Pneumatic soft finger and soft finger control system and method

Abstract

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.

Description

technical field [0001] The invention relates to the field of soft robots, in particular to a pneumatic soft finger, a soft finger control system and a control method. Background technique [0002] At present, manipulators are usually of rigid structure, driven by rigid drivers such as motors and hydraulic cylinders, which have the disadvantages of complex structure, high cost, poor safety and compliance, and difficult installation and maintenance. In recent years, the emergence of pneumatic soft hands has made up for the shortcomings of traditional rigid manipulators. Because the main body is often made of flexible materials such as silicone rubber, manufactured by shape deposition manufacturing, 3D printing, etc., and driven by compressed air, its It has good safety and flexibility, and has the characteristics of simple structure, low manufacturing cost, high power density ratio, etc., and can better adapt to changes in the environment. Therefore, it has attracted the atten...

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present invention provides a pneumatic soft finger to solve the problem that the existing pneumatic soft finger is limited in sensor selection and installation; provides a soft finger control system and control method, which can detect the contact force and bending curvature of the finger , to achieve closed-loop control of finger contact force, with a wide range of applications

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