Finger software development method and dexterous hand

Abstract

The application discloses a finger soft body manufacturing method and a dexterous hand. The method comprises the following steps: preparing two base cloths, the base cloths are made of elastic materials, and one surface of the base cloths is an oil-proof surface; fixing one base cloth in a stretched state on a first jig with an opening in the middle; arranging the other base cloth in a free state in the opening; bonding or fusing the two base cloths in the opening to obtain an intermediate cloth, wherein at least one first cavity is formed between the two oil-proof surfaces; after the intermediate cloth is taken off from the first jig, wrapping the intermediate cloth on a second jig in a cylindrical shape, and bonding or fusing two opposite edges of the intermediate cloth to obtain a cylindrical cloth; injecting gel into the first cavity of the cylindrical cloth, and performing solidification treatment on the gel to obtain a finger soft body of the dexterous hand.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a method for manufacturing finger soft tissue and a dexterous hand. Background Technology

[0002] With the development of robots, their applications are becoming increasingly widespread. Currently, robot dexterous hands are typically made of hard materials (such as metals and hard plastics), resulting in a high degree of hardness on the front side of the hand. When grasping objects, the hard material on the front of the hand makes it difficult to distribute pressure, leading to poor grip stability. Therefore, existing technologies suffer from poor grip stability in dexterous hand applications. Summary of the Invention

[0003] This application provides a method for manufacturing finger softness and a dexterous hand to solve the problem of poor gripping stability in dexterous hands.

[0004] In a first aspect, embodiments of this application provide a method for creating finger software, including:

[0005] Prepare two pieces of base fabric, wherein the base fabric is an elastic material and one surface of the base fabric is an oil-resistant surface;

[0006] A piece of base fabric is stretched and fixed onto the first fixture with an opening in the middle.

[0007] Place another piece of base fabric freely inside the opening;

[0008] The two base fabrics are bonded or fused together in the opening to obtain an intermediate fabric, wherein at least one first cavity is formed between the two oil-proof surfaces.

[0009] After removing the intermediate fabric from the first fixture, wrap the intermediate fabric around the cylindrical second fixture, and glue or fuse the two opposite edges of the intermediate fabric to obtain the cylindrical fabric.

[0010] Gel is injected into the first cavity of the cylindrical fabric, and the gel is cured to obtain the soft fingers of the dexterous hand.

[0011] Secondly, embodiments of this application also provide a dexterous hand, including:

[0012] Finger software;

[0013] A dexterous hand skeleton, comprising a palm structure and a finger structure, wherein the finger soft body is fitted onto the finger structure;

[0014] A glove, which is fitted over the dexterous hand skeleton, with the finger soft tissue located between the finger structure and the glove.

[0015] This embodiment of the application involves preparing two base fabrics, each made of an elastic material, with one surface being oil-resistant. One base fabric is stretched and fixed onto a first fixture with a central opening. The other base fabric is freely placed within the opening. The two base fabrics are then bonded or fused together within the opening to obtain an intermediate fabric, forming at least one first cavity between the two oil-resistant surfaces. After removing the intermediate fabric from the first fixture, it is wrapped around a cylindrical second fixture, and the two opposite edges of the intermediate fabric are bonded or fused together to obtain a cylindrical fabric. Gel is injected into the first cavity of the cylindrical fabric and cured to obtain a dexterous hand finger soft body. This allows the finger soft body to be installed or placed on the dexterous hand, giving the fingers a muscle-like soft structure, thereby dispersing gripping pressure and increasing the gripping contact area. Therefore, this embodiment of the application improves the gripping stability of the dexterous hand.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0018] Figure 1 This is a flowchart of the finger software manufacturing method provided in the embodiments of this application;

[0019] Figure 2 This is a schematic diagram of the fixture used in the finger softness manufacturing method provided in this application embodiment;

[0020] Figure 3 This is one of the intermediate product example diagrams of the finger software manufacturing method provided in the embodiments of this application;

[0021] Figure 4 This is the second example of an intermediate product of the finger software manufacturing method provided in the embodiments of this application;

[0022] Figure 5 This is the third example of an intermediate product of the finger software manufacturing method provided in this application embodiment;

[0023] Figure 6 This is a schematic diagram of the structure of the dexterous hand provided in the embodiments of this application;

[0024] Figure 7 This is a schematic diagram of the dexterous hand finger structure after installing finger software, provided in an embodiment of this application;

[0025] Figure 8 This is a schematic diagram of the structure of the soft part of the dexterous hand finger software according to an embodiment of this application. Detailed Implementation

[0026] The embodiments of this application will now be described in detail. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0027] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise stated, "multiple" means two or more. Furthermore, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0028] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and 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 of this application.

[0029] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0030] See Figure 1This application provides a method for creating finger software, such as... Figure 1 As shown, the method for creating this finger software includes:

[0031] Step 101: Prepare two pieces of base fabric. The base fabric is an elastic material, and one surface of the base fabric is an oil-resistant surface.

[0032] In the embodiments of this application, the base fabric can be PU fabric, for example, PU fabric with a thickness of 0.4mm. One side of the PU fabric is a PU leather side (or PU side), and the other side is a fiber side. The PU leather side can be understood as the oil-resistant side mentioned above.

[0033] Step 102: A piece of base fabric is stretched and fixed onto the first fixture with an opening in the middle;

[0034] like Figure 2 As shown, the first fixture 11 has an opening 12 at its center. The shape of the opening 12 corresponds to the finger structure of a dexterous hand. The finger structure includes four first-type finger structures and one second-type finger structure. The first-type finger structure includes three knuckles and a knuckle joint located between two adjacent knuckles. The knuckle joint is used to connect two adjacent knuckles.

[0035] The aforementioned first fixture may include two types of fixtures, each corresponding to a different type of finger structure. The opening of the first type of fixture corresponding to the first type of finger structure may include two first openings and one connecting hole, wherein the two first openings and the connecting hole are sequentially distributed in a first direction, and the connecting hole is located between the two first openings. The opening of the second type of fixture corresponding to the second type of finger structure may include one first opening.

[0036] Alternatively, in some embodiments, a general first fixture can be used, that is, a first type of fixture corresponding to the first type of finger structure. For example, when making finger soft material with a second type of finger structure, only the first opening can be used. In the following embodiments, the first type of fixture corresponding to the first type of finger structure will be used as an example for explanation.

[0037] The first fixture 11 has multiple through holes evenly distributed around the opening 12. These through holes are small round holes used to install and fix the base fabric. For example, in some embodiments, a nail or needle-like object can be inserted through the base fabric and inserted into the through hole to fix a first side of the base fabric. Then, the base fabric is stretched in a second direction to put it in a stretched state. Next, a nail or needle-like object is inserted through the base fabric and inserted into the through hole to fix a second side of the fabric. Finally, a nail or needle-like object is inserted through the base fabric and inserted into the through hole to fix both sides of the base fabric in the first direction, so that the oil-resistant surface of the base fabric is in contact with the first fixture, or the oil-resistant surface is away from the first fixture.

[0038] Of course, in other embodiments, the base fabric and the first fixture can be fixed in other ways, which are not further limited here. For example, they can be fixed by adhesive bonding.

[0039] Optionally, in some embodiments, the width of the connecting hole in the second direction is smaller than the width of the first opening in the second direction, and the openings are symmetrically arranged in the first direction, with the first and second directions being perpendicular to each other.

[0040] Step 103: Place another piece of base fabric in the opening in a free state;

[0041] In this embodiment, the oil-resistant surfaces of the two base fabrics are either bonded together or positioned opposite each other. For example, the other base fabric can be obtained by laser cutting, and its shape and size are adapted to the opening of the first fixture. After one base fabric is installed and fixed onto the first fixture, the first fixture is flipped over, and then the oil-resistant surface of the other base fabric is placed into the opening, so that the oil-resistant surfaces of the base fabrics are bonded together.

[0042] Step 104: The two base fabrics are bonded or fused together in the opening to obtain the intermediate fabric, wherein at least one first cavity is formed between the two oil-proof surfaces.

[0043] In this embodiment, a relevant fixture can be used to bond or fuse two pieces of base fabric within the opening to obtain an intermediate fabric. Specifically, for the first type of finger structure, two first cavities can be formed on the oil-resistant surface. These first cavities can be understood as sealed or airtight cavities. Optionally, the oil-resistant surface can be located inside or outside the first cavities; no further limitation is made here.

[0044] Step 105: After removing the intermediate fabric from the first fixture, wrap the intermediate fabric around the cylindrical second fixture, and bond or fuse the two opposite edges of the intermediate fabric to obtain a cylindrical fabric.

[0045] In this embodiment, excess edges around the middle fabric can be trimmed to facilitate subsequent bonding or fusion processes. For example, in some embodiments, the two opposite edges of the middle fabric in the first direction can be trimmed, leaving a 0.5mm margin for bonding or fusion to achieve a cylindrical fabric shape. Optionally, the shape after trimming is as follows: Figure 4 As shown.

[0046] Step 106: Inject gel into the first cavity of the cylindrical fabric and cure the gel to obtain the soft finger of the dexterous hand.

[0047] Optionally, in some embodiments, the gel described above can be understood or replaced with a silicone gel, which can be obtained by thoroughly mixing HL-1010-3 A gel and HL-1010-3 B gel in a 1:1 ratio.

[0048] Specifically, after mixing to obtain a gel, the mixed gel can be injected into the first cavity using a syringe. Then, the cylindrical fabric filled with silicone gel can be placed in an oven and baked at 110°C for 15 minutes to solidify the gel, thereby obtaining a soft finger.

[0049] In some embodiments, the amount of intermediate fabric gel injected corresponding to the finger structure of different fingers may be as shown in Table 1 or Table 2.

[0050] Table 1:

[0051] Standard refers to meat 1 Standard refers to meat 2 The flesh of the little finger 1 The flesh of the little finger 2 thumb Volume (ml) 0.6 3.8 0.4 3 3

[0052] Table 2:

[0053] Standard refers to meat 1 Standard refers to meat 2 The flesh of the little finger 1 The flesh of the little finger 2 thumb Volume (ml) 0.4 3 0.6 3.8 3

[0054] In Tables 1 and 2 above, "standard finger" can be understood as the middle finger, index finger, and ring finger; "flesh 1" can be understood as the soft tissue corresponding to the middle phalanx; and "flesh 2" can be understood as the soft tissue corresponding to the proximal phalanx. The "soft tissue" can refer to an object formed by the gel solidifying within a first cavity.

[0055] This embodiment of the application involves preparing two base fabrics, each made of an elastic material, with one surface being oil-resistant. One base fabric is stretched and fixed onto a first fixture with a central opening. The other base fabric is freely placed within the opening. The two base fabrics are then bonded or fused together within the opening to obtain an intermediate fabric, forming at least one first cavity between the two oil-resistant surfaces. After removing the intermediate fabric from the first fixture, it is wrapped around a cylindrical second fixture, and the two opposite edges of the intermediate fabric are bonded or fused together to obtain a cylindrical fabric. Gel is injected into the first cavity of the cylindrical fabric and cured to obtain a dexterous hand finger soft body. This allows the finger soft body to be installed or placed on the dexterous hand, giving the fingers a muscle-like soft structure, thereby dispersing gripping pressure and increasing the gripping contact area. Therefore, this embodiment of the application improves the gripping stability of the dexterous hand.

[0056] Optionally, in some embodiments, before placing another piece of base fabric in a free state within the opening, the method further includes:

[0057] A hot melt adhesive sheet is placed on the base fabric inside the opening, and the hot melt adhesive sheet has a hollow area corresponding to the position of the first cavity;

[0058] The process of bonding or fusing the two base fabric pieces within the opening to obtain the intermediate fabric includes:

[0059] The base fabric is ironed with a soldering iron at a first preset temperature to the position corresponding to the hot melt adhesive sheet, so that the two base fabrics are bonded together to obtain the intermediate fabric.

[0060] In this embodiment, laser cutting can be used to obtain a heat-fused material with an adhesive layer around the periphery of the first cavity. The two base fabric pieces will not bond in the aforementioned hollowed-out area, thus forming a sealed first cavity. Optionally, the aforementioned hollowed-out area may include multiple areas; for example, a hollowed-out area may be formed at the location corresponding to each first cavity.

[0061] like Figure 3 As shown, in some embodiments, after a hot melt adhesive sheet 13 is applied to the oil-resistant surface within the opening, a structure is formed as follows: Figure 3 The structure shown includes a hot melt adhesive sheet 13 with three open areas, through which the base fabric 14 can be exposed. It should be understood that the structure of the first fixture and the shape of the hot melt adhesive sheet 13 can differ for different fingers. For example, when making the finger fibrous part of the thumb, the structure after attaching the hot melt adhesive sheet 13 is as follows: Figure 5 As shown. At this point, the hot melt adhesive sheet has only one cutout area.

[0062] Optionally, in some embodiments, when the hot melt adhesive sheet is cut, release paper is provided on both sides. After a piece of base fabric is fixed to the first fixture, one side of the release paper of the hot melt adhesive sheet can be peeled off, and the hot melt adhesive sheet can be placed in the opening and bonded to the oil-proof layer of the base fabric. Then, the other side of the release paper of the hot melt adhesive sheet is peeled off, and another piece of base fabric with its oil-proof layer facing the hot melt adhesive sheet is placed in the opening and bonded to the hot melt adhesive sheet. Finally, the positions of the base fabric with the hot melt adhesive sheet are evenly ironed with a soldering iron, so that the two pieces of base fabric are bonded and sealed to form at least one first cavity.

[0063] Optionally, the first preset temperature can be set according to actual needs. For example, in some embodiments, the first preset temperature can be 180°C.

[0064] Optionally, in some embodiments, the step of bonding or fusing the two base fabric pieces within the opening to obtain an intermediate fabric includes:

[0065] The two base fabric pieces are fused together at the periphery of the first cavity using a high-frequency fixture to obtain the intermediate fabric.

[0066] In this embodiment, a high-frequency process can be used to fuse and seal the two substrate fabrics at the points where they need to be connected to form a first cavity.

[0067] Optionally, in some embodiments, the number of the first cavities is two, and a second cavity is also formed in the intermediate fabric between the two oil-resistant surfaces, the second cavity being located between the two first cavities;

[0068] Before removing the two pieces of intermediate fabric from the first fixture, wrapping the intermediate fabric around the cylindrical second fixture, and bonding or fusing the two opposite edges of the intermediate fabric to obtain the cylindrical fabric, the method further includes:

[0069] The intermediate fabric is cut to remove the second cavity and the edge area of ​​the base fabric located outside the first cavity.

[0070] In this embodiment of the application, the cylindrical fabric has a first opening on the front side corresponding to the first finger joint portion, and the first opening is located between the first cavities. The base fabric has a second opening on the back side corresponding to the first finger joint portion, and the second opening is located between the two first cavities.

[0071] Wherein, the first finger joint portion is provided with first through holes on two opposite sides, and the base fabric is installed and fixed on the first finger joint portion through connecting lines and the first through holes;

[0072] Wherein, the first finger joint portion is the finger joint portion of the first finger joint portion and the second finger joint portion in the first type of finger structure.

[0073] Optionally, in order to better achieve the formation of a cylindrical shape in the middle fabric, the edge of the base fabric previously fixed on the first fixture can be reserved by 0.5mm in the first direction.

[0074] In this embodiment of the application, the intermediate fabric is cut to remove the edge areas of the second cavity and the base fabric located outside the first cavity, as follows: Figure 4 The structure shown is such that region 15 is the region corresponding to the first opening, and region 16 is the region corresponding to the second opening when the middle fabric forms a cylindrical shape.

[0075] Optionally, in some embodiments, the process of bonding or fusing the two opposite edges of the intermediate fabric includes any of the following:

[0076] Apply hot melt adhesive to the first edge area of ​​the middle fabric, stack the second edge area of ​​the middle fabric on the first edge area, and iron the second edge area with a soldering iron to bond the first edge area and the second edge area together.

[0077] The first edge region and the second edge region are fused together using a high-frequency fixture.

[0078] In this embodiment of the application, the first edge region and the second edge region can be understood as the two side edges of the middle fabric in the first direction.

[0079] In some embodiments, hot melt adhesive can be applied to the first edge region, then the second edge region can be overlapped with the first edge region, and finally the second edge region can be evenly ironed with a soldering iron at 180°C to make the first edge region and the second edge region adhere.

[0080] In some embodiments, the first edge region and the second edge region can be overlapped, and then the first edge region and the second edge region can be fused by a high-frequency process.

[0081] Optionally, in some embodiments, after the gel solidifies within the first cavity, it forms a U-shaped soft part that matches the knuckles of the dexterous hand.

[0082] It should be understood that in the embodiments of this application, the shape and size of the soft parts corresponding to different fingers can be set according to actual needs, and no further limitations are made here. The aforementioned U-shaped soft parts can cover the front and sides of the finger structure, corresponding to the muscle distribution of a human finger. For example, in some embodiments, the two soft parts of a standard finger are as follows... Figure 8 As shown, in Figure 8In the middle, the upper soft part corresponds to the soft part of the middle phalanx, and the lower soft part corresponds to the soft part of the proximal phalanx.

[0083] Optionally, in some embodiments, this application also provides a dexterous hand, such as... Figure 6 and Figure 7 As shown, the dexterous hand includes:

[0084] Finger software 61;

[0085] A dexterous hand skeleton, comprising a palm structure 621 and a finger structure 622, wherein the finger soft body 61 is sleeved on the finger structure 622;

[0086] A glove (not shown) is fitted over the dexterous hand skeleton, and the finger soft body 61 is located between the finger structure 622 and the glove.

[0087] In this embodiment of the application, there may be multiple finger soft bodies 61. For example, there are 5 finger structures 622, corresponding to 5 fingers, and 5 finger soft bodies, with each finger soft body being fitted onto one finger structure.

[0088] Optionally, the aforementioned finger soft material can be glued and fixed to the finger structure 622, or it can be fixedly connected to the finger structure by wire harness or screws, without further limitation.

[0089] This embodiment of the application provides a dexterous hand comprising: finger soft tissue 61; a dexterous hand skeleton, the dexterous hand skeleton including a palm structure 621 and a finger structure 622, the finger soft tissue 61 being sleeved on the finger structure 622; and a glove, the glove being sleeved on the dexterous hand skeleton, with the finger soft tissue 61 located between the finger structure 622 and the glove. This provides a soft tissue with a muscle-like structure at the finger position of the dexterous hand, thereby improving the stability of the dexterous hand's grasp.

[0090] Alternatively, the gloves described above can be understood as or replaced with protective covers.

[0091] Optionally, in some embodiments, the finger structure 622 includes four first-type finger structures and one second-type finger structure. The first-type finger structure includes three phalanges and a knuckle joint located between two adjacent phalanges. The knuckle joint is used to connect two adjacent phalanges.

[0092] The finger soft body disposed in the first type of finger structure includes a base fabric and two U-shaped soft parts disposed in the base fabric. One U-shaped soft part is disposed in relation to the first knuckle of the first type of finger structure adjacent to the palm structure, and the other U-shaped soft part is disposed in relation to the second knuckle of the first type of finger structure. The second knuckle is adjacent to the first knuckle.

[0093] The finger soft part disposed in the second type of finger structure includes a base fabric and a U-shaped soft part disposed in the base fabric. The U-shaped soft part is disposed corresponding to the first phalanx of the second type of finger structure adjacent to the palm structure.

[0094] The U-shaped opening of the U-shaped soft part is positioned facing the back of the finger structure.

[0095] In this embodiment, the finger structure and palm structure can be movably connected through the metacarpophalangeal joint. The specific structure of the palm structure and finger structure can be referred to in related technologies, and will not be repeated here.

[0096] Optionally, the first phalanx can be understood as the base of the phalanx, and the second phalanx can be understood as the middle phalanx.

[0097] Optionally, the aforementioned U-shaped soft part can wrap around the front and sides of the finger structure, which corresponds to the muscle distribution of a human finger. This can improve the stability of gripping or holding objects when grasping or holding them through the finger structure.

[0098] Optionally, in some embodiments, the base fabric has a first opening on the front side corresponding to the first knuckle portion, the first opening being located between the two U-shaped soft portions, and the base fabric has a second opening on the back side corresponding to the first knuckle portion, the second opening being located between the two U-shaped soft portions;

[0099] Wherein, the first finger joint portion is provided with first through holes 6221 on two opposite sides, and the base fabric is installed and fixed on the first finger joint portion through connecting lines and the first through holes 6221;

[0100] Wherein, the first finger joint portion refers to the finger joint portion of the first finger joint portion and the second finger joint portion in the first type of finger structure.

[0101] In this embodiment of the application, the first opening and the second opening are arranged opposite to each other. By setting the first opening and the second opening, a clearance space is provided during the rotation of the first finger joint, thereby improving the flexibility of the rotation of the first finger joint.

[0102] Furthermore, the connecting thread can be knitted thread, which can be sewn onto the base fabric and fixed to the first through hole using a needle. Thus, during the rotation of the second knuckle relative to the first knuckle controlled by the first knuckle, the base fabric forms a pleated structure at the first knuckle, thereby creating a pleated structure in the glove at the first knuckle. Therefore, the embodiments of this application enable biomimetic dexterity.

[0103] Optionally, in some embodiments, the above-mentioned finger software is the finger software produced by the finger software production method in the above examples.

[0104] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0105] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for manufacturing a soft finger, characterized in that, include: Prepare two pieces of base fabric, wherein the base fabric is an elastic material and one surface of the base fabric is an oil-resistant surface; A piece of base fabric is stretched and fixed onto the first fixture with an opening in the middle. Place another piece of base fabric freely inside the opening; The two base fabrics are bonded or fused together in the opening to obtain an intermediate fabric, wherein at least one first cavity is formed between the two oil-proof surfaces. After removing the intermediate fabric from the first fixture, wrap the intermediate fabric around the cylindrical second fixture, and glue or fuse the two opposite edges of the intermediate fabric to obtain the cylindrical fabric. Gel is injected into the first cavity of the cylindrical fabric, and the gel is cured to obtain the soft fingers of the dexterous hand.

2. The method for manufacturing a soft finger according to claim 1, characterized in that, Before placing another piece of base fabric in a free state within the opening, the method further includes: A hot melt adhesive sheet is placed on the base fabric inside the opening, and the hot melt adhesive sheet has a hollow area corresponding to the position of the first cavity; The process of bonding or fusing the two base fabric pieces within the opening to obtain the intermediate fabric includes: The base fabric is ironed with a soldering iron at a first preset temperature to the position corresponding to the hot melt adhesive sheet, so that the two base fabrics are bonded together to obtain the intermediate fabric.

3. The method for manufacturing a soft finger according to claim 1, characterized in that, The process of bonding or fusing the two base fabric pieces within the opening to obtain the intermediate fabric includes: The two base fabric pieces are fused together at the periphery of the first cavity using a high-frequency fixture to obtain the intermediate fabric.

4. The method for manufacturing a soft finger according to claim 1, characterized in that, The number of the first cavity is two, and a second cavity is also formed in the middle fabric between the two oil-proof surfaces, the second cavity being located between the two first cavities; Before removing the two pieces of intermediate fabric from the first fixture, wrapping the intermediate fabric around the cylindrical second fixture, and bonding or fusing the two opposite edges of the intermediate fabric to obtain the cylindrical fabric, the method further includes: The intermediate fabric is cut to remove the second cavity and the portion of the base fabric located outside the first cavity at the edge.

5. The method according to claim 1, characterized in that, The process of bonding or fusing the two opposite edges of the intermediate fabric includes any one of the following: Apply hot melt adhesive to the first edge area of ​​the middle fabric, stack the second edge area of ​​the middle fabric on the first edge area, and iron the second edge area with a soldering iron to bond the first edge area and the second edge area together. The first edge region and the second edge region are fused together using a high-frequency fixture.

6. The method according to claim 1, characterized in that, After the gel solidifies within the first cavity, it forms a U-shaped soft part that matches the knuckles of the dexterous hand.

7. A dexterous hand, characterized in that, include: Finger software; A dexterous hand skeleton, comprising a palm structure and a finger structure, wherein the finger soft body is fitted onto the finger structure; A glove, which is fitted over the dexterous hand skeleton, with the finger soft tissue located between the finger structure and the glove.

8. The dexterous hand according to claim 7, characterized in that, The finger structure includes four first-type finger structures and one second-type finger structure. The first-type finger structure includes three phalanges and a knuckle joint located between two adjacent phalanges. The knuckle joint is used to connect two adjacent phalanges. The finger soft body disposed in the first type of finger structure includes a base fabric and two U-shaped soft parts disposed in the base fabric. One U-shaped soft part is disposed in relation to the first knuckle of the first type of finger structure adjacent to the palm structure, and the other U-shaped soft part is disposed in relation to the second knuckle of the first type of finger structure. The second knuckle is adjacent to the first knuckle. The finger soft part disposed in the second type of finger structure includes a base fabric and a U-shaped soft part disposed in the base fabric. The U-shaped soft part is disposed corresponding to the first phalanx of the second type of finger structure adjacent to the palm structure. The U-shaped opening of the U-shaped soft part is positioned facing the back of the finger structure.

9. The dexterous hand according to claim 8, characterized in that, The base fabric has a first opening on the front side corresponding to the first finger joint, and the first opening is located between the two U-shaped soft parts. The base fabric has a second opening on the back side corresponding to the first finger joint, and the second opening is located between the two U-shaped soft parts. Wherein, the first finger joint portion is provided with first through holes on two opposite sides, and the base fabric is installed and fixed on the first finger joint portion through connecting lines and the first through holes; Wherein, the first finger joint portion refers to the finger joint portion of the first finger joint portion and the second finger joint portion in the first type of finger structure.

10. The dexterous hand according to claim 7, characterized in that, The finger software is the finger software produced by the method described in any one of claims 1 to 6.

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