Robot hand and robot system including the same

By using a soft hydraulic actuator mechanism and a soft hydraulic actuator driven by an injection pump, combined with IMU feedback, the compliance and adaptability problems of existing robotic hands have been solved, achieving precise control of fine manipulation and complex movements, mimicking the dexterity of human fingers.

CN121492082APending Publication Date: 2026-02-10HONG KONG CENT FOR LOGISTICS ROBOTICS LTD
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Patent Information

Application Number
CN202510157263.1
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Priority Date
2024-08-08
Filing Date
2025-02-13
Publication Date
2026-02-10

AI Technical Summary

Technical Problem

Existing rigid actuation mechanisms are insufficient to achieve the compliance and adaptability required for complex tasks, and cannot achieve the fine hand manipulation comparable to human dexterity.

Method used

Employing a soft hydraulic actuation mechanism, this robot utilizes an origami-inspired soft hydraulic actuator driven by an injection pump, combined with a linear potentiometer and an inertial measurement unit (IMU) to provide real-time feedback, enabling precise control of the robot finger and mimicking the dexterous movements of human fingers.

Benefits of technology

It improves the dexterity and compliance of the robotic hand, enabling it to perform fine manipulation tasks, reduce the risk of damage, and achieve precise control of complex movements and the ability to conform to the contours of objects.

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Abstract

In one aspect, a robotic hand is provided, the robotic hand comprising: a plurality of robotic fingers; and a robot palm configured to be operatively connected with the plurality of robot fingers, where an individual robot finger includes: a first phalanx; a second phalanx; and a first hydraulic actuator configured to operatively connect the first phalanx with the second phalanx, where the first hydraulic actuator includes a soft bellows-shaped deformable body such that, when in operation, the first and second phalanx are deformed by the flexible bellows-shaped deformable body, the flexible bellows-shaped deformable body is deformed by the flexible bellows-shaped deformable body. The first hydraulic actuator is switchable at least between a compressed state and an extended state in response to an external force and / or hydraulic pressure applied thereto. Other example embodiments are described herein. In certain embodiments, the present disclosure provides robotic hands and systems that exhibit high compliance, adaptability, and precise control to robotic applications, and address the challenges to achieve fine in-hand manipulation of the robot.
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