45 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 invention discloses a rigidity-variable soft finger, a rigidity-variable soft gripper and a manipulator, the rigidity-variable soft finger comprises a soft finger main body and a mounting structure, a clamping surface is arranged outside the soft finger main body, a soft chamber and a vacuum chamber are arranged in the soft finger main body, the soft chamber and the vacuum chamber both extend along the length direction of the soft finger, and the mounting structure is arranged in the soft finger main body. The soft cavity is separated from the vacuum cavity, and the vacuum cavity is located between the soft cavity and the clamping face; the installation structure is installed at one end of the soft finger body and provided with a hard elastic piece, an air inlet hole and an air exhaust hole, the air inlet hole is communicated with the soft cavity, the air exhaust hole is communicated with the vacuum cavity, and the hard elastic piece is located in the vacuum cavity and extends in the length direction of the vacuum cavity. According to the technical scheme, the rigidity-variable soft finger can be suitable for complex working environments and grabbed objects.

The invention provides a hand perception sensor based on FP and FBG optical fiber sensing, which comprises a Fabry-Perot cavity (FP), a single-mode optical fiber and at least one Bragg grating (FBG), the Fabry-Perot cavity is positioned at one end of the single-mode optical fiber, and the Bragg grating is embedded in the single-mode optical fiber. The FP optical fiber sensor and the FBG optical fiber sensor are adopted, tiny strain changes can be detected by measuring input light and through changes of reflection wavelengths of optical fibers, and the soft robot shape sensing device has the advantages of being high in sensitivity, large in elasticity, high in resolution ratio, free of electromagnetic interference and the like in the aspect of sensing the shape of a soft robot. The sensing system is integrated into the soft finger and used for detecting bending and deformation behaviors of the joint of the soft finger, pressure monitoring is carried out on the touch sense of the tail end of the finger, the working performance is stable, the integrity is high, and the application potential in real-time monitoring of the force position of a soft mechanical arm is huge.

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 invention discloses a gas-driven rope-controlled deployable soft grabbing robot. The gas-driven rope-controlled deployable soft grabbing robot comprises a rigid base support, four soft pneumatic finger units, a driving airbag unit, a driving rope and a visual camera. The soft pneumatic finger units are fixed to the connecting frame through bolts, the connecting frame is fixed to the rigid base support through bolts, and the four soft pneumatic fingers are evenly distributed on the rigid base support in the circumferential direction. The driving air bag unit is divided into a finger internal air bag and an external fan-shaped air bag, the finger internal air bag is nested in the soft finger and used for driving the finger to bend, the external fan-shaped air bag is fixed to the middle of the connecting frame and used for driving the finger to open, and under the dual effects of air-driven opening and rope-driven closing, the finger can be driven to bend. And the soft fingers can be flexibly and efficiently unfolded and folded, so that the object can be grabbed. The robot has the advantages of being large in grabbing range and high in bearing capacity, and the robot is made of soft materials and has a protection effect on fragile objects, so that diversified task requirements are met.

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 discloses a continuous variable-rigidity soft finger module and a deep sea grabbing paw, and relates to the technical field of deep sea grabbing paws, the continuous variable-rigidity soft finger module comprises a soft finger structure, a driving rope, a restoring rope, a variable-rigidity structure and a wire, and a plurality of joint grooves are formed in the long edge of the bottom of the soft finger structure; the variable-stiffness structure is made of a conductive thermoplastic material and connected with the wire, the variable-stiffness structure is a frame structure, the variable-stiffness structure is wrapped in the soft finger structure, the soft finger structure is provided with a first through hole, and the first through hole is communicated with the first through hole. The driving rope penetrates through the multiple joint grooves from the rear end of the soft finger structure in the length direction and is fixed into the front end of the soft finger structure, and the recovery rope is inserted from the rear end of the soft finger structure and is fixed into the front end of the soft finger structure in the length direction. The recovery rope is arranged in the long edge of the top of the soft finger structure.

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 invention discloses a variable stiffness soft manipulator with multiple grasping modes, which solves the shortcomings of the existing variable stiffness soft manipulator, such as complex structure, cumbersome preparation process, interference in stiffness adjustment and deformation, and single grasping mode. Three variable stiffness soft fingers of the same size are alternately arranged on the front and rear sides of the base, a spring driving mechanism for adjusting the stiffness of the proximal joints of the variable stiffness soft fingers is arranged on the left side of the base, and a spring driving mechanism for adjusting the stiffness of the distal joints of the variable stiffness soft fingers and a driving mechanism for driving the finger body are arranged on the right side. The output end of the servo in the spring driving mechanism and the output end of the driving motor are both equipped with a driving shaft, and one end of the driving cable of the spring driving mechanism is connected to the driving shaft, and the other end is connected to the spring. The driving cable of the finger body passes through the reserved cavity in the finger in a U-shaped arrangement, and is finally fixed on the driving shaft of the driving motor to drive the finger body.

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 relates to the field of jellyfish bionic technology, and specifically relates to a jellyfish bionic water quality cleaning robot, comprising: an umbrella-shaped body and a support frame. The umbrella-shaped body is provided at the top of the support frame. A servo motor is installed at the middle position of the support frame. The output end of the servo motor is connected to a power transmission mechanism. Eight groups of auxiliary antenna mechanisms are distributed in a circular shape on the outer side of the support frame, and soft fingers are installed on the auxiliary antenna mechanisms. The present invention designs the umbrella-shaped body of the jellyfish according to the jellyfish shape and the principle of streamline drag reduction, and fills a large amount of air in the body to increase the buoyancy of the jellyfish robot in water; the servo motor and the outside of the support frame are sealed with plastic and rubber, and part of the air is extracted to reduce the internal air pressure to ensure the waterproofness of the internal structure. At the same time, the drainage volume is increased to make the overall structure have a greater buoyancy underwater and be easier to move. At the same time, the soft fingers are used to recycle the garbage in the water, so as to achieve the purpose of cleaning the water quality.

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.

A pneumatic soft multi-fingered hand with a cross-modal tactile sensing function on the palm includes an inflatable film sensing device as the palm, a plurality of pneumatic curved soft fingers arranged around the edges of the palm, an air pressure regulating device connected to the palm and the pneumatic curved soft fingers, and a control device connected to the inflatable film sensing device. The present invention can not only achieve flexible grasping and protect the grasped object from being damaged, but also establish tactile feedback based on vision, realize cross-modal transformation from visual mode to tactile mode, establish tactile sensing function, identify the shape of the grasped object, and thus classify the object.

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.