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An air-driven soft finger with embedded vision

A finger, gas-driven technology, applied in the field of gas-driven software fingers, can solve the problem of inability to obtain multi-dimensional curvature information, and achieve the effect of optimizing imaging ratio, ensuring structural stability, and facilitating capture

Active Publication Date: 2020-09-25
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to solve the problem that the multi-dimensional curvature information cannot be obtained from the soft finger, and propose an air-driven soft finger with embedded vision

Method used

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  • An air-driven soft finger with embedded vision
  • An air-driven soft finger with embedded vision
  • An air-driven soft finger with embedded vision

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Embodiment Construction

[0033] The specific structure and working principle of the present invention will be described in detail below in conjunction with the accompanying drawings and embodiments. For ease of description, the side facing the back of the hand is referred to as the upper side, and the side facing the palm is referred to as the lower side.

[0034] An embodiment of an air-driven soft finger with built-in vision proposed by the present invention is as follows: figure 1 , figure 2 with image 3 As shown, it includes a finger body embedded in the sealing device 7; the finger body is composed of a shell 1 and an elastic cavity 2 accommodated inside the shell 1, and the inner surface of the shell 1 is completely attached to the outer surface of the elastic cavity 2. Together, the surface of the upper side wall of the housing 1 is provided with multiple sets of groove arrays 3 at intervals; when the finger body is in a straightened state, the inner surface of the upper side wall of the el...

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Abstract

The invention discloses a gas-driven soft-body finger with embedded vision, and belongs to the technical field of soft-body robots. The gas-driven soft-body finger with embedded vision comprises a finger body fixed to a sealing device in an embedding manner, wherein the finger body is composed of a housing and an elastic cavity body accommodated in the housing, the finger body is in a straightening state, the inner surface, in the length direction of the finger, of the upper sidewall of the elastic cavity body is an arc surface bulged towards the upper side, the elastic cavity body is dividedinto three areas in the length direction of the finger, and the RGB values of each two adjacent areas are different; and a tooth-shaped airtight structure is arranged in one end of the sealing device,a camera coaxial with the elastic cavity body is arranged in the other end of the sealing device, a cavity communicating with the elastic cavity body is formed between the finger root end of the finger body and the camera, and a pneumatic valve is fixed into the sealing device above the cavity. According to the gas-driven soft-body finger with embedded vision, visual perception is applied to thesoft-body finger, and identification for a bending direction and measurement for a bending degree are realized; and the gas-driven soft-body finger with embedded vision has he advantages of being highin sealing performance, wide in visual field, high in identification accuracy, and the like.

Description

technical field [0001] The invention relates to an air-driven soft finger with built-in vision, which belongs to the technical field of soft robots. Background technique [0002] In some special use environments, the operating equipment is required to have higher compliance, absolute safety, better human-computer interaction, etc., and the traditional rigid manipulator can no longer meet these requirements. Compared with rigid manipulators, soft manipulators have extremely significant advantages in handling fragile and fragile objects and cooperating with people due to their soft and adaptable characteristics. [0003] In order to better improve the performance of the soft finger, the sensor in the hand is particularly important. However, due to the large deformation of the soft hand, conventional sensing devices are difficult to fit tightly with fingers or are easily damaged. Therefore, there is a need for a flexible sensor that can adapt to the bending and stretching pro...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00B25J15/12B25J19/06
CPCB25J15/0023B25J15/12B25J19/06
Inventor 方斌孙富春章诗昕吴林源龙行明
Owner TSINGHUA UNIV
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