33 results about "Soft finger" patented technology

The invention relates to the technical field of robot grabbing, and discloses a self-sensing soft gripper and a slippage detection method thereof.The self-sensing soft gripper comprises a palm body, a base assembly, a sensor assembly and a data processing and control unit, and a plurality of pneumatic soft fingers are arranged on the upper portion of the palm body; a strain layer with a driving air cavity and a limiting layer wrapping the strain layer are arranged in each pneumatic soft finger, and the substrate assembly is embedded into the limiting layer; the sensor assembly comprises a plurality of flexible sensors, is integrated on the finger contact surface, partially fits the substrate assembly and collects contact interface pressure distribution data, and the data processing and control unit is electrically connected with the sensor assembly and the air supply device, receives the data, executes a slippage detection algorithm and regulates and controls the air pressure of the driving air cavity according to a result. The substrate assembly is introduced into the limiting layer of the pneumatic soft finger, the sensor assembly and the multi-dimensional feature fusion algorithm are combined, collaborative optimization from structural design, signal enhancement to algorithm detection is achieved, and therefore the sensitivity and reliability of slip detection are remarkably improved.

The present disclosure provides a vision based control of a reconfigurable soft robotic gripper. Conventional methods lack an intelligent control method which automatically adapts the configuration of the gripper based on the target object. The present disclosure includes a robotic gripper with a rigid palm and three soft fingers attached to the palm. Each finger is separately actuated using three separate motors. Out of the three fingers, one is fixed, and other two can move relative to the base, the motion of the movable fingers is actuated by motor(s). Each finger has multiple sensors to detect the magnitude of bending. A camera is attached to the base of the gripper, facing the object to be grasped. The camera image and the sensors measurements are given to a control unit and the control unit in turn gives the control signal to the actuator motors to suit the object to be grasped.

The application provides a soft finger based on a giant electro-rheological valve and a soft gripper integrated with driving control, and belongs to the technical field of soft robots. The soft finger comprises a fluid grid layer and a bottom plate layer. The fluid grid layer comprises a main channel and a plurality of grids. Each grid is provided with a branch cavity. The bottom of the branch cavity is provided with an opening. The bottom of the branch cavity of each grid is communicated with the main channel. A branch soft valve is arranged on the side wall of the branch cavity of each grid. A plurality of main channel soft valves are arranged in the main channel. The side wall of the grid at a fixed end is provided with a first giant electro-rheological liquid pipe. The bottom plate layer comprises a second giant electro-rheological liquid pipe and a bottom plate body. The second giant electro-rheological liquid pipe is communicated with the main channel. By applying a specified pressure to different parts of each branch cavity and the main channel, the branch cavity is expanded, a plurality of bending modes of the soft finger can be realized, and the main channel can be individually pressurized to improve the ability of grasping a load.

The application discloses a preparation method of a silica gel-based rigid-flexible coupling pneumatic soft body finger, which comprises the following steps: firstly, preparing a silica gel gas distribution base layer and a silica gel pneumatic expansion joint structure; then, bonding the silica gel gas distribution base layer, the silica gel pneumatic expansion joint structure and a rigid framework into a semi-finished product pneumatic soft body finger; placing the semi-finished product pneumatic soft body finger into a pneumatic soft body finger mold, and placing a flexible tensile strain sensor on the palm of the semi-finished product pneumatic soft body finger, and placing the electric signal lead wire of the flexible tensile strain sensor outside the pneumatic soft body finger mold; finally, injecting silica gel into the pneumatic soft body finger mold to coat the semi-finished product pneumatic soft body finger and the flexible tensile strain sensor into an integral whole by using the silica gel.

The application discloses a high-aspect-ratio pneumatic soft gripper device capable of internal telescoping. The pneumatic soft gripper comprises a fixed table, a double-engine winding mechanism and a plurality of soft fingers. The double-engine winding mechanism is installed on the top surface of the fixed table, the root ends of the soft fingers are uniformly and circumferentially spaced apart and installed on the bottom surface of the fixed table, the soft fingers are connected to the double-engine winding mechanism through pull wires in the soft fingers and the double-engine winding mechanism, and the length of each soft finger is adjusted by the double-engine winding mechanism to realize internal telescoping, folding and unfolding and asymmetric expansion and bending actions, so that the pneumatic soft gripper can grasp different target objects. The high-aspect-ratio pneumatic soft gripper has a compact structure and strong grasping adaptability, can generate spiral winding deformation after elongation, is suitable for grasping irregular objects, and can realize self-adaptive grasping of objects of different sizes by controlling the extension length of the soft gripper.

The application discloses a variable-configuration rigid-flexible coupling soft hand, comprising a plurality of rigid-flexible coupling soft fingers, a switching frame system and a superstructure energy-absorbing palm, the roots of the plurality of rigid-flexible coupling soft fingers are connected with the switching frame system, the superstructure energy-absorbing palm is arranged on the switching frame system and located inside a space surrounded by the plurality of rigid-flexible coupling soft fingers, and the switching frame system is used for driving the plurality of rigid-flexible coupling soft fingers to switch between a first configuration and a second configuration; the first configuration is that the plurality of rigid-flexible coupling soft fingers are parallel to each other and are used for soft covering and grabbing a static target; and the second configuration is that the plurality of rigid-flexible coupling soft fingers converge towards each other to form a cage-shaped configuration and are used for capturing a dynamic target. The application solves the problem that a single gripper is difficult to simultaneously achieve soft grabbing of a static target and efficient capturing of a dynamic target.

The present invention discloses an integral soft finger and a finger trainer. The integral soft finger includes a base structure, a wavy non-rotating structure, a fingertip structure and an interface. One end of the base structure is connected to the interface, one end of the wavy non-rotating structure is connected to the other end of the base structure, and the fingertip structure is connected to the other end of the wavy non-rotating structure. A cavity structure is formed between the interface, the base structure, the wavy non-rotating structure and the fingertip structure. The structure of the present invention has a high degree of anthropomorphism. When a load is applied, the stress inside the structure is evenly distributed, the stress concentration is small, the deformation is coordinated, the service life is long, the degree of fit with the finger is good, it can be formed as a whole at one time, and it can adapt to the hand sizes of different people.

1. The name of the design product: soft finger pressure plate. 2. The use of the design product: for finger pressure plate. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: perspective view. 5. The left view of the design product is omitted; the right view of the design product is omitted; the top view of the design product is omitted; the bottom view of the design product is omitted.

The present invention discloses a variable stiffness integral soft finger and a finger trainer. The variable stiffness integral soft finger includes a base structure, a through hole, a variable stiffness structure and a fingertip structure. One end of the base structure is connected to the through hole, one end of the variable stiffness structure is connected to the other end of the base structure, and the fingertip structure is connected to the other end of the variable stiffness structure. A cavity structure is formed between the through hole, the base structure, the variable stiffness structure and the fingertip structure. The structure of the present invention has a high degree of anthropomorphism. When a load is applied, it can achieve different bending profiles with variable stiffness. Its internal stress distribution is uniform, stress concentration is small, deformation is coordinated, and the service life is long. It adopts an integral molding structure, which fits the fingers well and can adapt to the hand sizes of different people.

This invention relates to the technical field of soft robots, and more specifically, to a soft finger with adjustable grasping force, a soft gripper, and a method for manufacturing the same. The soft finger includes a soft actuator and a fingertip. The soft actuator has a cavity, and the fingertip is fixedly mounted at one end of the soft actuator. The other end of the soft actuator has an air passage communicating with the cavity. The outer wall of the soft actuator has several protrusions, with grooves formed between adjacent protrusions. The inner wall of the soft actuator has a bendable and lockable first blocking structure, and the outer wall of the soft actuator has a retractable and lockable second blocking structure. The second blocking structure is wavy and can engage with the grooves on the outer wall of the soft actuator. The second blocking structure can cooperate with the first blocking structure to lock the soft actuator. This invention allows for pre-grasping by bending the soft finger, then fixing the fingertip position and adjusting the grasping force, making it suitable for non-damaging grasping of fragile items.

The invention discloses a metamaterial configuration air-driven soft robot for wafer carrying and a control method. The soft robot comprises a soft tentacle unit, a clamp, a pressure regulating valve, an electromagnetic valve, a controller and an air source, one end of the soft touch hand unit is fixed on the clamp, the air source is connected with the air inlet end of the soft touch hand unit through an air pipe, the pressure regulating valve and the electromagnetic valve are both arranged on the air pipe, and the controller is in control connection with the pressure regulating valve and the electromagnetic valve. When a wafer is grabbed, the mechanical hand can be gently attached to the surface of the wafer like a soft finger, force is evenly applied, perfect attachment can be achieved no matter what tiny irregular shapes exist on the surface of the wafer, scratches and damage caused by too large local stress are avoided, and meanwhile the mechanical hand has excellent shape adaptability.

The application belongs to the technical field of soft robot, and discloses a soft robot finger based on force and body position feedback of flexible cavity deformation, which comprises a force feedback mechanism and a position feedback mechanism. The force feedback mechanism comprises a soft fingertip, which is fixed at the upper end of a fixing part, the fixing part is fixed at the top end of a soft finger, a first silica gel hose penetrates the inside of the soft finger, and the fixing part and a first air pressure sensor are connected, and the first air pressure sensor is electrically connected with a first microcontroller. The position feedback mechanism comprises a bellows, which is fixed in a joint groove of the soft finger, a second silica gel hose penetrates the soft finger, and the bellows and a second air pressure sensor are connected, and the second air pressure sensor is electrically connected with a second microcontroller. The application aims to obtain the position information of the soft robot finger itself and the contact force information when the soft robot finger contacts with an object by using internal and external sensors respectively.

The application provides a kind of soft gripper and manufacturing process of multi-mode crab, it is related to flexible manipulator field, in view of the poor flexibility and adaptability of current soft manipulator, install soft finger on main support plate to form manipulator, the soft actuator of soft finger includes finger actuator and fingertip actuator, the first clamping part is formed between different soft fingers, the second clamping part is formed between two fingertip actuators, the first clamping part can cope with the grabbing of larger volume target objects, the second clamping part can cope with the grabbing of smaller volume target objects, realize multi-mode grabbing operation ability, and the pressure value input by each lumen can be controlled by control tube, the bending degree of soft actuator is adjusted, accurate action is realized, flexibility and adaptability are improved.

The application discloses a soft finger-shaped gripper plane expansion shape optimization method, step 1, an equivalent linear model along the length direction of the finger is established; step 2, a gripper deformation numerical model is calculated and iteration is carried out; step 3, a termination condition judgment is performed, a termination condition is set, and whether the deformation degree of the gripper reaches the set termination condition is judged; if yes, the next step is continued; if no, the step 2 is jumped to; step 4, an ideal width is calculated; the ideal width of the finger for realizing the object of closing and grabbing of the gripper is calculated; step 5, a convergence judgment is performed; a convergence condition is set, and whether the error between the obtained ideal width and the current width satisfies the convergence condition is judged; if yes, the shape optimization of the gripper is completed, the numerical model is output, otherwise, the step 2 is returned until the convergence condition is satisfied; and step 6, a plane geometric model is output. The application improves the reliability and robustness of the soft finger-shaped gripper when the object is grabbed, and can realize simultaneous grabbing of multiple objects without falling.

The invention discloses a rigid-flexible coupling soft hand with variable configuration, which comprises a plurality of rigid-flexible coupling soft fingers, a switching frame system and a superstructure energy absorption palm center, and the roots of the plurality of rigid-flexible coupling soft fingers are connected with the switching frame system; the super-structure energy absorption palm center is arranged on the switching frame system and located in a space defined by the rigid-flexible coupling soft fingers; the switching frame system is used for driving the rigid-flexible coupling soft fingers to be switched between a first configuration and a second configuration. The first configuration is formed in the mode that the rigid-flexible coupling soft fingers are parallel and opposite and is used for conducting flexible wrapping grabbing on a static target. And the second configuration is a cage configuration formed by converging a plurality of rigid-flexible coupling soft body fingers towards one another, and is used for capturing a dynamic target. The problem that smooth grabbing of static targets and efficient capturing of dynamic targets are difficult to achieve at the same time through a single gripper is solved.

The invention relates to the technical field of soft robots, in particular to a multi-knuckle intelligent pneumatic soft manipulator and a preparation method thereof.The multi-knuckle intelligent pneumatic soft manipulator comprises two finger units which are arranged side by side, a grabbing space is formed when the finger units approach each other, and each finger unit comprises at least three soft fingers with knuckles connected in series; the limiting layer is installed on one side of the soft finger, the limiting layer and the soft finger form a closed air cavity corresponding to the knuckles, and the connecting function layer is arranged on the surface of the limiting layer; the all-fiber flexible pressure sensor is used for monitoring deformation gripping force at different knuckles when the multi-section type soft manipulator grabs a target object and comprises a plurality of ionic dielectric layers and electrode layers wrapping the ionic dielectric layers, and at least one ionic dielectric layer exists at each knuckle so as to monitor the deformation gripping force of each knuckle. Multi-mode grabbing of different objects can be achieved, pressure information of the grabbed objects can be sensed, and the dexterity and the intelligent degree of the mechanical arm are improved.

The splicing type soft gripper carrying the suction cups comprises a main body, the main body comprises suction cup modules and gripper modules, the suction cup modules are arranged in the center area of the main body and used for sucking products, and the number of the gripper modules is two. The two gripper modules are arranged on the two separated sides of the suction cup module correspondingly and used for gripping the two ends of a product, each gripper module comprises two soft fingers, the bending directions of the soft fingers are controlled through internal air pressure of the soft fingers, and when the internal air pressure is in a negative pressure state, the two soft fingers get close to each other so as to grip the product. And when the internal air pressure is in a high-pressure state, the two flexible fingers are far away from each other so as to release grabbing of the product. According to the splicing type soft gripper carrying the suction cups, different products can be clamped, and the splicing type soft gripper carrying the suction cups is suitable for conveying of various products in an automatic production line.

This utility model relates to a reflow oven conveying device with clamping function, including a supporting guide rail, a conveying chain, a clamping mechanism, an open guide plate, and a close guide plate. The conveying chain is mounted on the supporting guide rail. The clamping mechanism includes a base, a clamping soft finger, and a positioner. The base is fixed to the conveying chain, and the clamping soft finger is slidably mounted on the base via the positioner. The sliding direction of the clamping soft finger is perpendicular to the conveying direction of the conveying chain. The open guide plate and the close guide plate are installed at different positions on the supporting guide rail. When the open guide plate abuts against the clamping soft finger, the clamping soft finger is in the open state; when the close guide plate abuts against the clamping soft finger, the clamping soft finger is in the closed state. Compared with the prior art, this utility model has the advantages of ensuring the stability of the object throughout the conveying process through the clamping mechanism; the open and close guide plates can change the working state of the clamping mechanism without manual operation according to the opening and closing requirements of the clamping mechanism, making it convenient to use.

The application discloses a cavity soft finger mold which comprises a first upper mold, a first lower mold, a first mold core rod, a first mold core section, a second upper mold, a second lower mold, a second mold core rod and a second mold core section, and also provides a cavity soft finger processing method which comprises the following steps: installing the first mold core section, first process mold closing, first process mold opening, installing the second mold core section, second process mold closing, and second process mold opening. The application has the advantages that the angle can be adjusted more conveniently during the process of taking out the first mold core section, the first mold core section can be taken out from the opening on the workpiece, the problem that the mold assembly cannot be taken out from the workpiece when a complex inner cavity is processed is solved, the complex inner cavity is conveniently processed, the development difficulty of the mold is reduced, and the application is suitable for product development stage product innovation improvement optimization iteration and small-scale production verification.

The utility model discloses a rigid-soft coupling type gripping device, and belongs to the technical field of tail end grippers. The grabbing device comprises a rigid mechanical arm, a soft gripper and an inflation and deflation system, the soft gripper comprises a gripper base and a plurality of soft fingers, each soft finger is of a cavity structure made of soft materials, a plurality of slots are formed in one side face of each soft finger, the soft fingers are circumferentially fixed to the bottom face of the gripper base in a surrounding mode, and the inflation and deflation system is connected with the soft fingers. The side faces, provided with the gaps, of the soft fingers face outwards, the top face of the gripper base is connected with the front end of the rigid mechanical arm, and the inflation and deflation system communicates with all the soft fingers. The soft gripper is designed at the front end of the rigid mechanical arm so as to realize spatial movement of the soft gripper, and the gripping action of the soft gripper is controlled through the inflation and deflation system, so that not only can objects with the characteristics of softness, fragility and the like be gripped without damage, but also the mechanical arm has stronger universality and interchangeability, a control scheme is easy to realize, and the equipment cost is reduced.

The invention belongs to the technical field of mechanical equipment, and particularly relates to a soft finger and a mechanical gripper, the soft finger comprises an actuator, the actuator is of a cylindrical structure and is provided with a closed end and an open end, the actuator is made of an elastic material, and a strain limiting layer is arranged on one side of the side wall of the actuator; one end of the air cylinder is open and is connected with the open end of the actuator; the piston is sleeved in the air cylinder; and a particulate matter filled between the piston and the closed end of the actuator, the particulate matter being capable of being compressed when the piston moves toward the closed end of the actuator, the particulate matter being converted from fluidity to solid characteristics, and the actuator being bent toward the strain limiting layer side. The mechanical gripper comprises a plurality of the soft fingers and further comprises a hollow main shaft and a driving assembly, the soft fingers are evenly distributed in the circumferential direction of the hollow main shaft, and the driving assembly is used for driving the soft fingers to be close to or away from one another. High sealing performance is not needed, and the control precision, stability and flexibility of the soft fingers are improved.

The splicing type soft gripper carrying the suction cups comprises a main body, the main body comprises suction cup modules and gripper modules, the suction cup modules are arranged in the center area of the main body and used for sucking products, and the number of the gripper modules is two. The two gripper modules are arranged on the two separated sides of the suction cup module correspondingly and used for gripping the two ends of a product, each gripper module comprises two soft fingers, the bending directions of the soft fingers are controlled through internal air pressure of the soft fingers, and when the internal air pressure is in a negative pressure state, the two soft fingers get close to each other so as to grip the product. And when the internal air pressure is in a high-pressure state, the two flexible fingers are far away from each other so as to release grabbing of the product. According to the splicing type soft gripper carrying the suction cups, different products can be clamped, and the splicing type soft gripper carrying the suction cups is suitable for conveying of various products in an automatic production line.

The present invention discloses a novel rope-driven soft finger, which includes a skeleton, a driving rope and a covering layer. The skeleton is composed of a plurality of skeleton modules connected in series through a connecting shaft A, on which a base is mounted by screws and nuts. A driving rope is respectively installed in the rope channels on both sides of the skeleton, one end of which is connected to the end of the skeleton and the other end is led out from the rope hole on the base, and the covering layer is coated on the skeleton. When in use, the bending / reset and reverse bending / reset control of the soft finger are achieved by the coordinated action of pulling and releasing the two driving ropes. Through innovative design, the present invention uses ropes to drive the soft finger, and there is no sealing requirement. It solves the problems of high sealing requirements of traditional pneumatic soft fingers, such as the difficulty of manufacturing process, the inability to grasp sharp objects on the surface, and the inability of fingers to actively bend in both directions due to structural factors.

The invention relates to the field of flexible manipulators, and discloses a pneumatic control soft finger which comprises a finger body and a pneumatic driving system. The finger body is sequentially provided with a plurality of finger pulps, a left air channel, a middle air channel and a right air channel in the length direction, and the left air channel, the middle air channel and the right air channel communicate with the finger pulps. The air pressure driving system is used for providing driving air pressure for the finger pulps. Any one finger pulp comprises a left air bag, a middle air bag and a right air bag which are arranged in sequence, and the left air bag, the middle air bag and the right air bag are arranged in a centrosymmetric and non-uniform mode; and cutting grooves are respectively formed between the middle airbag and the left airbag and between the middle airbag and the right airbag. The single air bag can be bent in one direction after being subjected to driving air pressure, and when the two air bags are pressed, different driving air pressures are controlled, so that the flexible finger can be bent in any direction in a certain area, the fitting degree of the grabbing force direction of the soft finger and the surface of a target object is improved, and the grabbing capacity and adaptability of the soft finger are improved.

The invention discloses a dual-drive soft gripper capable of reconstructing finger arrangement and a gripping space. The device comprises a central palm module, the central palm module is provided with a reconfigurable configuration, the central palm module comprises at least one swing angle actuator, and the swing angle actuator is configured to change the relative angle of a finger base through controlled deformation to achieve switching of finger arrangement configurations; the at least one telescopic actuator is configured to drive the finger base to synchronously stretch out and draw back in the radial direction so as to adjust the effective length of the finger; the at least two soft finger modules are arranged in the circumferential direction of the central palm module, the rear end of each soft finger module is connected with the corresponding finger base, and the front end of each soft finger module is a free end. On the premise that the flexibility of the soft gripper body is kept and any electronic driving element is not needed, reconfigurable adjustment of the length, the arrangement mode, the rigidity and the overall working space of the fingers can be achieved at the same time.

The utility model belongs to the technical field of intelligent robots, and particularly discloses a soft dexterous hand structure with a touch sensing function. The structure comprises a palm and soft fingers connected with the palm. The soft finger comprises a flexible finger body, a flexible sensor layer and an inextensible layer are arranged on the side, close to the finger pulp, of the interior of the flexible finger body from inside to outside, a partition is arranged in the middle of the flexible finger body, the hollow interior of the flexible finger body is divided into an upper air cavity and a lower air cavity, and the two air cavities are not communicated. The upper air cavity and the lower air cavity are respectively connected with an air source; when the upper air cavity is inflated, the upper knuckles are bent and deformed, and the upper knuckles are matched with other fingers to realize the pinching action of fingertips; the lower air cavity is inflated, the lower knuckles are bent and deformed, and the clamping action of the finger root knuckles can be achieved; meanwhile, the upper air cavity and the lower air cavity are inflated, the whole finger is bent and deformed, and the enveloping type grabbing action of the whole hand can be achieved by being matched with the other fingers. The dexterous hand structure has multiple bending modes and can be suitable for different tasks.

The application discloses a kind of pneumatic soft body fingers with variable stiffness finger plate and force feedback and control method, including flexible joint main body, variable stiffness finger plate and fiber bragg grating sensor.Flexible joint main body is made of silicone rubber, inside is provided with wave cavity, is connected external air pressure source by pneumatic interface.Variable stiffness finger plate is arranged at one side of gripping surface, inside is filled with flowable solid particles, is connected external vacuum source by vacuum interface, realizes the fast adjustment of finger plate stiffness in 8 to 15 times by vacuumizing.Light fiber bragg grating sensor is embedded in the back of finger, and bending strain and fingertip contact force are detected in real time.Control method is: the measured value of acquisition fiber wavelength signal and the measured value of bending angle are calculated, the working mode of variable stiffness finger plate is decided according to the comparison result of target gripping force and preset threshold, and the opening of pneumatic proportional valve is adjusted by PID algorithm closed loop, so that gripping force is stabilized in target error range.

The invention discloses a high-aspect-ratio pneumatic soft gripper device capable of stretching out and drawing back from the inside. The pneumatic soft gripper comprises a fixed table, a double-lifting furling mechanism and a plurality of soft fingers, the double-lifting furling mechanism is mounted on the top face of the fixed table, the root ends of the soft fingers are uniformly mounted on the bottom face of the fixed table at intervals in the circumferential direction, the soft fingers communicate with the double-lifting furling mechanism, and the interiors of the soft fingers are connected to the double-lifting furling mechanism through pull wires. Each soft finger is driven by the double-lifting winding mechanism to adjust the length so as to carry out internal telescopic winding and unwinding and asymmetric expansion bending actions, so that the pneumatic soft gripper grabs different target objects. The pneumatic soft gripper with the high aspect ratio is compact in structure, high in gripping adaptability, capable of generating spiral winding deformation after extending and suitable for gripping objects in irregular shapes, and self-adaptive gripping of objects in different sizes can be achieved by controlling the extending length of the soft gripper.

The application discloses a kind of humanoid soft body finger with rigid-flexible coupling structure, it is related to the technical field of soft body robot, solve the existing soft body finger in space suit glove interactive force test working condition, when overcoming pressurized space suit glove high impedance load, lateral instability, motion trajectory deviation and low control precision and other problems are prone to occur, rigid support skeleton is assembled in soft body base, the proximal end and distal end of soft body base are respectively equipped with one positioning ring, the both sides of rigid support skeleton are equipped with high-strength plastic tube that is penetrated into driving line, auxiliary reset spring is sleeved on rigid support skeleton and two ends are respectively connected with two positioning rings, the application is constrained by discrete rigid skeleton and cylindrical pin, by weaving artificial tendon sheath at joint through hole, arch string effect is radically cured and driving arm constant is ensured, independently arranged high-strength plastic tube effectively protects soft body base from being cut by driving line, and the cavity formed by heat shrink tube ensures the dexterity of joint movement.

The present invention discloses a variable-friction soft hand capable of perceiving texture shape and a grasping method thereof. Among them, the variable-friction soft hand includes: a palm; a soft thumb mechanism connected to the palm, and the soft thumb mechanism can bend relative to the palm; a soft finger mechanism connected to the palm, and the soft finger mechanism can bend relative to the palm. In the present invention, the soft thumb mechanism bends relative to the palm, so that the soft thumb mechanism contacts the target for texture perception, and then the surface shape information of the target is obtained. Moreover, the soft finger mechanism can adjust its own friction force, so that the soft finger mechanism bends relative to the palm, so that the target is grasped by the soft finger mechanism and the soft thumb mechanism, or the target is grasped by the soft finger mechanism and the palm, improving the perception performance and adaptive performance of the target, thereby expanding the applicable range, and achieving the effects of protecting the target and improving the grasping stability of the target.