host computer, the electrode patches are parallelly attached to the long side of the paper folding framework joint; the inner surface of the driving skin is gold-plated; the signal input end of the scanning circuit is connected with the electrode patches through a wire, the contact signal of the electrode patches is collected in real time and uploaded to the host computer to monitor the bending state of the soft dexterous finger; the dexterous hand palm is connected with a plurality of dexterous finger connectors, and the overall assembly of the soft dexterous finger is realized through the dexterous finger connectors. The application enhances the load capacity of the soft dexterous finger while ensuring the flexibility of the soft dexterous finger, the deformation and variable stiffness functions are realized through one power source, and the bending angle self-driving monitoring of the bending self-feedback unit is realized without power supply.

Description

Technical Field

[0001] This invention relates to the field of soft dexterity technology, and more particularly to a flexible underwater soft dexterity with self-feedback bending angle and its method of use. Background Technology

[0002] The ocean is the origin of human life, supporting sustainable development with its abundant water, mineral, and biological resources. With continuous technological advancements, the exploration of marine resources is increasingly shifting towards the deep sea, making deep-sea exploration a strategic approach and crucial means for achieving sustainable development at this stage.

[0003] Robotic arms are of great significance for marine exploration, seabed resource development, and seabed relic detection. Traditional rigid robotic arms are made of hard materials. Although they have high control precision, they have poor flexibility, low safety factor, and low adaptability. They are not suitable for working in unstructured environments and are not suitable for grasping soft or easily damaged objects such as underwater organisms, seabed plants, and ancient materials.

[0004] In contrast, soft dexterous hands are made of flexible materials, have continuous deformation capabilities, better flexibility and environmental adaptability, and involve fewer electronic components, thus requiring less underwater sealing. In recent decades, soft dexterous hand technology has developed rapidly, making up for many of the shortcomings of traditional rigid manipulators, and has great application potential in the field of underwater operations.

[0005] Underwater soft dexterous hands are usually made by injection molding of flexible materials. Although they have good conformity, their load-bearing capacity is relatively weak. Variable stiffness can greatly enhance their load-bearing capacity. Variable stiffness of soft dexterous hands is usually achieved by using particle interference, layer interference, fiber interference, or special materials, and by applying negative pressure, changing temperature, and lighting conditions. However, a single method has problems such as limited variable stiffness capacity and slow response time. The variable stiffness part is often a single component, which will have a certain impact on the deformation of the soft dexterous hand.

[0006] When a dexterous hand performs grasping tasks, monitoring its deformation state often affects the success rate and efficiency of the grasp. However, the underwater environment, being unstructured, makes it difficult to monitor the state of the dexterous hand. The sealing of traditional electronic sensors poses a significant challenge in underwater operations. While piezoelectric and piezoresistive flexible sensors utilize material properties for sensing, these sensors often require external power supplies and are subject to significant hydrostatic pressure in deep water, causing them to exceed their measurement or sensing range and affecting their performance. Therefore, a real-time monitoring method for an underwater variable stiffness soft dexterous hand and its corresponding mechanism is of great significance. Summary of the Invention

[0007] To address the aforementioned technical problems, this invention provides a flexible underwater manipulator with self-feedback bending angle and variable stiffness. This flexible manipulator, while maintaining flexibility, significantly increases load-bearing capacity. Both its deformation and stiffness-variable functions are achieved through a single power source, and the bending self-feedback unit achieves self-driven monitoring of the bending angle without requiring a power supply.

[0008] The technical means employed in this invention are as follows: A flexible underwater variable stiffness soft dexterous hand with self-feedback bending angle includes: a soft dexterous finger, a bending self-feedback unit, and a dexterous hand, wherein: The soft-body control includes: an origami skeleton, a driving skin, a variable stiffness unit, and a driving channel, wherein: The origami skeleton is formed by folding a flexible sheet to create the ends of the origami skeleton and multiple origami skeleton joints; and each origami skeleton joint is provided with a long side and a short side. The driving skin completely encloses and seals the origami skeleton and the variable stiffness unit, and has an opening at the end; The variable stiffness unit includes multiple individual variable stiffness units, and each variable stiffness unit has the same structure. Multiple variable stiffness units are placed in parallel and obliquely in the gap below the origami skeleton. Each variable stiffness unit includes a variable stiffness skin, pores and particles. The pores are opened on the variable stiffness skin, and the diameter of the pores is smaller than the diameter of the particles. The variable stiffness skin is filled with particles and completely encloses the particles. One end of the drive channel is connected to the port opened at the end of the drive skin, and the other end is connected to the drive device to drive the soft finger. The drive device draws liquid from the internal space of the soft finger through the drive channel, causing the drive skin to be recessed into the joint of the origami skeleton and exerting a pulling force on the origami skeleton, causing the soft finger to bend and deform to one side. The bending self-feedback electrode includes: an electrode patch, a gold-plated driving skin, a scanning circuit, and a host computer, wherein: Multiple electrode patches are provided, and all of them are fixed parallel to the long side of the origami skeleton joint and are in direct contact with the filling liquid. The gold plating layer on the drive skin is applied to the inner surface of the drive skin. The scanning circuit and the host computer are connected to the electrode patch via wires to receive the current signal collected by the electrode patch in real time, thereby monitoring the real-time deformation state of the soft finger. The dexterous hand, which mimics the structure of a human hand, is connected to several finger connectors to achieve overall assembly with the soft finger. Electrode patches are fixed on the surface of the dexterous hand, and the dexterous hand is in contact with an object by judging the current signal generated when the electrode patches come into contact with the object.

[0009] Furthermore, during the bending process, the soft finger drives the skin to concave downwards. As the bending angle increases, the concavity depth increases, thereby increasing the contact area with the long side of the origami skeleton joint. During the bending deformation of the soft finger, the sensing patch and the electrode patch come into contact one by one. The surface of the electrode patch changes from a solid-liquid interface to a solid-solid interface, generating a current signal during the transformation, thus enabling the monitoring of the deformation state of the soft finger.

[0010] Furthermore, the soft nimble finger is used for nimble finger bending and deformation. The interior of the soft nimble finger is filled with liquid. When the liquid inside is extracted, the soft nimble finger is subjected to negative pressure and produces bending movement.

[0011] Furthermore, when the driving device draws liquid from the internal space of the soft finger through the driving channel, it generates negative pressure inside the soft finger. Since the surface of the variable stiffness skin contains pores, the variable stiffness skin squeezes the filling particles inside under the action of negative pressure. The particles squeeze each other to achieve particle interference variable stiffness. When subjected to external force, the friction force is significantly increased, thereby increasing the stiffness of the soft finger.

[0012] Furthermore, when negative pressure is generated inside the soft finger, multiple parallel and obliquely placed variable stiffness units squeeze each other, significantly increasing the friction force when subjected to external force to achieve layer interference variable stiffness, which works simultaneously with particle interference variable stiffness to further increase the stiffness of the soft finger. Furthermore, when negative pressure is generated inside the soft finger, it causes the soft finger to bend, achieving mixed interference variable stiffness to increase load capacity. As the negative pressure increases, the bending angle of the soft finger increases, and the stiffness of the soft finger increases.

[0013] Furthermore, the electrode patch is made of a conductor material or a semiconductor material.

[0014] The present invention also provides a method for using the underwater variable stiffness soft dexterous hand based on the bending angle self-feedback, comprising: S1. The soft, dexterous hand goes deep underwater to approach the object, and the electrode patch comes into direct contact with the water, spontaneously generating an electric double layer on the electrode surface. S2. A dexterous hand approaches the object to be grasped, and the electrode patches fixed to the surface make contact with the object, thus... The liquid-liquid interface contact area changes, solid-liquid interface contact area changes. The electric double layer generated at the liquid interface undergoes dynamic changes, producing a current signal that indicates the proximity of an object. S3. After detecting an approaching object, the soft sensor starts working, and the electrode patches attached to the origami skeleton generate current signals. S4. When the soft dexterity no longer generates an electrical signal, it indicates that the soft dexterity hand has successfully grasped the object being grasped. Lift the soft dexterity hand to complete the entire grasping process.

[0015] Compared with the prior art, the present invention has the following advantages: 1. The present invention provides a bending angle self-feedback underwater variable stiffness soft dexterous hand, which can detect the deformation state of the dexterous hand in real time through body perception in an underwater unstructured environment.

[0016] 2. The present invention provides a bending angle self-feedback underwater variable stiffness soft dexter, which can effectively increase the load capacity of the soft dexter by means of hybrid variable stiffness, and only requires one drive source to realize the deformation and variable stiffness of the soft dexter, effectively reducing the number of underwater system devices.

[0017] 3. The present invention provides a flexible underwater manipulator with self-feedback bending angle and variable stiffness, the flexible finger of which is driven by liquid and can better balance the static pressure of deep sea.

[0018] 4. The present invention provides a flexible underwater manipulator with self-feedback bending angle and variable stiffness, which does not require external power supply, has low system power consumption, and can adapt to the static pressure of deep sea.

[0019] 5. The present invention provides a bending angle self-feedback underwater variable stiffness soft dexterous hand, which is used in underwater unstructured environments, is simple to operate, and has a convenient grasping process.

[0020] Based on the above reasons, this invention can be widely promoted in fields such as soft dexterity hands. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of a flexible underwater soft hand structure with self-feedback bending angle according to the present invention.

[0023] Figure 2 This is a schematic diagram of the dexterous finger structure of the underwater variable stiffness soft hand with self-feedback bending angle of the present invention.

[0024] Figure 3 This is a schematic diagram of the variable stiffness unit structure of the present invention.

[0025] Figure 4 This is a schematic diagram of the bending self-feedback unit structure of the present invention.

[0026] Figure 5 This is a schematic diagram illustrating the principle of the dynamic change of the surface double electric layer during the detection process of the self-feedback unit of the present invention.

[0027] In the diagram: 1. Soft finger; 2. Bending self-feedback unit; 3. Dexterous hand; 4. Origami skeleton; 5. Drive skin; 6. Variable stiffness unit; 7. Drive channel; 8. Electrode patch; 9. Gold-plated layer of drive skin; 10. Variable stiffness skin; 11. Pore; 12. Particle; 13. Scanning circuit; 14. Host computer; 15. Wire; 16. Filling liquid; 17. Double layer; 17a. Double layer on electrode surface in initial state; 17b. Double layer on electrode surface after contact; 18. Finger connector. Detailed Implementation

[0028] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0031] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0032] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0033] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0034] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0035] like Figure 1As shown, this invention provides a flexible underwater variable stiffness soft dexterous hand with self-feedback bending angle, comprising: a soft dexterous finger 1, a bending self-feedback unit 2, and a dexterous hand 3, wherein: The software refers to 1, such as Figure 2 As shown, it includes: origami skeleton 4, driving skin 5, variable stiffness unit 6, and driving channel 7, wherein: The origami skeleton 4 is formed by folding a flexible sheet to create the ends of the origami skeleton and multiple origami skeleton joints; and each origami skeleton joint is provided with a long side and a short side. The driving skin 5 completely encloses and seals the origami skeleton 4 and the variable stiffness unit 6, and has an opening at the end. The variable stiffness element 6 comprises multiple elements, each with the same structure, and these multiple variable stiffness elements 6 are placed parallel and obliquely in the gap below the origami frame 4; for example... Figure 3 As shown, each variable stiffness unit 6 includes a variable stiffness skin 10, pores 11 and particles 12. The pores 11 are formed on the variable stiffness skin 10, and the diameter of the pores 11 is smaller than the diameter of the particles. The variable stiffness skin 10 is filled with particles 12 and completely encloses the particles 12. One end of the drive channel 7 is connected to the port opened at the end of the drive skin 5, and the other end is connected to the drive device to drive the soft finger 1. The drive device extracts the liquid 16 in the internal space of the soft finger 1 through the drive channel 7, causing the drive skin 5 to be recessed into the origami skeleton joint and generating a pulling force on the origami skeleton 4, causing the soft finger 1 to bend and deform to one side. like Figure 4 As shown, the bending self-feedback unit 2 includes: electrode patch 8, driving skin gold-plated layer 9, scanning circuit 13, and host computer 14, wherein: Multiple electrode patches 8 are provided, and all of them are fixed parallel to the long side of the origami skeleton joint and are in direct contact with the filling liquid 16. The gold-plated layer 9 of the drive skin is fixed to the inner surface of the drive skin 5 above the joint of the origami skeleton; The scanning circuit 13 and the host computer 14 are connected to the electrode patch 8 through the wire 15, and are used to receive the current signal collected by the electrode patch 8 in real time, thereby monitoring the real-time deformation state of the soft finger 1. See also Figure 1 The dexterous hand 3, which mimics the structure of a human hand, is connected to several finger connectors 18, and is assembled with the soft finger 1 through the finger connectors 18. Electrode patches 8 are fixed on the surface of the dexterous hand 3, and the dexterous hand is in contact with an object by judging the current signal generated by the contact between the electrode patches 8 and the object.

[0036] To better understand the structure and operating principle of the invention, in this embodiment, the origami skeleton 4 is folded from a polyester sheet, and the variable stiffness unit 6 is made by wrapping the particles 12 with a porous TPU film. The origami skeleton 4 and the variable stiffness skin 10 with particles 12 are completely sealed with the TPU film, leaving only an interface of the drive channel 7 to connect to the drive device. The sealing of the TPU is achieved by a heat sealing machine.

[0037] In a specific implementation, as a preferred embodiment of the present invention, the soft finger 1 is used for finger bending and deformation. The interior of the soft finger 1 is filled with liquid 16. When the internal liquid 16 is extracted, the soft finger 1 is subjected to negative pressure and produces bending movement.

[0038] In a specific implementation, as a preferred embodiment of the present invention, the soft finger 1 drives the skin 5 to concave downward during the bending process. As the bending angle increases, the concavity depth increases, and the contact area with the long side of the origami skeleton joint also increases accordingly.

[0039] In a specific implementation, as a preferred embodiment of the present invention, when the driving device draws liquid 16 from the internal space of the soft finger 1 through the driving channel 7, a negative pressure is generated inside the soft finger 1. Since the surface of the variable stiffness skin 10 contains pores 11, under the action of negative pressure, the variable stiffness skin 10 squeezes the internal filling particles 12. The particles 12 squeeze each other to achieve particle interference variable stiffness. When subjected to external force, the friction force is significantly increased, thereby increasing the stiffness of the soft finger 1.

[0040] In a specific implementation, as a preferred embodiment of the present invention, when negative pressure is generated inside the soft finger 1, the multiple parallel and obliquely placed variable stiffness units 6 will also squeeze each other. When subjected to external force, the friction force is significantly increased to achieve layer interference variable stiffness, which works simultaneously with particle interference to further increase the stiffness of the soft finger 1.

[0041] In a specific implementation, as a preferred embodiment of the present invention, when negative pressure is generated inside the soft finger 1, the soft finger 1 will bend, thereby achieving mixed interference variable stiffness to increase load capacity. As the negative pressure increases, the bending angle of the soft finger 1 increases, and the stiffness of the soft finger 1 increases.

[0042] In specific implementation, as a preferred embodiment of the present invention, such as Figure 5 As shown, during the bending deformation of the soft finger 1, the driving skin gold-plated layer 9 contacts the electrode patch 8 one by one. The surface of the electrode patch 8 changes from a solid-liquid (electrode-water) interface to a solid-solid (electrode-metal patch) interface. During this process, a current signal is generated to realize the monitoring of the deformation state of the soft finger 1.

[0043] In a specific implementation, as a preferred embodiment of the present invention, the electrode patch 8 is made of a conductor material or a semiconductor material.

[0044] The present invention also provides a method for using the underwater variable stiffness soft dexterous hand based on the bending angle self-feedback, comprising: S1. The soft, dexterous hand extends underwater to approach an object, and the electrode patch 8 comes into direct contact with the water. A double electric layer 17 is spontaneously generated on the electrode surface, such as... Figure 5 As shown.

[0045] S2, the dexterous hand 3 approaches the object to be grasped, and the electrode patch 8 fixed to the surface contacts the object, thus... The contact area at the liquid interface will change, solid... The electric double layer 17 formed at the liquid interface undergoes dynamic changes, generating current signals to determine the proximity of an object, such as... Figure 5 As shown.

[0046] S3. After detecting an approaching object, the soft sensor 1 starts working, and the electrode patch 8 attached to the origami skeleton 4 generates a current signal. S4. When the soft dexterity finger 1 no longer generates a current signal, it indicates that the soft dexterity hand has successfully grasped the object being grasped. Lift the soft dexterity hand to complete the entire grasping process.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flexible underwater manipulator with self-feedback bending angle and variable stiffness, characterized in that, include: The soft finger (1), the bending self-feedback unit (2), and the dexterous hand (3) are as follows: The soft actuator (1) includes a paper-folding skeleton (4), a driving skin (5), a variable stiffness unit (6), and a driving channel (7), wherein: The origami skeleton (4) is formed by folding a flexible sheet to form the end of the origami skeleton and multiple origami skeleton joints; and each origami skeleton joint is provided with a long side and a short side. The driving skin (5) completely encloses and seals the origami skeleton (4) and the variable stiffness unit (6), and has a port at the end; The variable stiffness unit (6) includes multiple single variable stiffness units, and each variable stiffness unit (6) has the same structure. Multiple variable stiffness units (6) are placed in parallel and obliquely in the gap below the origami skeleton (4). Each variable stiffness unit (6) includes a variable stiffness skin (10), a pore (11) and a particle (12). The pore (11) is opened on the variable stiffness skin (10), and the diameter of the pore (11) is smaller than the diameter of the particle. The variable stiffness skin (10) is filled with particles (12) and completely wraps the particles (12). One end of the drive channel (7) is connected to the port opened at the end of the drive skin (5), and the other end is connected to the drive device to drive the soft finger (1). The drive device draws liquid (16) from the internal space of the soft finger (1) through the drive channel (7), causing the drive skin (5) to be recessed towards the origami skeleton joint and generating tension on the origami skeleton (4), causing the soft finger (1) to bend and deform to one side. The bending self-feedback unit (2) includes an electrode patch (8), a gold-plated driving skin layer (9), a scanning circuit (13), and a host computer (14), wherein: Multiple electrode patches (8) are provided, and all are fixed parallel to the long side of the origami skeleton joint and in direct contact with the filling liquid (16); The gold plating layer (9) of the drive skin is gold plated on the inner surface of the drive skin (5); The scanning circuit (13) and the host computer (14) are connected to the electrode patch (8) through the wire (15) to receive the current signal collected by the electrode patch (8) in real time, and then monitor the deformation state of the soft finger (1) in real time. The dexterous hand (3) is designed to mimic the structure of a human hand and is connected to several finger connectors (18). The dexterous hand is assembled with the soft finger (1) through the finger connectors (18). Electrode patches (8) are fixed on the surface of the dexterous hand (3). The dexterous hand is in contact with the object by judging the current signal generated by the contact between the electrode patches (8) and the object.

2. The bending angle self-feedback underwater variable stiffness soft dexterous hand according to claim 1, characterized in that, During the bending process, the soft finger (1) drives the skin (5) to sink downwards. As the bending angle increases, the sinking depth increases, and the contact area with the long side of the origami skeleton joint also increases. During the bending deformation process of the soft finger (1), the gold-plated layer (9) of the skin is driven to contact the electrode patch (8) one by one. The surface of the electrode patch (8) changes from a solid-liquid interface to a solid-solid interface. During the transformation process, a current signal is generated to realize the monitoring of the deformation state of the soft finger (1).

3. The bending angle self-feedback underwater variable stiffness soft dexterous hand according to claim 1, characterized in that, The soft finger (1) is used for finger bending and deformation. The inside of the soft finger (1) is filled with liquid (16). When the liquid (16) inside is extracted, the soft finger (1) is subjected to negative pressure and produces bending motion.

4. The bending angle self-feedback underwater variable stiffness soft dexterous hand according to claim 1, characterized in that, When the drive device draws liquid (16) from the internal space of the soft finger (1) through the drive channel (7), it generates negative pressure inside the soft finger (1). Since the surface of the variable stiffness skin (10) contains pores (11), the variable stiffness skin (10) squeezes the particles (12) filled inside under the action of negative pressure. The particles (12) squeeze each other to achieve particle interference variable stiffness. When subjected to external force, the friction force is significantly increased, thereby increasing the stiffness of the soft finger (1).

5. The bending angle self-feedback underwater variable stiffness soft dexterous hand according to claim 4, characterized in that, When negative pressure is generated inside the soft finger (1), multiple parallel and obliquely placed variable stiffness units (6) squeeze each other. When subjected to external force, the friction force is significantly increased to realize layer interference variable stiffness, which works simultaneously with particle interference variable stiffness to further increase the stiffness of the soft finger (1).

6. The bending angle self-feedback underwater variable stiffness soft dexterity hand according to claim 4, characterized in that, When negative pressure is generated inside the soft finger (1), the soft finger (1) bends, realizing mixed interference variable stiffness to increase load capacity. As the negative pressure increases, the bending angle of the soft finger (1) increases, and the stiffness of the soft finger (1) increases.

7. The bending angle self-feedback underwater variable stiffness soft dexterity hand according to claim 1, characterized in that, The electrode patch (8) is made of a conductor material or a semiconductor material.

8. A method of using a flexible underwater manipulator with self-feedback bending angle as described in any one of claims 1-7, characterized in that, include: S1. The soft, dexterous hand goes deep underwater and approaches the object. The electrode patch (8) comes into direct contact with the water, and a double electric layer (17) is spontaneously generated on the electrode surface. S2. The dexterous hand (3) approaches the object being grasped, and the electrode patch (8) fixed to the surface contacts the object, thus... The liquid-liquid interface contact area changes, solid-liquid interface contact area changes. The double layer (17) generated at the liquid interface undergoes dynamic changes, generating current signals to determine the proximity of the object; S3. After detecting an approaching object, the soft sensor (1) starts working and the electrode patch (8) attached to the origami skeleton (4) generates a current signal. S4. When the soft dexter (1) no longer generates a current signal, it indicates that the soft dexterous hand has grasped the object being grasped. Lift the soft dexterous hand to complete the entire grasping process.

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