Bionic soft dexterous hand

Abstract

The invention relates to a bionic soft dexterous hand. The bionic soft dexterous hand comprises a palm and five fingers. A plurality of palm side oval groove openings are arranged on the palm sides ofa forefinger, a middle finger, a ring finger and a small finger. A lateral oval groove opening is evenly arranged on the heels of the forefinger, the ring finger and the small finger facing the middle finger. The palm side oval groove opening is arranged on the side of a tiger mouth, and a lateral oval groove opening is arranged on the heel of a big toe. The palm side oval groove openings and thelateral oval groove openings are evenly flexible hinges and provided with threading holes. The threading holes penetrate traction lines. One end of the traction lines are fixed at a fingertip, the other end of the traction lines are gathered in a palm center and are led out from a wrist after bypassing a threading block set in the palm center. The flexure hinges are deformed by the stretching ofthe traction lines to achieve the bending movement of five fingers laterally or toward the palm center. Compared with the prior art, the bionic soft dexterous hand achieves manipulation actions and releases of hand objects such as grasping, holding, pinching and clamping by means of the coordination between fingers, has a rigid and soft combination, and is simple and convenient to control

Description

technical field [0001] The invention belongs to the field of bionics, in particular to a bionic soft dexterous hand. Background technique [0002] At present, robot technology has been widely used in many fields and industries such as industry, military, public security, medical care, and housekeeping. As robot technology becomes more and more extensive and in-depth in human life, people's requirements for the safety of human-computer interaction are also getting higher and higher. This requires the end manipulator of the robot to have the softness and dexterity of a biological body. As a bionic prototype of the manipulator, the human hand has more than 20 degrees of freedom and is driven by 34 biological motors through coupling. This makes the structural design and control operation of imitating the human hand directly with traditional rigid materials very complicated and difficult to achieve, while the soft body whose main body is made of flexible materials has more degr...

AI Technical Summary

Problems solved by technology

[0003] Chinese patent CN108214520A discloses an under-actuated lightweight humanoid five-fingered dexterous hand, including the palm; the five fingers, including the thumb, index finger, middle finger, ring finger and little finger installed on the palm through the fixing seat; the five finger flexion and extension drive mechanisms, respectively Installed on five fixed seats, they are respectively used to provide power for the flexion and extension of each finger; five rope transmission mechanisms are respectively installed in the five fingers and connected with the corresponding finger flexion and extension drive mechanisms, and the finger flexion and extension drive mechanisms pass through The rope drive mechanism drives the flexion and extension of the fingers to form under-actuation; the thumb rotation drive mechanism is installed in the palm to drive the rotational movement of the thumb, but this type of patented dexterous hand uses traditional rigid materials, which are not as safe as soft materials in terms of human-computer interaction dexterous hands, and complex structure, many parts, high complexity in structural design, preparation and control

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