Seven-degree-of-freedom pneumatic-electric hybrid driven bionic dexterous hand

Abstract

The application discloses a seven-degree-of-freedom bionic dexterous hand driven by gas and electricity, and belongs to the technical field of dexterous hands. In the device, a thumb carpometacarpal joint rudder engine and an index finger metacarpophalangeal joint rudder engine are installed on a palm shell. There are five bionic pneumatic fingers, namely, a bionic pneumatic thumb, a bionic pneumatic index finger, a bionic pneumatic middle finger, a bionic pneumatic ring finger and a bionic pneumatic little finger. Abduction / adduction movement of the thumb carpometacarpal joint of the bionic pneumatic thumb is driven by the thumb carpometacarpal joint rudder engine, and abduction / adduction movement of the index finger metacarpophalangeal joint of the bionic pneumatic index finger is driven by the index finger metacarpophalangeal joint rudder engine. The bionic pneumatic ring finger, the bionic pneumatic middle finger and the bionic pneumatic little finger are directly fixed on the palm shell. Extension / flexion movement of the five bionic pneumatic fingers is driven by an external gas supply unit. The application can realize object grabbing, has strong controllability, high grabbing capacity and simple structure.

Description

Technical Field

[0001] This invention relates to the field of dexterous hand technology, and more particularly to a seven-degree-of-freedom bionic dexterous hand driven by a gas-electric hybrid system. Background Technology

[0002] Dexterous hands are an important research area in robotics, aiming to achieve grasping and manipulation capabilities close to those of a human hand within constraints of size and weight. Rigid tendon-driven or link-driven manipulators exhibit excellent manipulative capabilities through precise joint control and high output force; while soft manipulators driven by pneumatics or elastomers have unique advantages in compliance, adaptability to different object geometries, and simplified control achieved through underactuation. These two types of systems exhibit different characteristics: rigid structures excel at controllable and repeatable precise positioning, while soft structures can naturally adapt to the uncertainties of object shape and pose.

[0003] Most existing soft finger actuators employ fiber-reinforced pneumatic structures, achieving a wide range of flexion and extension through one or two air chambers, while also possessing advantages such as simple structure, ease of manufacturing, and strong scalability. However, biomechanical analysis shows that different hand joints have different actuation requirements. Finger flexion and extension movements are best achieved through continuous, compliant bending, which is highly compatible with the characteristics of fiber-reinforced pneumatic actuators; while movements such as the opposition of the thumb's carpometacarpal joint and the abduction / adduction of the index finger's metacarpophalangeal joint require a defined axis of rotation and a large controllable range of motion, characteristics more suited to rigid actuation.

[0004] Therefore, considering current technological trends, neither purely rigid actuation nor purely software actuation can simultaneously achieve dexterity, structural simplicity, compliance, and compactness. Combining software and rigid actuation based on joint function differences, and allocating actuation methods according to joint function, represents a valuable research and application approach.

[0005] Existing dexterous hand technology has the following drawbacks: (1) Purely rigid dexterous hands lack compliance and have limited adaptability to environmental and target uncertainties. Although existing rigid tendon-driven or link-driven manipulators have high joint control accuracy and output capability, they usually lack the natural compliance of soft structures when facing changes in the shape of the target, positional deviations and contact uncertainties, making it difficult to balance safe contact and shape adaptation.

[0006] (2) Pure soft dexterous hands have difficulty in meeting the requirements of large-scale and clearly defined axial rotation in some joint movements. Existing soft fingers often use fiber-reinforced pneumatic drive, which is suitable for continuous bending and flexion-extension movements. However, for the palmar opposition movement of the thumb carpal joint and the abduction / adduction movement of the index finger metacarpophalangeal joint, it is often difficult to provide a clear rotation axis and a sufficiently large and controllable range of motion by relying solely on soft drive.

[0007] (3) Existing single-drive modes cannot simultaneously achieve high grasping coverage and structural simplicity. Existing solutions often require a trade-off between motion capability and system complexity, making it difficult to achieve diverse grasping capabilities close to those of the human hand while maintaining structural simplicity and modularity. Summary of the Invention

[0008] This invention aims to at least partially solve one of the technical problems in related technologies. To this end, one objective of this invention is to propose a seven-DOF bionic dexterous hand driven by a hybrid pneumatic-electric system, capable of grasping objects with high controllability, high grasping ability, and simple structure.

[0009] A seven-DOF bionic dexterous hand driven by a gas-electric hybrid system according to an embodiment of the present invention includes: A palm shell, on which a thumb carpal joint servo and an index finger metacarpophalangeal joint servo are mounted; The device comprises five biomimetic pneumatic fingers: a biomimetic thumb, index finger, middle finger, ring finger, and little finger. The abduction / adduction movement of the thumb's carpometacarpal joint is driven by a servo motor, as is the abduction / adduction movement of the index finger's metacarpophalangeal joint. The biomimetic ring finger, middle finger, and little finger are directly fixed to the hand shell. The extension / flexion movements of the five biomimetic pneumatic fingers are driven by an external air supply unit.

[0010] The pneumatic-electric hybrid-driven seven-DOF bionic dexterous hand of this invention has seven active degrees of freedom. An external air supply unit drives five bionic pneumatic fingers to perform extension / flexion movements, corresponding to five degrees of flexion and extension. A thumb carpometacarpal joint servo drives the abduction / adduction movements of the bionic pneumatic thumb's thumb carpometacarpal joint, and an index finger metacarpophalangeal joint servo drives the abduction / adduction movements of the bionic pneumatic index finger's metacarpophalangeal joint, corresponding to two degrees of abduction / adduction, thus achieving seven active degrees of freedom. This configuration of seven active degrees of freedom allows the pneumatic-electric hybrid-driven seven-DOF bionic dexterous hand to achieve basic grasping, palm opposition, and some key movements required for fine manipulation, while maintaining a simple structure.

[0011] The seven-DOF bionic dexterous hand driven by a gas-electric hybrid system according to embodiments of the present invention has the following advantages: First, it boasts strong controllability: the extension / flexion movements of the bionic pneumatic fingers are driven by an external air supply unit (soft actuation), exhibiting compliant and adaptable capabilities to the surface shapes of different objects. Simultaneously, the thumb carpal joint and index finger of the bionic pneumatic thumb are driven by rigid servo motors (thumb carpal joint servo motor and index finger metacarpophalangeal joint servo motor), making the actuation method more compatible with human joint function and improving the movement capabilities of the bionic pneumatic fingers. Thus, through the combination of soft actuation and rigid servo motor actuation, the seven-DOF bionic dexterous hand, with its hybrid pneumatic-electric actuation, possesses both compliant and adaptable capabilities, enabling it to adapt to the shape and surface characteristics of different objects, and the ability to achieve precise and controllable wide-range movements, expanding the opening and closing range to accommodate the grasping of objects of different sizes.

[0012] Secondly, it possesses high grasping ability: the pneumatic-electric hybrid driven seven-DOF bionic dexterous hand has seven active degrees of freedom, enabling it to perform basic grasping, palm opposition, and key movements required for some fine manipulations. The pneumatic-electric hybrid driven seven-DOF bionic dexterous hand can complete 33 standard grasping categories in the Grasp Taxonomy, of which 30 can be completed stably. Furthermore, to verify the performance of the pneumatic-electric hybrid driven bionic dexterous hand described in this invention, its output force and motion performance indicators were tested.

[0013] The seven-DOF bionic dexterous hand driven by the gas-electric hybrid drive of this invention can cover most standard grasping forms with only seven active degrees of freedom, exhibiting high grasping diversity and high structural efficiency.

[0014] In some embodiments, the thumb wrist joint servo is connected to the bionic pneumatic thumb via a thumb rigid joint posture adjustment mechanism.

[0015] In some embodiments, the thumb rigid joint posture adjustment mechanism includes a thumb wrist-palm joint servo arm and a thumb support; the thumb wrist-palm joint servo is connected to the thumb wrist-palm joint servo arm, and the thumb wrist-palm joint servo arm is connected to the bionic pneumatic thumb through the thumb support.

[0016] In some embodiments, the upper part of the thumb support is provided with a thumb mounting hole for mounting the bionic pneumatic thumb; the lower part of the thumb support is provided with a thumb connecting hole for connecting to the thumb wrist joint servo arm by bolts and nuts; the palm base of the palm shell is provided with a thumb servo mounting groove; the thumb wrist joint servo is housed in the thumb servo mounting groove and fixed to the palm shell by fasteners.

[0017] In some embodiments, the index finger metacarpophalangeal joint servo motor is connected to the bionic pneumatic index finger via an index finger rigid joint posture adjustment mechanism.

[0018] In some embodiments, the index finger rigid joint posture adjustment mechanism includes an index finger metacarpophalangeal joint servo arm and an index finger support; the index finger metacarpophalangeal joint servo is connected to the index finger metacarpophalangeal joint servo arm, and the index finger metacarpophalangeal joint servo arm is connected to the bionic pneumatic index finger.

[0019] In some embodiments, the upper part of the index finger support is provided with an index finger mounting hole for mounting the bionic pneumatic index finger; the lower part of the index finger support is provided with an index finger connecting hole for connecting to the index finger metacarpophalangeal joint servo arm by bolts and nuts; the back of the index finger support is provided with an arc-shaped guide portion, and the base of the index finger of the palm shell is provided with an arc-shaped guide rail, the arc-shaped guide portion cooperating with the arc-shaped guide rail to limit the rotation path of the index finger metacarpophalangeal joint; The back of the palm shell is provided with an index finger servo mounting boss, and the index finger metacarpophalangeal joint servo is mounted on the index finger servo mounting boss by fasteners.

[0020] In some embodiments, each of the bionic pneumatic fingers has an internal air cavity extending from the fingertip to the base of the finger; each of the bionic pneumatic fingers includes a functional bending segment, a mounting and fixing segment, and an air passage connection segment connected sequentially from the fingertip to the base of the finger; wherein, the functional bending segment corresponds to the bionic finger body and is used to realize flexion and extension movements; the mounting and fixing segment of the bionic pneumatic thumb, the mounting and fixing segment of the bionic pneumatic index finger, and the mounting and fixing segments of the other three bionic pneumatic fingers are respectively used to be inserted and fixed into the thumb support, the index finger support, and the palm shell; the air passage connection segment is used to seal and fix with the air pipe of the external air supply unit.

[0021] In some embodiments, the geometry of the bionic dexterous hand is based on a human hand model and is proportionally adjusted according to the size, installation space, and movement requirements of the target robotic hand, so that the obtained bionic bionic finger matches the shape and movement characteristics of the human hand finger.

[0022] In some embodiments, the bionic dexterous hand is molded from silicone.

[0023] Additional aspects and advantages of the invention 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 the invention. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of a seven-degree-of-freedom bionic dexterous hand driven by a gas-electric hybrid system according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the back of the seven-DOF bionic dexterous hand driven by a gas-electric hybrid system according to an embodiment of the present invention. Figure 3This is a schematic diagram of the front of the seven-DOF bionic dexterous hand driven by a gas-electric hybrid system according to an embodiment of the present invention. Figure 4 This is a schematic diagram of the clenched fist state of a seven-DOF bionic dexterous hand driven by a gas-electric hybrid drive according to an embodiment of the present invention. Figure 5 This is a schematic diagram of the structure of the bionic pneumatic index finger according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the bionic dynamic thumb according to an embodiment of the present invention; Figure 7 The figure shows the test results of 33 standard grasping categories in the GraspTaxonomy, a seven-DOF bionic dexterous hand grasping classification system driven by a gas-electric hybrid drive, according to an embodiment of the present invention. Figure 8 The figure shows the test results of the motion performance of the seven-DOF bionic dexterous hand driven by the gas-electric hybrid drive according to an embodiment of the present invention.

[0025] Figure Labels A seven-DOF bionic dexterous hand 1000 driven by a pneumatic-electric hybrid system; hand shell 1; thumb servo mounting slot 101; index finger servo mounting boss 102; arc guide rail 103; bionic pneumatic finger 2; bionic pneumatic thumb 21; bionic pneumatic index finger 22; bionic pneumatic middle finger 23; bionic pneumatic ring finger 24; bionic pneumatic little finger 25; functional bending section 201; mounting and fixing section 202; air circuit connection section 203; thumb wrist-palm joint servo 3; index finger metacarpophalangeal joint servo 4; thumb rigid joint posture adjustment mechanism 5; thumb wrist-palm joint servo arm 501; thumb support 502; thumb mounting hole 5021; index finger rigid joint posture adjustment mechanism 6; index finger metacarpophalangeal joint servo arm 601; index finger support 602; index finger mounting hole 6021; arc guide section 6022. Detailed Implementation

[0026] Embodiments of the present invention are described in detail below. 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 intended to explain the present invention, and should not be construed as limiting the present invention.

[0027] The following is combined Figures 1 to 8 This invention describes a seven-DOF bionic dexterous hand 1000 driven by a gas-electric hybrid system, according to an embodiment of the present invention.

[0028] like Figures 1 to 8 As shown, the pneumatic-electric hybrid driven seven-DOF bionic dexterous hand 1000 of this embodiment of the invention includes a palm shell 1 and bionic pneumatic fingers 2.

[0029] The palm shell 1 is equipped with a thumb wrist-to-palm joint servo motor 3 and an index finger metacarpophalangeal joint servo motor 4. The main body of the palm shell 1 is a thin-walled shell structure, and the space formed inside it can be used to arrange the air pipe of the external air supply unit, the thumb wrist-to-palm joint servo motor 3, and the index finger metacarpophalangeal joint servo motor 4.

[0030] There are five bionic pneumatic fingers 2: a bionic thumb 21, a bionic index finger 22, a bionic middle finger 23, a bionic ring finger 24, and a bionic little finger 25. The thumb carpometacarpal joint of the bionic thumb 21 and the index metacarpophalangeal joint of the bionic index finger 22 require clearly defined rotation axes and a wide range of posture adjustments. Therefore, in the pneumatic-electric hybrid driven seven-DOF bionic dexterous hand 1000 of this embodiment, the bionic thumb 21 and bionic index finger 22 are driven by rigid servo motors. Specifically, the abduction / adduction movement of the thumb carpometacarpal joint of the bionic pneumatic thumb 21 is driven by the thumb carpometacarpal joint servo motor 3, and the abduction / adduction movement of the index metacarpophalangeal joint of the bionic index finger 22 is driven by the index metacarpophalangeal joint servo motor 4 (approximately the abduction / adduction movement of the joints of the human index finger and thumb). Rigid servo motor drive enables the bionic pneumatic thumb 21 and bionic index finger 22 to achieve controllable, wide-range movements. Preferably, the servo model of the thumb wrist joint servo 3 can be KST DS215MG, and the servo model of the index finger metacarpophalangeal joint servo 4 can be KST X06H.

[0031] The biomimetic kinetic ring finger 24, biomimetic kinetic middle finger 23, and biomimetic kinetic little finger 25 are directly fixed to the palm shell 1. The palm shell 1 may also have finger mounting holes for correspondingly mounting the biomimetic kinetic ring finger 24, biomimetic kinetic middle finger 23, and biomimetic kinetic little finger 25. Figure 2 (The winning bid was announced).

[0032] The extension / flexion movements of the five bionic pneumatic fingers 2 are driven by an external air supply unit. These five bionic pneumatic fingers 2 correspond to human fingers, suitable for compliant bending and extension; therefore, their extension / flexion movements are driven by an external air supply unit (soft-driven), resulting in low complexity in both driving and control. The five bionic pneumatic fingers 2 can produce continuous, smooth bending under the air pressure input provided by the external air supply unit, thus achieving flexion and extension movements. Specifically, the five bionic pneumatic fingers 2 can employ a fiber-reinforced pneumatic structure with an embedded fiber constraint layer featuring a preset pattern. This fiber constraint layer restricts the strain distribution at different parts of the bionic pneumatic fingers 2. The external air supply unit inflates the bionic pneumatic fingers 2, causing them to bend along a predetermined trajectory, thereby achieving the flexion and extension movements. The five bionic pneumatic fingers 2 have low control complexity and compliant capabilities, adapting to the surface shapes of different objects. The state of the five bionic pneumatic fingers 2 when bent into a fist is as follows... Figure 4 As shown.

[0033] The pneumatic-electric hybrid driven seven-DOF bionic dexterous hand 1000 of this invention has seven active degrees of freedom. An external air supply unit drives five bionic pneumatic fingers 2 to perform extension / flexion movements, corresponding to five degrees of flexion and extension. A thumb carpal joint servo 3 drives the abduction / adduction movements of the bionic pneumatic thumb 21's thumb carpal joint, and an index finger metacarpophalangeal joint servo 4 drives the abduction / adduction movements of the index finger 22's index finger metacarpophalangeal joint, corresponding to two degrees of abduction / adduction, thus achieving seven active degrees of freedom. This configuration of seven active degrees of freedom allows the pneumatic-electric hybrid driven seven-DOF bionic dexterous hand 1000 to achieve basic grasping, palm opposition, and some key movements required for fine manipulation, while maintaining a simple structure.

[0034] The pneumatic-electric hybrid driven seven-DOF bionic dexterous hand 1000 of this invention has the following advantages: First, it boasts strong controllability: the extension / flexion movements of the bionic pneumatic finger 2 are driven by an external air supply unit (soft actuation), exhibiting compliant and adaptable capabilities to the surface shapes of different objects. Simultaneously, the thumb carpal joint of the bionic pneumatic thumb 21 and the index finger 22 are driven by rigid servos (thumb carpal joint servo 3 and index finger metacarpophalangeal joint servo 4), making the actuation method more compatible with human joint function and improving the movement capabilities of the bionic pneumatic finger 2. Thus, through the combination of soft actuation and rigid servo actuation, the seven-DOF bionic dexterous hand 1000, with its pneumatic-electric hybrid actuation, possesses both compliant and adaptable capabilities, enabling it to adapt to the shape and surface of different objects, and the ability to achieve precise and controllable large-range movements, expanding the opening and closing range to accommodate the grasping of objects of different sizes.

[0035] Secondly, it boasts high grasping capabilities: the pneumatic-electric hybrid-driven seven-DOF bionic dexterous hand 1000 possesses seven active degrees of freedom, enabling it to perform basic grasping, palm opposition, and key movements required for some fine manipulations. The pneumatic-electric hybrid-driven seven-DOF bionic dexterous hand 1000 can complete 33 standard grasping categories in the Grasp Taxonomy grasping classification system, of which 30 can be completed stably. Figure 7 The 30 categories in blue are for crawling), and the other 3 categories ( Figure 7 While the three types of grasping (highlighted in yellow) can achieve the target grasping configuration, their stability is relatively insufficient. To verify the performance of the pneumatic-electric hybrid driven bionic dexterous hand of this invention, its output force and motion performance indicators were tested. The test results are as follows: Figure 8 As shown.

[0036] Therefore, it can be seen that the present invention, with only seven active degrees of freedom, can cover most standard grasping forms, with high grasping diversity and simple structure.

[0037] In some embodiments, the thumb wrist-palm joint servo 3 is connected to the bionic pneumatic thumb 21 via a thumb rigid joint adjustment mechanism 5. The thumb rigid joint adjustment mechanism 5 converts the rotational motion of the thumb wrist-palm joint servo 3 into the abduction / adduction motion of the bionic pneumatic thumb 21. During operation, the thumb wrist-palm joint servo 3 drives the thumb wrist-palm joint servo arm 501 to swing, and the thumb wrist-palm joint servo arm 501 drives the thumb support 502 to rotate around the palm shell 1, thereby enabling the bionic pneumatic thumb 21 fixed on the thumb support 502 to achieve abduction (away from the palm) or adduction (closer to the palm) motions of the wrist-palm joint, simulating the opposing function of the human thumb.

[0038] In some embodiments, the thumb rigid joint posture adjustment mechanism 5 includes a thumb wrist-palm joint servo arm 501 and a thumb support 502. The thumb wrist-palm joint servo 3 is connected to the thumb wrist-palm joint servo arm 501, and the thumb wrist-palm joint servo arm 501 is connected to the bionic pneumatic thumb 21 via the thumb support 502. During operation, the thumb wrist-palm joint servo 3 drives the thumb wrist-palm joint servo arm 501 to swing, which in turn drives the thumb support 502 to rotate around the hand shell 1. This allows the bionic pneumatic thumb 21, fixed to the thumb support 502, to perform abduction (away from the palm) or adduction (closer to the palm) movements of the wrist-palm joint, simulating the opposing function of the human thumb, a reasonable design.

[0039] In some embodiments, the upper part of the thumb support 502 is provided with a thumb mounting hole 5021 for mounting the bionic pneumatic thumb 21, which facilitates the assembly and disassembly of the bionic pneumatic thumb 21. The lower part of the thumb support 502 is provided with a thumb connection hole for connecting to the thumb wrist joint servo arm 501 via bolts and nuts, which facilitates assembly and disassembly and ensures a secure connection. The palm base of the hand shell 1 is provided with a thumb servo mounting groove 101. The thumb wrist joint servo 3 is housed within the thumb servo mounting groove 101 and fixed to the hand shell 1 by fasteners, which facilitates installation and saves space.

[0040] In some embodiments, the wall of the thumb servo mounting slot 101 is provided with a grid opening 1011 to balance heat dissipation and weight reduction.

[0041] In some embodiments, the index finger metacarpophalangeal joint servo 4 is connected to the bionic pneumatic index finger 22 via the index finger rigid joint posture adjustment mechanism 6. The index finger rigid joint posture adjustment mechanism 6 converts the rotational motion of the index finger metacarpophalangeal joint servo 4 into the abduction / adduction motion of the bionic pneumatic index finger 22. The index finger rigid joint posture adjustment mechanism 6 expands the range of hand opening and closing to accommodate the grasping of objects of different sizes.

[0042] In some embodiments, the index finger rigid joint posture adjustment mechanism 6 includes an index finger metacarpophalangeal joint servo arm 601 and an index finger support 602. An index finger metacarpophalangeal joint servo 4 is connected to the index finger metacarpophalangeal joint servo arm 601, which is connected to the bionic pneumatic index finger 22. During operation, the index finger metacarpophalangeal joint servo 4 drives the index finger metacarpophalangeal joint servo arm 601 to swing, which in turn drives the index finger support 602 to rotate around itself and the hand shell 1, allowing the bionic pneumatic index finger 22, fixed to the index finger support 602, to perform abduction (away from the middle finger) or adduction (closer to the middle finger) movements of the metacarpophalangeal joint. The index finger rigid joint posture adjustment mechanism 6 is rationally designed, improving the range of motion of the bionic pneumatic index finger 22 and enhancing its ability to grasp objects of different sizes.

[0043] In some embodiments, the upper part of the index finger support 602 is provided with an index finger mounting hole 6021 for mounting a bionic pneumatic index finger 22, which facilitates the assembly and disassembly of the bionic pneumatic index finger 22. The lower part of the index finger support 602 is provided with an index finger connection hole for connecting to the index finger metacarpophalangeal joint servo arm 601 via bolts and nuts, making the connection more convenient and secure. The back of the index finger support 602 is provided with an arc-shaped guide portion 6022, and the base of the index finger of the palm shell 1 is provided with an arc-shaped guide rail 103. The arc-shaped guide portion 6022 and the arc-shaped guide rail 103 cooperate to limit the rotation path of the index finger metacarpophalangeal joint. The cooperation between the arc-shaped guide portion 6022 and the arc-shaped guide rail 103 provides mechanical limitation for the abduction / adduction of the index finger, ensuring that the movement trajectory is more controllable.

[0044] The back of the palm shell 1 is provided with an index finger servo mounting boss 102. The index finger metacarpophalangeal joint servo 4 is mounted on the index finger servo mounting boss 102 by fasteners. The index finger servo mounting boss 102 facilitates the installation of the index finger metacarpophalangeal joint servo 4 and improves the structural compactness.

[0045] In some embodiments, each bionic pneumatic finger 2 has an internal air cavity extending from the fingertip to the base of the finger, and an external air supply unit can introduce the gas required to drive the bionic pneumatic finger 2 into the air cavity. Each bionic pneumatic finger 2 includes a functional bending section 201, a mounting and fixing section 202, and an air passage connection section 203 connected sequentially from the fingertip to the base of the finger. The functional bending section 201 corresponds to the bionic finger body and is used to realize flexion and extension movements. The mounting and fixing sections 202 of the bionic pneumatic thumb 21, the bionic pneumatic index finger 22, and the other three bionic pneumatic fingers 2 are respectively used to be inserted and fixed into the thumb support 502, the index finger support 602, and the palm shell 1. The functional bending section 201 is embedded with a fiber constraint layer, which limits the strain distribution through a preset pattern, so that it deforms according to the bending trajectory of the human hand after inflation, improving the gripping adaptability. The mounting and fixing section 202 is used to fix and connect with the thumb support 502, the index finger support 602, or the palm shell 1 to prevent it from falling off during movement and to ensure a stable connection. The air passage connection section 203 can be sealed with a cable tie to seal the air pipe of the external air supply unit. The segmented design makes the bionic pneumatic finger 2 more aesthetically pleasing.

[0046] In some embodiments, the geometry of the bionic pneumatic finger 2 is established based on a human hand model and proportionally adjusted according to the size, installation space, and motion requirements of the target robotic hand, so that the obtained bionic pneumatic finger 2 matches the shape and motion characteristics of a human hand finger. The geometric design based on a human hand model (such as a publicly disclosed three-dimensional hand model) makes the length, thickness, and curvature of the bionic pneumatic finger 2 more closely match those of a human finger, improving compliance when grasping irregularly shaped objects. For example, the overall dimensions of the pneumatic-electric hybrid driven seven-DOF bionic dexterous hand 1000 can be 197mm × 131mm × 74mm, with a total mass of 164g, making stable grasping easier. Furthermore, the pneumatic-electric hybrid driven seven-DOF bionic dexterous hand 1000 of this embodiment, through its bionic structure and hybrid drive mechanism, combines functionality and modularity, possessing good application expansion potential, such as extending to the field of prosthetics, three-finger or multi-finger robotic hands.

[0047] In some embodiments, the bionic pneumatic finger 2 is embedded with a fiber constraint layer with a preset pattern. The fiber constraint layer restricts the strain distribution at different parts, so that the bionic pneumatic finger 2 bends along a predetermined trajectory after inflation.

[0048] In some embodiments, the biomimetic pneumatic finger 2 is molded from silicone, which is low-cost, easy to manufacture, and the softness of silicone provides it with gripping flexibility. For example, the biomimetic pneumatic finger 2 can be made from a silicone material of Ecoflex 00-30 and DragonSkin 10 Slow mixed in a 1:1 ratio, which has good flexibility. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be regarded as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A seven-DOF bionic dexterous hand driven by a gas-electric hybrid system, characterized in that, include: A palm shell, on which a thumb carpal joint servo and an index finger metacarpophalangeal joint servo are mounted; The device comprises five biomimetic pneumatic fingers: a biomimetic thumb, index finger, middle finger, ring finger, and little finger. The abduction / adduction movement of the thumb's carpometacarpal joint is driven by a servo motor, as is the abduction / adduction movement of the index finger's metacarpophalangeal joint. The biomimetic ring finger, middle finger, and little finger are directly fixed to the hand shell. The extension / flexion movements of the five biomimetic pneumatic fingers are driven by an external air supply unit.

2. The seven-DOF bionic dexterous hand driven by a gas-electric hybrid system according to claim 1, characterized in that, The thumb wrist joint servo is connected to the bionic pneumatic thumb via a rigid thumb joint posture adjustment mechanism.

3. The seven-DOF bionic dexterous hand driven by a gas-electric hybrid system according to claim 2, characterized in that, The thumb rigid joint posture adjustment mechanism includes a thumb wrist-palm joint servo arm and a thumb support; the thumb wrist-palm joint servo is connected to the thumb wrist-palm joint servo arm, and the thumb wrist-palm joint servo arm is connected to the bionic pneumatic thumb through the thumb support.

4. The seven-DOF bionic dexterous hand driven by a gas-electric hybrid system according to claim 3, characterized in that, The upper part of the thumb support is provided with a thumb mounting hole for mounting the bionic pneumatic thumb; the lower part of the thumb support is provided with a thumb connection hole for connecting to the thumb wrist joint servo arm by bolts and nuts; the palm base of the palm shell is provided with a thumb servo mounting groove; the thumb wrist joint servo is housed in the thumb servo mounting groove and fixed to the palm shell by fasteners.

5. The seven-DOF bionic dexterous hand driven by a gas-electric hybrid system according to claim 3, characterized in that, The index finger metacarpophalangeal joint servo motor is connected to the bionic pneumatic index finger through the index finger rigid joint posture adjustment mechanism.

6. The seven-DOF bionic dexterous hand driven by a gas-electric hybrid system according to claim 5, characterized in that, The index finger rigid joint posture adjustment mechanism includes an index finger metacarpophalangeal joint servo arm and an index finger support; the index finger metacarpophalangeal joint servo is connected to the index finger metacarpophalangeal joint servo arm, and the index finger metacarpophalangeal joint servo arm is connected to the bionic pneumatic index finger.

7. The seven-DOF bionic dexterous hand driven by a gas-electric hybrid system according to claim 6, characterized in that, The upper part of the index finger support is provided with an index finger mounting hole for mounting the bionic pneumatic index finger; the lower part of the index finger support is provided with an index finger connecting hole for connecting to the index finger metacarpophalangeal joint servo arm by bolts and nuts; the back of the index finger support is provided with an arc-shaped guide part, and the base of the index finger of the palm shell is provided with an arc-shaped guide rail. The arc-shaped guide part and the arc-shaped guide rail cooperate to limit the rotation path of the index finger metacarpophalangeal joint. The back of the palm shell is provided with an index finger servo mounting boss, and the index finger metacarpophalangeal joint servo is mounted on the index finger servo mounting boss by fasteners.

8. The seven-DOF bionic dexterous hand driven by a gas-electric hybrid system according to claim 6, characterized in that, Each of the bionic pneumatic fingers has an internal air chamber extending from the fingertip to the base of the finger; each of the bionic pneumatic fingers includes a functional bending segment, a mounting and fixing segment, and an air passage connection segment connected sequentially from the fingertip to the base of the finger; wherein, the functional bending segment corresponds to the bionic finger body and is used to realize flexion and extension movements; the mounting and fixing segment of the bionic pneumatic thumb, the mounting and fixing segment of the bionic pneumatic index finger, and the mounting and fixing segments of the other three bionic pneumatic fingers are respectively used to be inserted and fixed into the thumb support, the index finger support, and the palm shell; the air passage connection segment is used to seal and fix with the air pipe of the external air supply unit.

9. The seven-DOF bionic dexterous hand driven by a gas-electric hybrid system according to claim 1, characterized in that, The geometry of the bionic dexterous hand is based on a human hand model and is proportionally adjusted according to the size, installation space, and movement requirements of the target robotic hand so that the obtained bionic pneumatic fingers match the shape and movement characteristics of human hand fingers.

10. The seven-DOF bionic dexterous hand driven by a gas-electric hybrid system according to claim 1, characterized in that, The bionic dexterous hand is molded from silicone.

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