116 results about "Soft finger" patented technology

A baby food composition for consumption by, and to provide nutrition to a baby, which includes partially hydrolyzed fucoidan. The fucoidan may be sulfonated. The baby food composition may be in the form of a prepared food, a drink, a hard finger food, a soft finger food, or a cereal.

The invention discloses a finger pulse oximeter, which relates to the field of the detection of pulse and blood oxygen saturation. The finger pulse oximeter comprises a detection host and a soft shell, wherein the detection host comprises a circuit board, a display screen electrically connected with the circuit board and so on, the soft shell comprises a soft finger cot which is provided with insert holes for fingers of examinees to insert, and a first receiving part which is integrated with the soft finger cot and is provided with a first receiving chamber, and the circuit board and the display screen of the detection host are received and fixed in the first receiving chamber. The finger pulse oximeter overcomes the pressure difference existing in the prior product caused by different finger thicknesses of the examinees, and ensures that the fingers are closely contacted with a photoelectric device, thereby effectively eliminating the influence of the pressure and ambient light on the detection accuracy, effectively protecting the host, and preventing the break and damage caused by falling or impact.

The invention provides a pneumatic soft finger and a soft finger control system and method. The soft finger comprises a driving part with a driving air cavity, and a perception part with a perception air cavity. The driving part and the perception part are integrally manufactured through a shape deposition technology, so that drive and perception are highly integrated. According to the control device, the finger bending curvature and contact force can be measured only by detecting the air pressure of the perception air cavity. Compared with a traditional measurement scheme using a bending sensor and a contact force sensor, the pneumatic soft finger and the soft finger control system and method have the characteristics that the structure is simple, the degree of integration is high, cost is low and finger flexibility is good. By the adoption of the control method, the finger bending curvature and contact force can be measured by detecting the air pressure of the perception air cavity, closed-loop control over the finger contact force is realized, and a foundation is laid for completing multiple-finger matched grabbing.

The invention discloses a pneumatic soft finger with tactile force and a shape perception function. The upper portion of the pneumatic soft finger is an actuator, the lower portion of the pneumatic soft finger comprises a silicon substrate layer, a tactile force perception layer, a shape perception layer and an inextensible layer which are arranged sequentially from bottom to top, wherein the tactile force perception layer is internally provided with multiple film pressure sensors adhered to the top face of the silicon substrate layer and distributed in an array, the shape perception layer isinternally and horizontally provided with a slice-type bending sensor adhered to the top face of the tactile force perception layer in the length direction of the finger, the upper portion of the pneumatic soft finger is formed by one-time pouring with a mold, and the lower portion of the pneumatic soft finger is manufactured by layered pouring with the mold. The pneumatic soft finger with the tactile force and the shape perception function has the advantages that the distribution and size of the tactile force and deformation of the soft finger can be measured when the soft finger is in contact with an object, the pneumatic soft finger is used for object identification, sliding detection and the like, thereby achieving that the object is grabbed and operated more reliably.

The invention discloses a variable stiffness cavity dividing soft manipulator using a paper folding mechanism, and aims at providing a soft hand adopting a paper folding connection method and having high flexibility and good grasping stability. A soft finger forming the soft hand of the invention comprises at least one group of pneumatic bending modules and a paper folding type connecting mechanism, wherein each paper folding type connecting mechanism comprises a paper folding telescopic module and two connectors; the two connectors are respectively connected with the two ends of the paper folding type telescopic module, and the connector at one end is connected with the pneumatic bending modules; the connector at the other end is connected with the adjacent pneumatic bending module or a support mechanism; a reset leaf spring is installed between each connector and the paper folding type telescopic module, and the reset leaf spring is used for providing a restoring force to the corresponding connector and the paper folding type telescopic module during bending. The soft hand provided by the invention has light weight, the large degree of freedom, good flexibility and cushioning andshock absorbing capability; and meanwhile, the hand body has the characteristics of being able to change stiffness with the rigidity of a grasped object, and has large gripping force and improved gripping stability.

The embodiment of the invention discloses a soft finger. The soft finger comprises a finger body (1) and a restraint layer (12), wherein the finger body (1) is made of a soft material, and the soft material has a first extending-and-contracting coefficient; and the restraint layer (12) is made of a flexible material or an elastic material and arranged at one side of the finger body (1) and has a second extending-and-contracting coefficient; and the first extending-and-contracting coefficient is greater than the second extending-and-contracting coefficient. According to the soft finger, the finger body is made of the soft material and internally provided with gas or liquid, and therefore, the integral finger body is in a soft state and particularly suitable for gripping objects such as eggs, mollusks and the like. Meanwhile, the invention provides a gripping device and a gripping control system. By means of the soft finger, the gripping device and the gripping control system, the problem that when being gripped, a gripped object is pressed to be damaged due to the hard material is solved on the whole.

The invention provides a tendon ropedriven variable rigidity soft finger and a soft hand thereof, and belongs to the technical field of soft robots. The tendon ropedriven variable rigidity soft fingercomprises an airway tube, a soft basebody, tendon ropes penetrating through the soft basebody in an inserting mode, a motor and a negative pressure device, wherein the motor and the negative pressuredevice are positioned outside the soft basebody. The soft base body is internally provided with a closed accommodating cavity in the length direction of a finger body, the accommodating cavity is internally loaded with a rigidity adjusting medium encapsulated by a soft film, a certain deformation space is formed between an blocking part formed by the soft film and the rigidity adjusting medium and the accommodating cavity, and the soft film communicates with the negative pressure device through theairway tube. The soft base body is driven by a motor through the tendon ropes to simulate fingerbending and straightening. The tendon ropedriven variable rigidity soft finger and the soft hand thereof have the characteristic of flexible rigidity, the working efficiency ishigh, the operation issimple, the grabbing force islarge, the controllability isgood, and the rigidity changing effect is obvious.

The invention discloses a pneumatic soft manipulator. The pneumatic soft manipulator comprises a chassis, multiple lead screws arranged on the chassis, slide block modules correspondingly arranged onthe lead screws one to one, pneumatic finger modules driven through the slide block modules, and driving motors for driving the multiple lead screws to rotate at the same time; the slide block modulescomprise slide block bodies slidingly cooperating with the chassis, and flange plates fixed on the slide block bodies; and the flange plates are provided with thread holes in threaded fit with the lead screws. The manipulator can realize synchronous leaving or approaching of multiple pneumatic soft fingers from or to the center of a base, so that the grabbing range of the manipulator is widened,and objects with different sizes can be grabbed; and meanwhile, the pneumatic fingers can be rotated around central axes to reach a four-finger radial or four-finger parallel state, so that objects with different shapes are conveniently grabbed.

The invention discloses a humanoid finger inflatable soft three-finger gripper, and relates to a three-finger gripper. The problem that existing soft grippers are low in load capacity is solved. Eachsoft finger module is installed on one end face of a bottom plate through a module base, a soft finger module body is internally provided with a first air cavity and a second air cavity in sequence, the first air cavity communicates with one end of a first interphalangeal joint air pipe, and the second air cavity communicates with one end of a second interphalangeal joint air pipe. The finger backof each soft finger module body is provided with at least two phalangeal joint clearance grooves through machining in the length direction of the finger back, the positions, except the finger prominence side, of the soft finger module body is wrapped with an elastic bandage, the finger prominence of the soft finger module body is provided with an elastic body, and a limiting layer is arranged between the finger prominence and the elastic body of the soft finger module body and made of a material which is easy to bend and cannot be stretched. The humanoid finger inflatable soft three-finger gripper is applied to manufacturing of a soft gripper, a robot hand, an artificial limb, a rehabilitation hand and the like.

The invention relates to a pneumatic soft finger comprising a finger body and a mounting pin. One part of the mounting pin is cast in the finger body and adhered to the finger body while the other part is located outside the finger body; three rows of gas storage cavities (namely a left cavity, a middle cavity and a right cavity) and three gas passages (namely a left gas passage, a middle gas passage and a right gas passage) are inside the finger body, and the gas storage cavities are in triangular arrangement; the left gas passage is located on the side, close to the central axis of the finger body, of the left cavity and is communicated with the left cavity, the right gas passage is located on the side, close to the central axis, of the right cavity and is communicated with the right cavity; the middle gas passage is located on the side, close to the central axis, of the middle cavity and is communicated with the middle cavity. The pneumatic soft finger is made of silicone rubber, the cavities are in triangular distribution, and the pneumatic soft finger mounted on the palm can grab objects in different shapes and materials; the middle cavity is filled with low-pressure air, when the materials are grabbed, the cavities can deform moderately, and grabbing stability is good.

The invention relates to a control method based on a soft finger. The method includes the steps that first, a robot determines a target object needing to be grabbed; second, the shape of the determined target object is obtained, and the robot obtains the shape of the target object in the mode of image sensing or infrared reflection and the like; third, the robot determines the position of the target object and further drives the soft finger to grab the target object; and fourth, the minimum grabbing force is calculated in real time in the processes of target object grabbing and follow-up movement, and the soft finger is clamped based on the minimum grabbing force. The contact area between the soft finger and the grabbed object can be increased to the maximum degree, the grabbing force is reduced, and impulse force is also reduced. Meanwhile, a soft finger model is introduced, the problem of clamping force control is solved, computational complexity caused in the simultaneous clamping process of multiple fingers can be lowered, and especially instant clamping force can be calculated in real-time force control so as to conduct finger control.

The invention relates to a preparation method of a conductive thermoplastic starch polymer and a polymer-based humanoid soft finger with a folding paper structure, belongs to the technical field of humanoid fingers, and aims to solve the problems that in an existing humanoid soft finger with the variable rigidity realized by utilizing a thermal phase change material, the variable rigidity responsespeed is low due to long response time of conversion from a glass state to a high-elasticity state, and the joint motion flexibility and the rigidity of the humanoid soft finger cannot be realized atthe same time. The polymer-based humanoid soft finger comprises a finger root, a metacarpophalangeal joint, a proximal phalanx, an interphalangeal joint, a middle phalanx, a finger tip joint, a distal phalanx, a strain restraint layer, a variable rigidity layer, a cooling layer and a contact layer, wherein each joint is provided with a U-shaped groove, and the outer side of each joint is wrappedwith Yoshimura line type folding paper; and three self-made conductive thermoplastic starch polymer plates are arranged at the bottom of the finger. The humanoid soft finger not only can realize rapidand active control of the rigidity of the phalanxes, but also can realize synchronous and passive adjustment of joint flexible motion and joint rigidity, and has the advantages of fast variable rigidity, high adaptability and flexibility in motion.

The invention belongs to the related technical field of soft robots, and discloses a soft finger capable of realizing segmented bending by utilizing giant electrorheological fluid. The soft finger comprises a corrugated pipe, a restraint layer and a plurality of variable stiffness layers; the corrugated pipe forms a first side surface; the restraint layer is arranged on the first side surface; theplurality of variable stiffness layers are arranged on the restraint layer at intervals in the length direction of the corrugated pipe; each of the variable stiffness layers comprises an insulating cavity body, and a positive electrode plate, a negative electrode plate and a giant electrorheological fluid layer which are accommodated in the insulating cavity body; the insulating cavity is filledwith the giant electrorheological fluid layer, the rigidity of the giant electrorheological fluid layer is changed by applying an electric field to the giant electrorheological fluid layer, then the stiffness of the corresponding variable stiffness layer is adjusted, and adjustment of the stiffness of the soft finger is achieved. The stiffness change of each knuckle is realized by controlling theon-off of an external electric field of each knuckle variable stiffness layer of the soft finger, so that various different configurations of the finger are realized, and the soft finger is suitable for various different application scenes.

The invention discloses an object moving robot with soft fingers. The object moving robot comprises a travelling mechanism, an actuating mechanism, a grabbing mechanism and a controller which are sequentially connected, wherein the controller is used for controlling a motor to run, the travelling mechanism comprises a base plate connected with at least three omnidirectional wheels, the actuating mechanism comprises an actuating motor and a mechanical arm combination driven by the actuating motor, and the grabbing mechanism comprises a cylinder, the soft fingers and an evacuating device. The soft fingers are latex sleeves with built-in hard particles, the latex sleeves can be internally evacuated by the evacuating device, and the cylinder is connected with the mechanical arm combination and is kept vertical. The object moving robot has the advantages that objects can be grabbed by the aid of clamping force and frictional force controlled by negative pressure of the latex sleeves, a manipulator is controlled to stably reach a designated position by a three-degree-of-freedom moving system of the omnidirectional wheels, the objects can be moved, difficulty in designing the manipulator is greatly reduced, and special-shaped surface grabbing capacity of the manipulator is also improved.

A multi-degree-of-freedom soft grabbing device comprises multiple soft fingers and a soft arm formed by sequentially connecting multiple arm units. The soft fingers are arranged at one end of the soft arm. Each soft finger comprises multiple cuboid finger units, wherein the finger units are sequentially connected, a finger air cavity is formed in each finger unit, and the finger air cavities in all the finger units are connected. Each arm unit comprises a columnar pipe and connecting pipes, wherein the connecting pieces are arranged at the two ends of each columnar pipe. Multiple air pipes are arranged in each columnar pipe. Multiple cylindrical air cavities formed in the axial direction are formed in the pipe wall of each columnar pipe. Each cylindrical air cavity is correspondingly connected with one air pipe. The multi-degree-of-freedom soft grabbing device achieves multi-degree-freedom motion, can be applied to the grabbing task of objects in multiple complex environments; and compared with a rigid grabbing structure, the multi-degree-of-freedom soft grabbing device is higher in flexibility, simple in structure and flexible to disassemble and use.

The invention discloses a rigid-soft coupling mechanical finger with a variable-rigidity internal skeleton. The rigid-soft coupling mechanical finger comprises a soft finger body and the variable-rigidity internal skeleton arranged in the soft finger body, and the variable-rigidity internal skeleton comprises a proximal phalanx, a middle phalanx and a distal phalanx which are sequentially connected, wherein the middle phalanx is rotationally connected with the proximal phalanx and the distal phalanx, the proximal phalanx communicates with the distal phalanx, the proximal phalanx and the distalphalanx are internally provided with a first expansion membrane and a second expansion membrane correspondingly, and by injecting gas into the distal phalanx, the first expansion membrane and the second expansive membrane are expanded to deform so as to change rigidity. The rigid-soft coupling mechanical finger is attractive in structure, small in size and higher in adaptability, and the performance of the soft finger body is obviously improved; and safe and efficient interaction between the soft finger body and the environment is ensured, the grabbing ability and bearing capacity of the finger is also greatly improved, the size of a gripper device is decreased, and the space is saved.

The invention discloses a variable-rigidity soft finger and a control method thereof, and aims to solve the defects that a rigid manipulator in the prior art is soft, cannot actively change rigidity,and is limited in safety and flexibility. The variable-rigidity soft finger comprises finger sections and finger knuckles, wherein a magnetorheological fluid channel is arranged in each finger sectionin the axial direction; each finger section is equipped with a gas path pipeline around the corresponding magnetorheological fluid channel; a magnetic fluid hose is embedded into each magnetorheological fluid channel; magnetorheological fluid is arranged in each magnetic fluid hose; the finger sections and the finger knuckles are arranged at intervals; corresponding through holes are formed in positions, which correspond to the gas path pipelines, of the finger knuckles; electrodes communicate on the finger knuckles; the electrodes form magnetic fields on the finger sections; and directions of magnetic fields passed by adjacent finger sections are opposite. The variable-rigidity soft finger integrates advantages of a rigid finger and a flexible finger, further can keep relatively great rigidity besides grabbing and positioning of a soft fragile object, and can output relatively great grabbing force.

The invention discloses a multi-structural-state soft gripper. The multi-structural-state soft gripper comprises an actuator body, at least two swing rods capable of swinging back and force on the actuator body, fingers fixedly arranged on the swing rods, and a driving device for driving the swing rods to swing; the fingers achieve gripping and releasing through reciprocating swinging of the swingrods; moving of the swing rods mainly depends on a gripping signal which is emitted when the characteristics of a gripped object are distinguished by an industrial camera; and the soft fingers have the variable rigidity characteristic, and variable rigidity is achieved mainly through electrorheological fluid or magnetorheological fluid. When the multi-structural-state soft gripper meets differentgripping conditions, an end actuator does not need to be replaced, gripping is convenient, meanwhile, the soft fingers have the variable rigidity characteristic, the universality of the end actuatoris improved, and the gripping strength is improved.

The invention discloses a self-locking type rigid-soft coupling mechanical gripper. The self-locking type rigid-soft coupling mechanical gripper comprises an adjustable mounting seat, self-locking outer skeletons and a finger assembly, and the self-locking outer skeletons are disposed at the two ends of the adjustable mounting seat in a center symmetrical mode; the finger assembly is disposed under the adjustable mounting seat; the self-locking outer skeletons are disposed on the finger assembly and connect the adjustable mounting seat and the finger assembly into a whole; each self-locking outer skeleton comprises a fixing upper frame, a movable lower limb, a pin rod and a self-locking mechanism; the finger assembly comprises a finger seat and a soft finger; each self-locking mechanism comprises a ratchet wheel, a pawl, a compression spring, a pneumatic unlocking ejector pin and an unlocking ejector pin air supply pipe; and sliding grooves which are used for being connected with the finger assembly are symmetrically formed in the two sides of the adjustable mounting seat. By additionally arranging the self-locking outer skeletons, rigid and soft coupling driving is achieved; and due to the self-locking function, the flexibility of gripping of a soft gripper is guaranteed, the gripping loading capacity and stability are greatly improved, and thus energy consumption during gripping is greatly reduced.

The invention discloses a finger type pulse and blood oxygen measuring device, including an upper shell suite and a lower shell suite that are installed with silica gel soft finger pad, and a semi-closed holding cavity shaped by the coordination of the silica gel soft finger pad that installed within the upper shell suite and lower shell suite; herein its feature it is that the foresaid silica gel soft finger pad that installed within the upper shell suite and lower shell suite has optical windows which are corresponding to each other, while the optical window and silica gel soft finger pad become integrated; and a removable power supply module is installed in the lower shell suite. The beneficial effects of the invention is that because of the adoption of the removable type power supply module which is able to load the battery, by the comparison with the current technology, it is easier to assemble and disassemble the battery, and it enforces the anti-damage function of the measuring device; the device also adopts the integrated technology for the mould of the transparent silica gel optical window and the silica gel soft finger pad, which makes the craft simpler, and enhances the consistency of the products, and also increases the comfort of the fingers for placement in measuring.

The invention discloses a multifunctional soft finger realizing stiffness changing through line driving. The multifunctional soft finger comprises a base, a clamp, a motor, a tendon rope and a soft finger body; at least one groove facilitating bending of the soft finger body is formed in one side of the soft finger body in the length direction of the soft finger body, an accommodating cavity is formed in the other side of the soft finger body in the length direction of the soft finger body, a medium for stiffness adjustment is contained in the accommodating cavity, the lower end of the mediumis assembled to the clamp arranged on the base, and the accommodating cavity is sealed through a filler; the tendon rope is in driving fit with the motor arranged on the base, meanwhile, the tendon rope is arranged on the soft finger body in a matched mode, and when the motor rotates, the soft finger body can be driven to bend by winding the tendon rope; and the two ends of the clamp are assembledin shaft holes of side plates at the two ends of the base through a rotating shaft, the lower end of the clamp is an arc convex surface facilitating rotation of the clamp by a certain angle, and a torsion spring used for limiting rotation of the clamp is arranged between the clamp and the base. The soft finger has the advantages that the object grabbing is firm, the grabbing mode is diverse, thesimple and controllable effect is achieved, and the soft finger is suitable for space grabbing operation.

Disclose is a soft manipulator with elastic web structures between fingers. The soft manipulator comprises a fixed palm and the soft fingers. The soft fingers are connected with the fixed palm. The adjacent soft fingers are connected by the corresponding elastic web. The soft manipulator with the elastic web structures between the fingers is not prone to sliding down and stable in grasping.

The invention relates to a hand-like flexible grabbing device, which comprises a plurality of soft fingers, a driving mechanism and a rack. The soft fingers are distributed circularly and are of a cystic structure, and each soft finger is composed of a main body part and a fingertip part. The driving mechanism is used for inflating the soft fingers so that the soft fingers can bend to make a grabbing action. The rack is connected with the soft fingers, and is provided with interfaces for fixing the soft fingers and a cavity for placing the driving mechanism. The grabbing device of the invention is used for picking fruits and vegetables, does not damage the surfaces of fruits and vegetables in the picking process, and is suitable for picking fruits and vegetables of different quality and different shapes and sizes.

The invention provides a fruit and vegetable picking actuator integrating flexible grabbing and clamping shearing and a picking method thereof. The fruit and vegetable picking actuator comprises a clamping shearing mechanism and a grabbing mechanism and is characterized in that the clamping shearing mechanism comprises a first shear blade and a second shear blade which are hinged to each other anda combining shaft, the first shear blade is provided with a guide groove, the second shear blade is provided with a moving groove, an included angle is formed between the guide groove and the movinggroove, the combining shaft is movably arranged at the overlapping position of the guide groove and the moving groove, the first shear blade is provided with a shearing drive device, the combining shaft is connected with the shearing drive device, one side, close to the grabbing mechanism, of the first shear blade is provided with a first clamping part, and one side, close the grabbing mechanism,of the second shear blade is provided with a second clamping part; the grabbing mechanism comprises a grabbing base and at least two soft fingers, and the grabbing base is connected with the first shear blade. The fruit and vegetable picking actuator can increase work efficiency, reduce labor cost, increase fruit and vegetable damage-free picking rate and provide sufficient shearing force to shearoff fruit stems.

The invention discloses a pneumatic fruit and vegetable picking soft hand. The pneumatic fruit and vegetable picking soft hand comprises a base and a plurality of soft fingers; the base comprises an upper base and a lower base which are combined in an embedding manner; each soft finger comprises a soft finger air chamber and a limiting layer; each soft finger air chamber is fixed to the base and the bottom end of each soft finger air chamber is connected with an air pump; and each limiting layer is arranged at the inner side of the corresponding soft finger air chamber in an adhesion manner. The pneumatic fruit and vegetable picking soft hand disclosed by the invention is highly adaptable to a grabbed object, can prevent damages of fruits and vegetables and the surrounding environment, canbe adaptable to weakness, vulnerability and individual shape differences of picked objects, and is simple in structure, good in operability, high in reliability and low in cost.

The invention discloses a multi-degree of freedom human-simulated rigid-flexible mixing hand and a manufacturing technology thereof, and belongs to the technical field of robots. Each soft finger includes metacarpophalangeal joints and interphalangeal joints, wherein a central air flue communicates with a central air cavity. A plurality of metacarpophalangeal joint air cavities surround the central air flues. A layer of fiber limiting threaded pipes are wound around the metacarpophalangeal joint air cavities. The central air flues and the tail ends of the multiple metacarpophalangeal joint aircavities are inserted into a finger base. A ventilating cavity is formed inside the body of a hard palm, and the hard palm fix the soft fingers through screws. Each central air flue, each metacarpophalangeal joint cavity and each central air cavity achieve air inflow through capillary silica gel hoses. The active degree of freedom is multiple, the human hand joint structure is simulated, and thejoint angle and motion relations are close to human hand parameters. Due to the joint type structure, compared with a continuous bent soft claw, the hand has the larger enveloping space, the grabbingperformance is better, the flexibility is good, and the hand has the good adaptability for soft and fragile objects and unstructured environment.

The invention discloses a flexible adaptive massage hand with FBG sensing, which comprises a plurality of soft finger structures; the soft finger structures are connected to a palm base respectively,wherein one soft finger structure is connected to the palm base through a rotating structure; the soft finger structures are imbedded with a FBG sensor, which is used to sense the bending degree and massage strength of the finger and transmit the signal to a controller; the controller controls a pneumatic device to achieve the adjustment of the air pressure size in the soft finger structures. TheFBG sensor is implanted inside the finger, so that the sensing and feedback of the flexion degree of the finger and massage strength can be carried out, the safety and precision is improved. The jointof thumb and palm is a manual rotation axis, which can adjust the position of the thumb, thereby achieving three standard massages of pressing, pushing and kneading, and being important to achieve safe and reliable machine massage.

The invention discloses a soft robot shape touch multi-mode self-energized flexible sensing system which comprises a pneumatic three-jaw soft robot, the pneumatic three-jaw soft robot comprises three soft fingers with shape touch multi-mode flexible sensing systems, and the soft fingers are distributed at intervals of 60 degrees and installed on a flange support at the inclination angle of 15 degrees. The soft fingers are connected with an external air source through air guide pipes, and bending and straightening of the soft fingers are achieved based on inflation and deflation. The integrated multi-mode sensing system can transmit state information and interaction information of the soft robot, is greatly helpful for closed-loop control and autonomous identification of the soft robot, and has a wide application prospect.